Slope point screening method, terminal device and medium, and slope calculation method and system

Abstract

The present invention relates to a slope point screening method, terminal equipment and medium, and a slope calculation method and system. The slope point screening method includes: screening out slope points whose first-order derivatives relative to road offset values ​​are greater than or equal to a derivative threshold from electronic horizon data as first-level slope points; from the first-level slope points, screening out second-level slope points based on the difference in road offset values ​​corresponding to two adjacent first-level slope points, and using the second-level slope points as screened discrete slope points. In the slope calculation method, the slope values ​​of the slope points between adjacent discrete slope points are recalculated based on the slope values ​​of each discrete slope point and the corresponding road offset value. The present invention greatly simplifies the number of road slope points ahead that need to be directly obtained, and maintains the original form of the road slope. The processing process is simple, requires few hardware resources, and is suitable for vehicle-mounted use.

Description

Technical Field

[0001] The present invention relates to the field of slope calculation, and in particular to a slope point screening method, terminal equipment and medium, and a slope calculation method and system. Background Art

[0002] Electronic horizon technology relies on map data and the Global Positioning System (GPS) to provide vehicles with accurate information about the road ahead, enabling the vehicle to predict road conditions ahead and help the vehicle achieve predictive control, achieving safer and more fuel-efficient results.

[0003] Slope is one of the most important road information. According to the slope ahead, the vehicle can be controlled to accelerate or decelerate in advance to reduce energy consumption. Safety controls such as safe driving prompts or pre-activation of the retarder can also be implemented based on the long downhill road ahead.

[0004] Because a vehicle may have numerous Electronic Control Units (ECUs) involved in gradient control, it's not feasible to install a separate set of map data on each ECU. Ideally, a dedicated onboard device with an electronic map would generate gradient data and then broadcast it to other ECUs in need. Since all ECUs on a vehicle communicate via the CAN bus, the ideal approach is to broadcast this information to each ECU via the CAN bus.

[0005] However, electronic map data is extremely large, while the CAN bus has a limited capacity. The CAN bus capacity of a typical commercial vehicle is only 250-500 kbps. In electronic map data, roads are represented as point sets. If every point on the road ahead, along with its corresponding slope, were broadcast from the bus, the bus would significantly exceed its capacity, leading to bus congestion, signal delays, and even complete vehicle bus network failure. Furthermore, thinning out the road slope points at even intervals may fail to capture detailed variations in road slope. Another approach treats the forward slope as a curve, using control point fitting or spline curves. However, these methods are computationally complex and analytically unsuitable for resource-constrained onboard electronic control terminals.

[0006] Therefore, it is necessary to propose a relatively optimized and simple data representation method to ensure that the forward slope information can be broadcast on the vehicle bus with a relatively small amount of data, and at the same time, the electronic control terminal that receives the data can reconstruct the forward geographic slope information more easily and accurately. Summary of the Invention

[0007] In order to solve the above problems, the present invention proposes a slope point screening method, terminal equipment and medium, and a slope calculation method and system.

[0008] The specific plan is as follows:

[0009] A slope point screening method based on electronic horizon data comprises the following steps:

[0010] Slope points whose first-order derivative relative to the road offset value is greater than or equal to a derivative threshold are selected from the electronic horizon data as first-level slope points;

[0011] From the first-level slope points, second-level slope points are screened out according to the road offset value difference between two adjacent first-level slope points, and the second-level slope points are used as the screened discrete slope points.

[0012] Furthermore, the method includes: screening the first-level slope points whose road offset value difference corresponding to two adjacent first-level slope points is not a fixed offset interval as second-level slope points.

[0013] Furthermore, it includes: forming a recursive interval of the first-level slope points whose road offset value difference corresponding to two adjacent first-level slope points is a fixed offset interval, calculating the difference between the linear slope value and the actual slope value of the first-level slope point in the recursive interval, and screening the second-level slope point.

[0014] Furthermore, when the differences of all first-level slope points in the recursive interval are less than the difference threshold, the first first-level slope point and the last first-level slope point in the recursive interval are set as second-level slope points.

[0015] Furthermore, when the difference of the first-level slope points in the recursive interval is greater than or equal to the difference threshold, the slope point with the largest difference in the recursive interval is used as the dividing point to split the recursive interval into two sub-recursive intervals, and the difference between the linear slope value and the actual slope value of the first-level slope point in each sub-recursive interval is calculated. When the difference of all the first-level slope points in the sub-recursive interval is less than the difference threshold, the first first-level slope and the last first-level slope point in the sub-recursive interval are set as second-level slope points. When the difference of the first-level slope points in the recursive interval is greater than or equal to the difference threshold, the splitting and recursion are continued.

[0016] Furthermore, the linear slope value of the slope point is calculated as follows:

[0017]

[0018] Where, the subscript i=1,2,...,m represents the sequence number of each slope point in the recursive interval after being sorted in the order of the corresponding road offset value, m represents the total number of slope points in the recursive interval, y i Indicates the linear slope value of the i-th slope point, x i Indicates the road offset value corresponding to the i-th slope point, s1, s m Represent the actual slope values ​​of the first and mth slope points, o1, o m Respectively represent the road offset values ​​corresponding to the 1st and mth slope points.

[0019] Furthermore, the derivative threshold is less than 0.01.

[0020] Furthermore, the difference threshold is less than 0.1.

[0021] A terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of slope point screening based on electronic horizon data described in the first embodiment of the present invention are implemented.

[0022] A computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of slope point screening based on electronic horizon data as described in the first embodiment of the present invention.

[0023] A slope calculation method based on discrete slope points, comprising:

[0024] The central control terminal collects electronic horizon data, and filters all slope points in the electronic horizon data into discrete slope points according to the slope point screening method based on electronic horizon data described in Example 1 of the present invention, and then sends the discrete slope points to each electronic control terminal;

[0025] After receiving the discrete gradient points, the electronic control terminal recalculates the gradient values ​​of the gradient points between adjacent discrete gradient points according to the gradient value of each discrete gradient point and the corresponding road offset value.

[0026] Furthermore, a method for recalculating the slope value of a slope point between adjacent discrete slope points is as follows: a linear slope value of the slope point is calculated according to a linear relationship between each slope point between adjacent discrete slope points, and the linear slope value is used as the slope value of the slope point.

[0027] Furthermore, the calculation formula for recalculating the linear slope value of the slope points between adjacent discrete slope points is:

[0028]

[0029] Among them, y represents the linear slope value of the slope point to be calculated, x represents the road offset value corresponding to the slope point to be calculated, and s a 、s b Represents the actual slope value of two adjacent discrete slope points, o a 、o b Respectively represent the road offset values ​​corresponding to two adjacent discrete slope points.

[0030] A slope calculation system based on discrete slope points includes a central control terminal and a plurality of electronic control terminals, wherein the central control terminal and each electronic control terminal include a memory, a processor, a data transmission module, and a computer program stored in the memory and executable on the processor;

[0031] After the central control terminal receives the electronic horizon data through its data transmission module, the processor in the central control terminal executes the computer program stored in its corresponding memory to implement the slope point screening method based on electronic horizon data according to the first embodiment of the present invention to screen all slope points in the electronic horizon data into discrete slope points, and then send the discrete slope points to each electronic control terminal through the data transmission module;

[0032] After the electronic control terminal receives each discrete gradient point through its data transmission module, the processor within the electronic control terminal executes a computer program stored in its corresponding memory to recalculate the gradient values ​​of gradient points between adjacent discrete gradient points based on the gradient value of each discrete gradient point and the corresponding road offset value.

[0033] The present invention adopts the above technical solution, which greatly simplifies the number of forward road slope points that need to be directly obtained, and maintains the original form of the road slope. The processing process is simple, requires few hardware resources, and is suitable for vehicle-mounted use. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Shown is a schematic diagram of electronic horizon data in Example 1 of the present invention.

[0035] Figure 2 Shown is a flow chart of this embodiment. DETAILED DESCRIPTION

[0036] To further illustrate various embodiments, the present invention provides accompanying drawings. These drawings form part of the present disclosure and are primarily used to illustrate the embodiments and, in conjunction with the relevant description in the specification, to explain the operating principles of the embodiments. By referring to these drawings, those skilled in the art will be able to understand other possible implementations and the advantages of the present invention.

[0037] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0038] Example 1:

[0039] like Figure 1 As shown, it is a schematic diagram of the electronic horizon data, which includes the road offset value from the starting point of the road (represented by the value of the parameter offset in the figure) and the actual slope value (represented by the value of the parameter slp in the figure) for each slope point (such as P1, P2).

[0040] Existing electronic horizon systems broadcast the road ahead slope as a series of equally spaced (e.g., 5-meter intervals) slope points. This means that the road offset difference between two adjacent slope points is equal. Embodiments of the present invention provide a slope point screening method based on electronic horizon data. This method filters existing continuous slope points with fixed offset intervals, reducing the number and density of slope points while accurately preserving the original road slope.

[0041] like Figure 2 As shown, the method of this embodiment includes the following steps: selecting from the electronic horizon data the slope points whose first-order derivative relative to the road offset value is greater than or equal to the derivative threshold as the first-level slope points; selecting the second-level slope points based on the relationship between the difference between the linear slope value and the actual slope value between adjacent slope points in the first-level slope points and the difference threshold, and using the second-level slope points as the selected discrete slope points.

[0042] It should be noted that the adjacent slope points in the first-level slope points refer to the slope points with adjacent serial numbers after the first-level slope points are sorted in order of the corresponding road offset values.

[0043] (1) The method for screening the first-level slope points is as follows: the slope points whose first-order derivatives are greater than or equal to the derivative threshold are screened as the first-level slope points in the electronic horizon data.

[0044] The derivative threshold should be a minimum value. In this embodiment, the derivative threshold is set to be less than 0.01. A slope point less than the derivative threshold indicates that the road slope corresponding to the slope point has almost no change relative to the road offset. Therefore, the slope value corresponding to the slope point can be represented by a fixed slope value.

[0045] In this embodiment, the i-th slope point P i The first derivative D relative to the road offset value i The calculation formula is:

[0046] D i =(s i -s i-1 ) / (o i -o i-1 )

[0047] Among them, s i 、s i-1 Represent the actual slope values ​​of the i-th and i-1-th slope points, o i 、o i-1 They represent the road offset values ​​of the i-th and i-1-th slope points respectively. The i-1-th slope point is the adjacent slope point of the i-th slope point, that is, the slope point whose road offset value difference with the i-th slope point is a fixed offset interval L.

[0048] (2) The principle of selecting the second-level slope points is to select the first-level slope points whose road offset value difference between two adjacent first-level slope points is not a fixed offset interval as the second-level slope points.

[0049] The screening for non-fixed offset intervals is processed by forming a recursive interval, that is, the first-level slope points whose road offset value difference corresponding to two adjacent first-level slope points is a fixed offset interval are formed into a recursive interval, and the difference between the linear slope value and the actual slope value of the first-level slope point in the recursive interval is calculated to screen the second-level slope points.

[0050] When the difference of the first-level slope points in the recursive interval is greater than or equal to the difference threshold, the slope point with the largest difference in the recursive interval is used as the dividing point to split the recursive interval into two sub-recursive intervals, and the difference between the linear slope value and the actual slope value of the first-level slope point in each sub-recursive interval is calculated. When the difference of all the first-level slope points in the sub-recursive interval is less than the difference threshold, the first first-level slope and the last first-level slope point in the sub-recursive interval are set as second-level slope points. When the difference of the first-level slope points in the recursive interval is greater than or equal to the difference threshold, the splitting and recursion are continued.

[0051] The specific screening process in this embodiment includes the following steps:

[0052] S11: For all first-level slope points, determine whether there is a slope point whose road offset value difference between two adjacent slope points is a fixed offset interval. If so, form a recursive interval with all slope points whose road offset value difference between two adjacent slope points is a fixed offset interval. Set all slope points whose road offset value difference with any other first-level slope point is not a fixed offset interval as second-level slope points, and enter S12; otherwise, set all first-level slope points as second-level slope points.

[0053] S12: For each recursive interval, calculate the difference between the linear slope value and the actual slope value of each slope point therein. When the difference between all slope points in the recursive interval is less than the difference threshold, set the first and last slope points in the recursive interval as second-level slope points; otherwise, enter S13.

[0054] For example, a string of adjacent slope points p1, p2, ..., p m , the road offset difference between each pair is a fixed offset interval L (i.e., the series of slope points are connected at a fixed offset interval L). This series of adjacent slope points is grouped into a recursive interval and reordered according to the size of the corresponding road offset difference. The linear slope value of each slope point in the recursive interval is calculated as follows:

[0055]

[0056] Where, the subscript i = 1, 2, ..., m represents the sequence number of each slope point in the recursive interval after being sorted in the order of the corresponding road offset value, m represents the total number of slope points in the recursive interval, y i Indicates the linear slope value of the i-th slope point, x i Indicates the road offset value corresponding to the i-th slope point, s1, s m Represent the actual slope values ​​of the first and mth slope points, o1, o m Respectively represent the road offset values ​​corresponding to the 1st and mth slope points.

[0057] The actual slope value is a value stored in the electronic horizon system.

[0058] In this embodiment, the difference threshold is set to be less than 0.1. A smaller difference indicates that the difference between the linear slope value calculated by the linear relationship and the actual slope value is small, and the actual slope value of the slope point can be approximately replaced by the linear slope value.

[0059] S13: Split the recursive interval into two recursive intervals using the slope point with the largest difference in the recursive interval as the dividing point, and return to S12 until all recursive intervals are processed.

[0060] If the point with the largest difference in the recursive interval is p k , then the two recursive intervals of the split are [p m ,p k ]、[p k ,p m ].

[0061] This embodiment realizes the screening of continuous slope points into discrete slope points that can represent the original slope curve, and the discrete slope points are points with unequal intervals, which greatly reduces the number of points and provides strong support for the subsequent recalculation of the slope.

[0062] Example 2:

[0063] The present invention also provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method of embodiment 1 of the present invention when executing the computer program.

[0064] Furthermore, as an executable solution, the terminal device may be a computing device such as an onboard computer or a cloud server. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will appreciate that the above-described terminal device components are merely examples and do not constitute a limitation on the terminal device. The terminal device may include more or fewer components than those described above, or a combination of certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc., but this is not limited in the present embodiment.

[0065] Furthermore, as an executable solution, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0066] The memory can be used to store the computer programs and / or modules, and the processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created based on the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0067] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method in embodiment 1 of the present invention are implemented.

[0068] If the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) and software distribution medium, etc.

[0069] Example 3:

[0070] The present invention also provides a slope calculation method based on discrete slope points, the method comprising:

[0071] The central control terminal collects electronic horizon data, and after filtering all slope points in the electronic horizon data into discrete slope points according to the slope point screening method based on electronic horizon data described in Example 1 of the present invention, the discrete slope points are sent to each electronic control terminal.

[0072] After receiving the discrete gradient points, the electronic control terminal recalculates the gradient values ​​of the gradient points between adjacent discrete gradient points according to the gradient value of each discrete gradient point and the corresponding road offset value.

[0073] The calculation method for recalculating the slope value of the slope point between adjacent discrete slope points is: calculating the linear slope value of the slope point according to the linear relationship between each slope point between the adjacent discrete slope points, and taking the linear slope value as the slope value of the slope point.

[0074] The calculation formula for recalculating the linear slope value of the slope points between adjacent discrete slope points is:

[0075]

[0076] Among them, y represents the linear slope value of the slope point to be calculated, x represents the road offset value corresponding to the slope point to be calculated, and s a 、s b Represents the actual slope value of two adjacent discrete slope points, o a 、o b Respectively represent the road offset values ​​corresponding to two adjacent discrete slope points.

[0077] During actual driving, the vehicle can subtract the road offset value of a certain slope point from the current road offset value of the vehicle itself according to its current road offset value, that is, to know how far away the slope point is and how many degrees the slope is.

[0078] The method of this embodiment greatly simplifies the number of forward road slope points that need to be directly obtained, and maintains the original form of the road slope. The processing process is simple, requires few hardware resources, and is suitable for vehicle-mounted use.

[0079] Example 4:

[0080] The present invention also provides a slope calculation system based on discrete slope points, including a central control terminal and multiple electronic control terminals, wherein the central control terminal and each electronic control terminal include a memory, a processor, a data transmission module, and a computer program stored in the memory and executable on the processor.

[0081] After the central control terminal receives the electronic horizon data through its data transmission module, the processor in the central control terminal executes the computer program stored in its corresponding memory to implement the slope point screening method based on electronic horizon data according to Example 1 of the present invention to screen all slope points in the electronic horizon data into discrete slope points, and then send the discrete slope points to each electronic control terminal through the data transmission module.

[0082] After the electronic control terminal receives each discrete gradient point through its data transmission module, the processor within the electronic control terminal executes a computer program stored in its corresponding memory to recalculate the gradient values ​​of gradient points between adjacent discrete gradient points based on the gradient value of each discrete gradient point and the corresponding road offset value.

[0083] Furthermore, as an executable solution, the central control terminal can be a central control terminal on a vehicle, and the electronic control terminal can be other on-vehicle electronic control terminals connected to the central control terminal via a CAN bus to implement different functions. Both the central control terminal and the electronic control terminal can include, but are not limited to, a processor and a memory. Those skilled in the art will understand that the composition structures of the above-mentioned central control terminal and electronic control terminal are merely examples of central control terminals and electronic control terminals, and do not constitute a limitation on the central control terminal and electronic control terminal. They can include more or fewer components than the above-mentioned components, or combine certain components, or different components. For example, the central control terminal and electronic control terminal can also include input and output devices, network access devices, buses, etc., and the embodiments of the present invention do not limit this.

[0084] Although the present invention has been particularly shown and described in conjunction with preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims, and all such changes are within the scope of protection of the present invention.

Claims

1. A slope point screening method based on electronic horizon data, characterized in that: The following steps are involved: Slope points whose first-order derivative relative to the road offset value is greater than or equal to a derivative threshold are selected from the electronic horizon data as first-level slope points; The i-th slope point P i The first derivative D relative to the road offset value i The calculation formula is: D i =(s i -s i-1 ) / (o i -o i-1 ) Among them, s i 、s i-1 Represent the actual slope values ​​of the i-th and i-1-th slope points, o i 、o i-1 They represent the road offset values ​​of the i-th and i-1-th slope points respectively, and the i-1-th slope point is the adjacent slope point of the i-th slope point; From the first-level slope points, second-level slope points are selected based on the difference in road offset values ​​corresponding to two adjacent first-level slope points, and the second-level slope points are used as the selected discrete slope points; two adjacent first-level slope points are slope points with adjacent serial numbers after sorting the first-level slope points in order of the corresponding road offset values; After receiving the discrete gradient points, the electronic control terminal recalculates the gradient values ​​of the gradient points between adjacent discrete gradient points according to the gradient value of each discrete gradient point and the corresponding road offset value.

2. The slope point screening method based on electronic horizon data according to claim 1 is characterized in that: include: The first-level slope points whose road offset value differences corresponding to two adjacent first-level slope points are not within a fixed offset interval are screened as second-level slope points.

3. The slope point screening method based on electronic horizon data according to claim 1, characterized in that: include: The first-level slope points whose road offset value difference corresponding to two adjacent first-level slope points is a fixed offset interval are formed into a recursive interval, the difference between the linear slope value and the actual slope value of the first-level slope points in the recursive interval is calculated, and the second-level slope points are selected.

4. The slope point screening method based on electronic horizon data according to claim 3 is characterized in that: When the differences of all first-level slope points in the recursive interval are smaller than the difference threshold, the first first-level slope point and the last first-level slope point in the recursive interval are set as second-level slope points.

5. The slope point screening method based on electronic horizon data according to claim 3 is characterized in that: When the difference of the first-level slope points in the recursive interval is greater than or equal to the difference threshold, the slope point with the largest difference in the recursive interval is used as the dividing point to split the recursive interval into two sub-recursive intervals, and the difference between the linear slope value and the actual slope value of the first-level slope point in each sub-recursive interval is calculated. When the difference of all the first-level slope points in the sub-recursive interval is less than the difference threshold, the first first-level slope and the last first-level slope point in the sub-recursive interval are set as second-level slope points. When the difference of the first-level slope points in the recursive interval is greater than or equal to the difference threshold, the splitting and recursion are continued.

6. The slope point screening method based on electronic horizon data according to any one of claims 3 to 5, characterized in that: The linear slope value of the slope point is calculated as follows: Where, the subscript i=1,2,...,m represents the sequence number of each slope point in the recursive interval after being sorted in the order of the corresponding road offset value, m represents the total number of slope points in the recursive interval, y i Indicates the linear slope value of the i-th slope point, x i Indicates the road offset value corresponding to the i-th slope point, s1, s m Represent the actual slope values ​​of the first and mth slope points, o1, o m Respectively represent the road offset values ​​corresponding to the 1st and mth slope points.

7. The slope point screening method based on electronic horizon data according to any one of claims 1 to 5, characterized in that: The derivative threshold is less than 0.

01.

8. The slope point screening method based on electronic horizon data according to any one of claims 1 to 5, characterized in that: The difference threshold is less than 0.

1.

9. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium storing a computer program, wherein: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A slope calculation method based on discrete slope points, characterized in that: include: The central control terminal collects electronic horizon data, and filters all slope points in the electronic horizon data into discrete slope points according to the slope point screening method based on electronic horizon data according to any one of claims 1 to 8, and then sends the discrete slope points to each electronic control terminal; After receiving the discrete gradient points, the electronic control terminal recalculates the gradient values ​​of the gradient points between adjacent discrete gradient points according to the gradient value of each discrete gradient point and the corresponding road offset value.

12. The slope calculation method based on discrete slope points according to claim 11, characterized in that: The calculation method for recalculating the slope value of the slope point between adjacent discrete slope points is: calculating the linear slope value of the slope point according to the linear relationship between each slope point between the adjacent discrete slope points, and taking the linear slope value as the slope value of the slope point.

13. The slope calculation method based on discrete slope points according to claim 12, characterized in that: The calculation formula for recalculating the linear slope value of the slope points between adjacent discrete slope points is: Among them, y represents the linear slope value of the slope point to be calculated, x represents the road offset value corresponding to the slope point to be calculated, and s a 、s b Represents the actual slope value of two adjacent discrete slope points, o a 、o b Respectively represent the road offset values ​​corresponding to two adjacent discrete slope points.

14. A slope calculation system based on discrete slope points, characterized by: The system comprises a central control terminal and a plurality of electronic control terminals, wherein the central control terminal and each electronic control terminal comprises a memory, a processor, a data transmission module, and a computer program stored in the memory and executable on the processor; After the central control terminal receives the electronic horizon data through its data transmission module, the processor in the central control terminal executes the computer program stored in its corresponding memory to implement the slope point screening method based on electronic horizon data according to any one of claims 1 to 8 to screen all slope points in the electronic horizon data into discrete slope points, and then send the discrete slope points to each electronic control terminal through the data transmission module; After the electronic control terminal receives each discrete gradient point through its data transmission module, the processor within the electronic control terminal executes a computer program stored in its corresponding memory to recalculate the gradient values ​​of gradient points between adjacent discrete gradient points based on the gradient value of each discrete gradient point and the corresponding road offset value.

15. The slope calculation system based on discrete slope points according to claim 14, characterized in that: The calculation method for recalculating the slope value of the slope point between adjacent discrete slope points is: calculating the linear slope value of the slope point according to the linear relationship between each slope point between the adjacent discrete slope points, and taking the linear slope value as the slope value of the slope point.

16. The slope calculation system based on discrete slope points according to claim 15, characterized in that: The calculation formula for recalculating the linear slope value of the slope points between adjacent discrete slope points is: Among them, y represents the linear slope value of the slope point to be calculated, x represents the road offset value corresponding to the slope point to be calculated, and s a 、s b Represents the actual slope value of two adjacent discrete slope points, o a 、o b Respectively represent the road offset values ​​corresponding to two adjacent discrete slope points.

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