阅读说明：本技术 车速估算方法、系统及计算机存储介质 (Vehicle speed estimation method, system and computer storage medium ) 是由 范鹏 陶喆 毕臣亮 蔡润佳 张万里 于 2021-11-04 设计创作，主要内容包括：本发明提供了一种车速估算方法、系统及计算机存储介质,车速估算方法包括：通过轮速传感器分别获取四个车轮的轮速；根据各个车轮的轮速分别计算得到各个车轮的加速度和滑移率；根据加速度和滑移率计算得到各个车轮的轮速可信度；根据各个车轮的轮速可信度估算车辆的车速。本发明通过对各车轮轮速的可信度进行评估并估算车速,避免了车辆打滑或传感器数据延迟等导致的车速计算偏差,提高了在各种工况下估算车辆车速的准确性。(The invention provides a vehicle speed estimation method, a system and a computer storage medium, wherein the vehicle speed estimation method comprises the following steps: respectively acquiring the wheel speeds of four wheels through a wheel speed sensor; respectively calculating the acceleration and the slip rate of each wheel according to the wheel speed of each wheel; calculating wheel speed credibility of each wheel according to the acceleration and the slip rate; and estimating the vehicle speed of the vehicle according to the wheel speed credibility of each wheel. According to the invention, the wheel speed credibility of each wheel is evaluated and the vehicle speed is estimated, so that the vehicle speed calculation deviation caused by vehicle slip or sensor data delay and the like is avoided, and the accuracy of estimating the vehicle speed under various working conditions is improved.)

1. A vehicle speed estimation method, characterized by comprising:

respectively acquiring the wheel speeds of four wheels through a wheel speed sensor;

respectively calculating the acceleration and the slip rate of each wheel according to the wheel speed of each wheel;

calculating wheel speed credibility of each wheel according to the acceleration and the slip rate;

and estimating the vehicle speed of the vehicle according to the wheel speed credibility of each wheel.

2. The vehicle speed estimation method according to claim 1, wherein the calculation formulas for calculating the acceleration and the slip ratio of each wheel from the wheel speed of each wheel respectively are:

wherein A is a vehicleWheel acceleration; Δ V is the amount of change in wheel speed over a time interval of Δ T; Δ T is the interval time; s is the slip ratio of the wheel; v is the wheel speed of the wheel; v_vehThe' is the vehicle speed of the whole vehicle at the last moment.

3. The vehicle speed estimation method according to claim 1, characterized in that the calculation formula for calculating the wheel speed reliability of each wheel from the acceleration and the slip ratio is:

in the formula, T is the wheel speed reliability of the wheel; a is the acceleration of the wheel; s is the slip ratio of the wheel; k_aFor acceleration calibration, K_sIs a slip rate calibration value.

4. The vehicle speed estimation method according to claim 1, wherein estimating the vehicle speed of the vehicle based on the wheel speed reliability of each wheel includes:

and if the maximum value of the wheel speed reliability of each wheel is larger than a calibration value, estimating the vehicle speed of the vehicle according to the wheel speed reliability and the wheel speed of each wheel.

5. The vehicle speed estimation method according to claim 4, characterized in that the calculation formula for estimating the vehicle speed of the vehicle from the wheel speed reliability of each wheel and the wheel speed is:

in the formula, V_vehThe vehicle speed is the whole vehicle speed; v_flThe wheel speed of the left front wheel; t is_flThe wheel speed reliability of the left front wheel; v_frThe wheel speed of the right front wheel; t is_frWheel speed confidence for the right front wheel; v_rlThe wheel speed of the left rear wheel; t is_rlReliability of wheel speed of the left rear wheel; v_rrThe wheel speed of the right rear wheel; t is_rrIs the wheel speed reliability of the right rear wheel.

6. The vehicle speed estimation method according to claim 4, wherein estimating the vehicle speed of the vehicle based on the wheel speed reliability of each wheel, further comprises:

and if the maximum value of the wheel speed credibility of each wheel is less than or equal to a calibration value, calculating the vehicle speed according to the driving torque, the braking torque, the resistance and the whole vehicle mass of the vehicle.

7. The vehicle speed estimation method according to claim 6, characterized in that the calculation formula of calculating the vehicle speed from the drive torque, the brake torque, the resistance force, and the entire vehicle mass of the vehicle is:

in the formula, V_vehThe vehicle speed is the whole vehicle speed; v_vehThe' is the vehicle speed of the whole vehicle at the previous moment; t is the interval time between the current moment and the last moment; f_{Drive the}Is the drive torque of the engine; f_{Braking device}A vehicle braking torque; k_{Resistance device}Is a coefficient of resistance; m_vehThe mass of the whole vehicle.

8. A vehicle speed estimation system, characterized by comprising: a wheel speed sensor and a terminal;

the wheel speed sensor is used for acquiring the wheel speeds of four wheels of the vehicle;

the terminal comprises a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor implements the steps of the vehicle speed estimation method according to any one of claims 1 to 7 when executing the computer program.

9. A computer storage medium storing a computer program which, when executed by a processor, implements the steps of the vehicle speed estimation method according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of automobiles, in particular to a method and a system for estimating vehicle speed and a computer storage medium.

Background

In the prior art, a method for calculating a vehicle speed includes: 1) the two-wheel drive vehicle calculates the vehicle reference speed by means of the wheel speed of the driven wheel; 2) installing a vehicle speed sensor on a vehicle to acquire real-time vehicle speed; 3) the acceleration of the vehicle is obtained through an acceleration sensor of the vehicle, and the acceleration of the vehicle is integrated to calculate the vehicle speed.

For the above three schemes, 1) the problem of the first scheme is: the method is limited to the speed calculation of two-wheel drive vehicles, and the speed of four-wheel drive vehicles cannot be calculated; 2) the second scheme has the problems that the cost of the whole vehicle is increased by the mounted vehicle speed sensor, and the large-scale use of vehicle manufacturers is not facilitated; 3) the third scheme has the following problems: when the vehicle speed is calculated by the acceleration sensor, the calculation deviation of the vehicle speed is large when four wheels of the vehicle are in a slip state for a long time in the actual application process due to the problem of hysteresis of the acceleration sensor value.

Disclosure of Invention

The invention solves the technical problem of providing a vehicle speed estimation method, a system and a computer storage medium, which avoid vehicle speed calculation deviation caused by vehicle slip or sensor data delay and improve the accuracy of vehicle speed estimation under various working conditions.

The technical problem to be solved by the invention is realized by adopting the following technical scheme:

a vehicle speed estimation method comprising:

respectively acquiring the wheel speeds of four wheels through a wheel speed sensor;

respectively calculating the acceleration and the slip rate of each wheel according to the wheel speed of each wheel;

calculating wheel speed credibility of each wheel according to the acceleration and the slip rate;

and estimating the vehicle speed of the vehicle according to the wheel speed credibility of each wheel.

In a preferred embodiment of the present invention, the calculation formula for calculating the acceleration and the slip ratio of each wheel according to the wheel speed of each wheel is as follows:

wherein A is the wheel acceleration; Δ V the amount of change in wheel speed over a time interval of Δ T; Δ T is the interval time; s is the slip ratio of the wheel; v is the wheel speed of the wheel; v_vehThe' is the vehicle speed of the whole vehicle at the last moment.

In a preferred embodiment of the present invention, the calculation formula for calculating the wheel speed reliability of each wheel according to the acceleration and the slip ratio is:

in the formula, T is the wheel speed reliability of the wheel; a is the acceleration of the wheel; s is the slip ratio of the wheel; k_aFor acceleration calibration, K_sIs a slip rate calibration value.

In a preferred embodiment of the present invention, the estimating the vehicle speed of the vehicle based on the wheel speed reliability of each wheel includes:

and if the maximum value of the wheel speed reliability of each wheel is larger than a calibration value, estimating the vehicle speed of the vehicle according to the wheel speed reliability and the wheel speed of each wheel.

In a preferred embodiment of the present invention, the calculation formula for estimating the vehicle speed of the vehicle based on the wheel speed reliability and the wheel speed of each wheel is:

in the formula, V_vehThe vehicle speed is the whole vehicle speed; v_flThe wheel speed of the left front wheel; t is_flThe wheel speed reliability of the left front wheel; v_frThe wheel speed of the right front wheel; t is_frWheel speed confidence for the right front wheel; v_rlThe wheel speed of the left rear wheel; t is_rlReliability of wheel speed of the left rear wheel; v_rrThe wheel speed of the right rear wheel; t is_rrIs the wheel speed reliability of the right rear wheel.

In a preferred embodiment of the present invention, the estimating a vehicle speed of the vehicle based on the wheel speed reliability of each wheel further includes:

and if the maximum value of the wheel speed credibility of each wheel is less than or equal to a calibration value, calculating the vehicle speed according to the driving torque, the braking torque, the resistance and the whole vehicle mass of the vehicle.

In a preferred embodiment of the present invention, the calculation formula for calculating the vehicle speed according to the driving torque, the braking torque, the resistance and the total vehicle mass of the vehicle is as follows:

in the formula, V_vehThe vehicle speed is the whole vehicle speed; v_vehThe' is the vehicle speed of the whole vehicle at the previous moment; t is the interval time between the current moment and the last moment; f_{Drive the}Is the drive torque of the engine; f_{Braking device}A vehicle braking torque; k_{Resistance device}Is a coefficient of resistance; m_vehThe mass of the whole vehicle.

A vehicle speed estimation system, comprising: a wheel speed sensor and a terminal;

the wheel speed sensor is used for acquiring the wheel speeds of four wheels of the vehicle;

the terminal comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the vehicle speed estimation method when executing the computer program.

A computer storage medium storing a computer program which, when executed by a processor, implements the steps of the vehicle speed estimation method as described above.

The invention relates to a vehicle speed estimation method, a system and a computer storage medium, wherein the vehicle speed estimation method comprises the following steps: respectively acquiring the wheel speeds of four wheels through a wheel speed sensor; respectively calculating the wheel speed reliability of each wheel according to the wheel speed of each wheel; and estimating the vehicle speed of the vehicle according to the wheel speed credibility of each wheel. According to the invention, the wheel speed credibility of each wheel is evaluated and the vehicle speed is estimated, so that the vehicle speed calculation deviation caused by vehicle slip or sensor data delay and the like is avoided, and the accuracy of estimating the vehicle speed under various working conditions is improved.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a flow chart illustrating a method for estimating vehicle speed according to an embodiment of the present invention.

FIG. 2 is a detailed flow chart of a vehicle speed estimation method according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein.

It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.

It should be noted that, step numbers such as 201, 202 are used herein for the purpose of more clearly and briefly describing the corresponding content, and do not constitute a substantial limitation on the sequence, and those skilled in the art may perform 202 first and then 201 in the specific implementation, but these should be within the scope of the present application.

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

FIG. 1 is a flow chart illustrating a method for estimating vehicle speed according to an embodiment of the present invention. FIG. 2 is a flow chart illustrating another vehicle speed estimation method according to an embodiment of the present invention.

The vehicle speed estimation method of the present invention will be described with reference to fig. 1 and 2:

as shown in FIG. 1, a vehicle speed estimation method according to an embodiment of the present invention includes the steps of:

step 201: respectively acquiring the wheel speeds of four wheels through a wheel speed sensor;

step 202: respectively calculating the acceleration and the slip rate of each wheel according to the wheel speed of each wheel;

step 203: calculating wheel speed credibility of each wheel according to the acceleration and the slip rate;

step 204: and estimating the vehicle speed of the vehicle according to the wheel speed credibility of each wheel.

The vehicle speed estimation method can simultaneously provide vehicle speed calculation for two-drive vehicles (including front-drive or rear-drive vehicles) and four-drive vehicles. The wheel speed sensors are used for acquiring wheel speed signals of four wheels, namely the wheel speed V of a left front wheel_flRight front wheel speed V_frLeft rear wheel speed V_rlAnd the right rear wheel speed V_rr. Then, the acceleration A of the front left wheel is calculated according to the wheel speed of each wheel_flRight front wheel acceleration A_frLeft rear wheel acceleration A_rlAnd right rear wheel acceleration A_rrAnd, left front wheel slip ratio S_flRight front wheel slip ratio S_frLeft rear wheel slip ratio S_rlAnd the right rear wheel slip ratio S_rr. And evaluating whether the current wheel speeds of the four wheels are close to the vehicle speed of the whole vehicle or not through the acceleration and the slip rate of each wheel. And if the wheel speed is close to the vehicle speed of the whole vehicle, carrying out weighted average on the wheel speeds of the four wheels to calculate the vehicle speed of the whole vehicle. And if the wheel speeds of the four wheels are not credible, estimating the speed of the whole vehicle through the driving torque, the braking torque, the resistance and the mass of the whole vehicle. By passingIn the mode, the embodiment of the invention does not need to additionally increase the vehicle speed sensor, and can be applied to vehicles of all levels in a large scale. In addition, the embodiment of the invention does not need to depend on a vehicle longitudinal acceleration sensor, and only carries out vehicle speed calculation through a wheel speed sensor, thereby effectively solving the problem of vehicle speed calculation deviation caused by data delay of the acceleration sensor.

In step 203, wheel speed reliability of each wheel is calculated from the acceleration and slip ratio of each wheel. The wheel speed reliability is used for reflecting the skidding state of the wheel, and the value range is 0-1. The larger the wheel speed reliability value is, the higher the wheel speed reliability of the current wheel is, the slight wheel slip degree is, and the wheel speed value is closer to the vehicle speed value. Conversely, the smaller the wheel speed reliability value is, the lower the wheel speed reliability of the current wheel is, the greater the wheel slip degree is, and the greater the difference between the wheel speed value and the vehicle speed value is.

In one embodiment, the calculation formula for calculating the acceleration and the slip ratio of each wheel according to the wheel speed of each wheel is as follows:

wherein A is the wheel acceleration; Δ V the amount of change in wheel speed over a time interval of Δ T; Δ T is the interval time; s is the slip ratio of the wheel; v is the wheel speed of the wheel; v_vehThe' is the vehicle speed of the whole vehicle at the last moment.

In addition, V is_veh' calculation may be started based on vehicle stability. When the vehicle starts steadily, the wheel speeds of the four wheels are equal, and the acceleration is small, for example, when the acceleration is smaller than or equal to a fixed value, the vehicle is considered to be in a stable state, and the vehicle speed is equal to the wheel speed of any wheel. That is, when the vehicle speed is initially calculated, the wheel speed at which the vehicle is in a steady state is taken as the vehicle speed of the entire vehicle at the previous time, and the initial vehicle speed is calculated based on the wheel speedVehicle speed, as V at the time of next calculation of vehicle speed_veh’。

Further, the acceleration A of the wheel speed is calculated according to the variation of the wheel speed in a certain time interval. Meanwhile, an absolute value of a difference value between the wheel speed and the vehicle speed of the whole vehicle calculated at the previous moment is calculated, and the ratio of the absolute value to the vehicle speed of the whole vehicle at the previous moment is a slip rate.

In one embodiment, the calculation formula for calculating the wheel speed reliability of each wheel according to the acceleration and the slip ratio is as follows:

in the formula, T is the wheel speed reliability of the wheel; a is the acceleration of the wheel; s is the slip ratio of the wheel; k_aFor acceleration calibration, K_sIs a slip rate calibration value.

Here, K is_aFor the weight coefficients only, the actual values can be obtained by calibration, which is exemplified as follows: when the acceleration a of the wheel is 3m/s, K_aWhen the coefficient is initially 0.1 (here, the reference value of the coefficient is only used for example, and actually, the difference of the actual values of the coefficient is large due to different vehicle model parameters), if the calculated wheel slip rate is zero (the scene is often generated in the initial stage of accelerator stepping acceleration), if the wheel speed of the wheel rises, a × K is caused_aThe value of (A) is close to 0.5, so that the wheel speed reliability is low, namely the speed of the whole vehicle is calculated by the acceleration of the wheels at the moment to be inaccurate, and the coefficient K can be properly reduced_a。K_sIn a similar manner, when K_sWhen the coefficient is initially 0.1 and the slip ratio is 3, if the slip ratio increases, it results in S.K_sThe value of (A) is close to 0.5, so that the wheel speed reliability is low, namely the speed of the whole vehicle is calculated by the acceleration of the wheels at the moment to be inaccurate, and the coefficient K can be properly reduced_s。

In the embodiment, the wheel speed reliability of each wheel is respectively calculated according to the acceleration and the slip rate of the wheel, the reference value of the wheel speed reliability can be 0-1, the closer the reference value is to 1, the higher the wheel speed reliability is, and the closer the reference value is to 1At 0, the wheel speed confidence level is lower. The wheel speed reliability T of the left front wheel is sequentially represented by the following formula_flWheel speed reliability T of right front wheel_frWheel speed reliability T of left rear wheel_rlAnd wheel speed reliability T of the right rear wheel_rr：

。

In one embodiment, estimating a vehicle speed of a vehicle from wheel speed reliability of each wheel includes:

and if the maximum value of the wheel speed reliability of each wheel is larger than the calibration value, estimating the vehicle speed of the vehicle according to the wheel speed reliability and the wheel speed of each wheel.

It should be noted that the calibration values are different due to different vehicle model parameters and can be obtained through calibration, and the calibration mode is provided as follows: after the wheel speed reliability of each wheel is obtained according to step 203, as the wheel speed reliability decreases, the estimation error of the scheme for calculating the vehicle speed by the wheel speed reliability on the actual vehicle speed inevitably becomes larger. In the actual test process, the real-time speed of the vehicle can be acquired through the V-BOX, and when the error of the speed calculated by the method is larger than the error of the speed calculated according to the driving force, the braking force, the resistance and the mass of the whole vehicle, the reliability of the speed of the wheel at the moment can be used as a calibration value.

In this embodiment, the maximum value T is taken for the wheel speed reliability of each wheel_maxWherein, in the step (A),

then, the maximum value and the reliability are calibrated to a value T_kA comparison is made. If at least one wheel speed reliability value is greater than the reliability calibration value, the wheel speed of at least one wheel is credible, and therefore the real-time vehicle speed can be estimated by using the current wheel speed. The wheel speed reliability is higher, the wheel speed is closer to the vehicle speed, so that the vehicle speed can be estimated in a mode of combining the wheel speed reliability, and the accuracy of the calculated vehicle speed is ensured.

In one embodiment, the calculation formula for estimating the vehicle speed of the vehicle from the wheel speed reliability and the wheel speed of each wheel is:

in the formula, V_vehThe vehicle speed is the whole vehicle speed; v_flThe wheel speed of the left front wheel; t is_flThe wheel speed reliability of the left front wheel; v_frThe wheel speed of the right front wheel; t is_frWheel speed confidence for the right front wheel; v_rlThe wheel speed of the left rear wheel; t is_rlReliability of wheel speed of the left rear wheel; v_rrThe wheel speed of the right rear wheel; t is_rrIs the wheel speed reliability of the right rear wheel.

In this embodiment, the wheel speed and the wheel speed reliability of each wheel are weighted and averaged to obtain the speed of the entire vehicle. The proportion of the wheel speed of each wheel in the vehicle speed of the whole vehicle is adjusted through the wheel speed credibility, and the accuracy of estimating the vehicle speed is improved.

In one embodiment, estimating a vehicle speed of the vehicle based on wheel speed reliability of each wheel, further comprises:

and if the maximum value of the wheel speed reliability of each wheel is less than or equal to the reliability calibration value, calculating the vehicle speed according to the driving force, the braking force, the resistance and the whole vehicle mass of the vehicle.

In this embodiment, if the wheel speed reliability of each wheel is less than or equal to the reliability calibration value, it indicates that each wheel has severe slip, and the wheel speed value is not reliable, so that the wheel speed and the wheel speed reliability of the wheel are not used to calculate the vehicle speed, so as to ensure the accuracy of the estimated vehicle speed.

In one embodiment, the calculation formula for calculating the vehicle speed according to the driving force, the braking force, the resistance force and the total vehicle mass of the vehicle is as follows:

in the formula, V_vehThe vehicle speed is the whole vehicle speed; v_vehThe' is the vehicle speed of the whole vehicle at the previous moment; t is the interval time between the current moment and the last moment; f_{Drive the}Is the drive torque of the engine; f_{Braking device}A vehicle braking torque; k_{Resistance device}Is a coefficient of resistance; m_vehThe mass of the whole vehicle.

The coefficient of resistance K is_{Resistance device}Also broadly referred to as a generic term for a class of parameters including drag losses, rolling drag losses and windage in the vehicle's own driveline. When the vehicle does not slide, the resistance coefficient of the current road condition can be calculated in real time through the following formula:

wherein the vehicle speed V_vehEqual to wheel speed, vehicle acceleration A_vehEqual to the vehicle acceleration. When the vehicle slips, the resistance coefficient calculated at the time when no slip occurs can be used.

In the embodiment, the driving torque, the braking torque and the whole vehicle mass are known values. The resistance coefficient is obtained by measuring and calibrating the ratio of resistance to speed. And estimating the current acceleration of the vehicle through the driving torque, the braking torque, the vehicle speed and the resistance coefficient at the last moment and the vehicle mass. And calculating the current vehicle speed according to the acceleration, the interval time between the current time and the previous time and the vehicle speed at the previous time.

FIG. 2 is a detailed flow chart of a vehicle speed estimation method according to an embodiment of the present invention. As shown in fig. 2, wheel speeds of four vehicle speeds are first obtained from signals of wheel speed sensors, and then accelerations and slip rates of four wheels are calculated from the wheel speeds of the respective wheels, respectively. Next, wheel speed reliability of each wheel is calculated from the acceleration and slip ratio of each wheel. And selecting the maximum value from the wheel speed credibility of the four wheels, and comparing the maximum value with a calibration value. And if the maximum wheel speed credibility of the vehicle is greater than the calibration value, carrying out weighted average according to the wheel speed and the wheel speed credibility of each wheel to obtain the vehicle speed of the whole vehicle. And if the maximum wheel speed credibility of the vehicle is not greater than the calibration value, calculating the speed of the whole vehicle according to the driving force, the braking force resistance and the mass of the whole vehicle of the vehicle.

According to the vehicle speed estimation method, the wheel speeds of four wheels are respectively obtained through the wheel speed sensors; respectively calculating the wheel speed reliability of each wheel according to the wheel speed of each wheel; and estimating the vehicle speed of the vehicle according to the wheel speed credibility of each wheel. According to the invention, the wheel speed credibility of each wheel is evaluated and the vehicle speed is estimated, so that the vehicle speed calculation deviation caused by vehicle slip or sensor data delay and the like is avoided, and the accuracy of estimating the vehicle speed under various working conditions is improved.

The embodiment of the invention provides a vehicle speed estimation system, which comprises: a wheel speed sensor and a terminal;

the wheel speed sensor is used for acquiring the wheel speeds of four wheels of the vehicle;

and a terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the vehicle speed estimation method as described above when executing the computer program.

According to the vehicle speed estimation system, the wheel speeds of four wheels are respectively obtained through the wheel speed sensors; respectively calculating the wheel speed reliability of each wheel according to the wheel speed of each wheel; and estimating the vehicle speed of the vehicle according to the wheel speed credibility of each wheel. According to the invention, the wheel speed credibility of each wheel is evaluated and the vehicle speed is estimated, so that the vehicle speed calculation deviation caused by vehicle slip or sensor data delay and the like is avoided, and the accuracy of estimating the vehicle speed under various working conditions is improved.

Embodiments of the present invention further provide a computer storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle speed estimation method are implemented.

The present invention is not limited to the details of the above embodiments, which are exemplary, and the modules or processes in the drawings are not necessarily essential to the implementation of the embodiments of the present invention, and should not be construed as limiting the present invention.