Granted Patent B2

US 12,528,478 · App. 18/186,390 · Granted Jan 20, 2026

Inventors: Zixian Wu (Shanghai, CN); Shuaifei Li (Shanghai, CN); Yongyou Zhou (Shanghai, CN)

Assignee: Shenzhen Yinwang Intelligent Technologies Co., Ltd.

B60W50/0205B60W40/105B60W2554/20B60W2554/80

Abstract

Claims (78)

1 . A fault diagnosis method for a speed measurement apparatus of a vehicle, the fault diagnosis method comprising:

obtaining a first vehicle speed measured by the speed measurement apparatus;

recognizing objects around the vehicle by identifying the objects in an image or video captured by a camera of the vehicle;

selecting a static reference object of a plurality of static reference objects from the recognized objects;

obtaining reference information of the plurality of static reference objects at N moments, wherein N is an integer greater than 1, and the reference information comprises information about a location relationship of the plurality of static reference objects relative to the vehicle in which the speed measurement apparatus is located at each of the N moments;

obtaining a plurality of second vehicle speeds through calculation based on the reference information, one for each of the plurality of static reference objects;

based on a difference between the first vehicle speed and any one of the plurality of second vehicle speeds being greater than a preset threshold, determining that the speed measurement apparatus is faulty and re-obtaining the plurality of second vehicle speeds; and

determining that the speed measurement apparatus is not faulty based on all of the differences between the first vehicle speed and each of the plurality of second vehicle speeds being less than or equal to the preset threshold.

2 . The fault diagnosis method according to claim 1 , wherein obtaining the plurality of second vehicle speeds through calculation based on the reference information further comprises:

obtaining at least one estimated vehicle speed through calculation by using the reference information at the N moments, wherein the at least one estimated vehicle speed is an average vehicle speed between any two moments in the N moments; and

processing the at least one estimated vehicle speed to obtain a vehicle speed of the plurality of second vehicle speeds.

3 . The fault diagnosis method according to claim 2 , wherein obtaining the at least one estimated vehicle speed through calculation by using the reference information at the N moments further comprises:

when the vehicle and a first static reference object of the plurality of static reference objects are on a same road plane and the vehicle travels straight, performing the following operations:

obtaining a displacement of the vehicle relative to the first static reference object between the two moments through calculation by using a distance of the first static reference object relative to the vehicle and an included angle between the first static reference object and a traveling direction of the vehicle; and

obtaining the average speed between the two moments through calculation by using the displacement and a time length between the two moments.

4 . The fault diagnosis method according to claim 2 , wherein obtaining the at least one estimated vehicle speed through calculation by using the reference information at the N moments further comprises:

when the vehicle and a first static reference object of the plurality of static reference objects are on a same road plane and the vehicle turns, performing the following operations:

obtaining a steering angle of the vehicle between the two moments and a steering radius of the vehicle through calculation by using a distance between the first static reference object and the vehicle, a wheel steering angle of the vehicle, and a length of the vehicle; and

obtaining the average speed between the two moments through calculation by using the steering angle, the steering radius, and a time length between the two moments.

5 . The fault diagnosis method according to claim 2 , wherein obtaining the at least one estimated vehicle speed through calculation by using the reference information at the N moments further comprises:

when the vehicle and a first static reference object of the plurality of static reference objects are not on a same road plane and the vehicle travels straight, performing the following operations:

establishing any three-dimensional coordinate system, and indicating coordinates of the first static reference object and coordinates of locations of the vehicle at the two moments;

obtaining a displacement of the vehicle relative to the first static reference object between the two moments through calculation based on the coordinates of the first static reference object and the coordinates of the locations of the vehicle at the two moments; and

obtaining the average speed between the two moments through calculation by using the displacement and a time length between the two moments.

6 . The fault diagnosis method according to claim 2 , wherein obtaining the at least one estimated vehicle speed through calculation by using the reference information at the N moments further comprises:

when the vehicle and a first static reference object of the plurality of static reference objects are not on a same road plane and the vehicle turns, performing the following operations:

establishing any three-dimensional coordinate system, and indicating coordinates of the first static reference object and coordinates of locations of the vehicle at the two moments;

obtaining a steering angle of the vehicle between the two moments and a steering radius of the vehicle through calculation by using a distance between the first static reference object and the vehicle, a wheel steering angle of the vehicle, and a length of the vehicle; and

obtaining the average speed between the two moments through calculation by using the steering angle, the steering radius, and a time length between the two moments.

7 . The fault diagnosis method according to claim 2 , wherein processing the at least one estimated vehicle speed to obtain the plurality of second vehicle speeds further comprises:

performing filtering comprising mean filtering or median filtering on the at least one estimated vehicle speed; and

using a vehicle speed obtained through the filtering as the vehicle speed of the plurality of second vehicle speeds.

8 . A fault diagnosis apparatus for a speed measurement apparatus of a vehicle, comprising:

a memory storing instructions; and

a processor configured to execute the instructions to cause the fault diagnosis apparatus to:

obtain a first vehicle speed measured by the speed measurement apparatus;

recognize objects around the vehicle by identifying objects in an image or video captured by a camera of the vehicle;

selecting a static reference objects of a plurality of static reference objects from the recognized objects:

obtain reference information of the plurality of static reference objects at N moments, wherein N is an integer greater than 1, and the reference information comprises information about a location relationship of the plurality of static reference objects relative to the vehicle in which the speed measurement apparatus is located at each of the N moments;

obtain a plurality of second vehicle speeds through calculation based on the reference information, one for each of the plurality of static reference objects;

based on a difference between the first vehicle speed and any one of the plurality of second vehicle speeds being greater than a preset threshold, determine that the speed measurement apparatus is faulty and re-obtain the plurality of second vehicle speeds; and

determine that the speed measurement apparatus is not faulty based on all of the differences between the first vehicle speed and each of the plurality of second vehicle speeds being less than or equal to the preset threshold.

9 . The fault diagnosis apparatus according to claim 8 , wherein the obtaining the plurality of second vehicle speeds through calculation based on the reference information further comprises:

obtaining at least one estimated vehicle speed through calculation by using the reference information at the N moments, wherein the estimated vehicle speed is an average vehicle speed between any two moments in the N moments; and

processing the at least one estimated vehicle speed to obtain a vehicle speed of the plurality of second vehicle speeds.

10 . The fault diagnosis apparatus according to claim 9 , wherein obtaining the at least one estimated vehicle speed through calculation by using the reference information at the N moments further comprises:

when the vehicle and a first static reference object are not on a same road plane and the vehicle travels straight, performing the following operations:

establishing any three-dimensional coordinate system, and indicating coordinates of the first static reference object and coordinates of locations of the vehicle at the two moments;

obtaining a displacement of the vehicle relative to the first static reference object between the two moments through calculation based on the coordinates of the first static reference object and the coordinates of the locations of the vehicle at the two moments; and

obtaining the average speed between the two moments through calculation by using the displacement and a time length between the two moments.

11 . The fault diagnosis apparatus according to claim 9 , wherein obtaining the at least one estimated vehicle speed through calculation by using the reference information at the N moments further comprises:

when the vehicle and a first static reference object are not on a same road plane and the vehicle turns, performing the following operations:

establishing any three-dimensional coordinate system, and indicating coordinates of the first static reference object and coordinates of locations of the vehicle at the two moments;

obtaining a steering angle of the vehicle between the two moments and a steering radius of the vehicle through calculation by using a distance between the first static reference object and the vehicle, a wheel steering angle of the vehicle, and a length of the vehicle; and

obtaining the average speed between the two moments through calculation by using the steering angle, the steering radius, and a time length between the two moments.

12 . The fault diagnosis apparatus according to claim 9 , wherein processing the at least one estimated vehicle speed to obtain the plurality of second vehicle speeds further comprises:

performing filtering comprising mean filtering or median filtering on the at least one estimated vehicle speed; and

using a vehicle speed obtained through the filtering as the vehicle speed of the plurality of second vehicle speeds.

13 . The fault diagnosis apparatus according to claim 8 , wherein obtaining the at least one estimated vehicle speed through calculation by using the reference information at the N moments further comprises:

when the vehicle and a first static reference object are on a same road plane and the vehicle travels straight, performing the following operations:

obtaining a displacement of the vehicle relative to the first static reference object between the two moments through calculation by using a distance of the first static reference object relative to the vehicle and an included angle between the first static reference object and a traveling direction of the vehicle; and

obtaining the average speed between the two moments through calculation by using the displacement and a time length between the two moments.

14 . The fault diagnosis apparatus according to claim 13 , wherein obtaining the at least one estimated vehicle speed through calculation by using the reference information at the N moments further comprises:

when the vehicle and a first static reference object are on a same road plane and the vehicle turns, performing the following operations:

obtaining a steering angle of the vehicle between the two moments and a steering radius of the vehicle through calculation by using a distance between the first static reference object and the vehicle, a wheel steering angle of the vehicle, and a length of the vehicle; and

obtaining the average speed between the two moments through calculation by using the steering angle, the steering radius, and a time length between the two moments.

15 . A vehicle, comprising:

a fault diagnosis apparatus;

a camera; and

a speed measurement apparatus;

wherein the fault diagnosis apparatus is configured to perform fault diagnosis, the fault diagnosis comprising:

obtaining a first vehicle speed measured by the speed measurement apparatus;

recognizing objects around the vehicle by identifying the objects in an image or video captured by the camera;

selecting a static reference object of a plurality of static reference objects from the recognized objects:

obtaining reference information of the plurality of static reference objects at N moments, wherein N is an integer greater than 1, and the reference information comprises information about a location relationship of the plurality of static reference objects relative to the vehicle in which the speed measurement apparatus is located at each of the N moments;

obtaining a plurality of second vehicle speeds through calculation based on the reference information, one for each of the plurality of static reference objects;

based on a difference between the first vehicle speed and any one of the plurality of second vehicle speeds being greater than a preset threshold, determining that the speed measurement apparatus is faulty and re-obtaining the plurality of second vehicle speeds; and

determining that the speed measurement apparatus is not faulty based on all of the differences between the first vehicle speed and each of the plurality of second vehicle speeds being less than or equal to the preset threshold.

Assignments (3)

Continuity (2)

References Cited (14)