Gradient determination method and related device, and semitrailer

Abstract

The application discloses a slope determination method and related devices and a semitrailer truck, and the semitrailer truck at least comprises a tractor and a semitrailer. The method comprises the following steps: acquiring a towing seat angle of the semitrailer truck when the semitrailer truck travels on a target road section, wherein the target road section at least comprises a road section when traveling on a slope; determining a first slope angle parameter value of the target road section where the tractor is located and a second slope angle parameter value of the target road section where the semitrailer is located; and calculating an equivalent slope of the road section where the semitrailer truck is located according to the first slope angle parameter value, the second slope angle parameter value and the towing seat angle of the semitrailer truck when the semitrailer truck travels on the target road section. The equivalent slope of the road section where the semitrailer truck is located can be calculated through the application, the problem that the result of the existing slope estimation method is inaccurate is improved, and the applicability is better.

Description

Technical Field

[0001] This application relates to the field of vehicle parameter estimation, and in particular to a method for determining gradient and related devices, and a semi-trailer truck train. Background Technology

[0002] Existing slope estimation methods generally employ least squares or Kalman filtering, vehicle driving equations, or slope sensor signal fusion to calculate the longitudinal slope. The vehicle driving equation is: Driving resistance = Rolling resistance + Air resistance + Slope resistance + Acceleration resistance. For semi-trailer trucks, slope sensors are mounted on the tractor unit, providing the superimposed value of the tractor unit's longitudinal slope and longitudinal acceleration.

[0003] The gradient sensor, mounted on the tractor unit, can only estimate the longitudinal gradient of the section where the tractor unit is located. However, semi-trailer trucks can typically reach lengths of 22 meters, meaning the longitudinal gradient of the section where the truck is located may not be equal to that of the tractor unit. Therefore, directly applying this to semi-trailer trucks results in inaccurate gradient estimations. Furthermore, installing gradient sensors on the semi-trailer itself involves a highly complex signal fusion algorithm. Considering the frequent switching between semi-trailers by the tractor unit, the fusion algorithm becomes meaningless if a semi-trailer without a gradient sensor is used. Therefore, the cost-benefit ratio of installing gradient sensors on semi-trailers is too low. Summary of the Invention

[0004] This application provides a method for determining the slope, as well as related devices and semi-trailer trucks, to obtain an accurate equivalent slope with strong applicability.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a slope determination method, which is applied to the calculation of the equivalent slope of a road segment where a semi-trailer truck is located. The semi-trailer truck includes at least a tractor and a semi-trailer. The method includes: obtaining the traction seat angle of the semi-trailer truck when it travels on a target road segment, wherein the target road segment includes at least a road segment where it travels on a slope; determining a first slope angle parameter value of the tractor on the target road segment and a second slope angle parameter value of the semi-trailer on the target road segment; and calculating the equivalent slope of the road segment where the semi-trailer truck is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle of the semi-trailer truck when it travels on the target road segment.

[0007] Secondly, embodiments of this application also provide a gradient determination device, which is applied to the calculation of the equivalent gradient of a road segment where a semi-trailer train is located. The semi-trailer train includes at least a tractor and a semi-trailer. The device includes: an acquisition module for acquiring the traction seat angle of the semi-trailer train when it travels on a target road segment, wherein the target road segment includes at least a road segment where it travels on a slope; a determination module for determining a first slope angle parameter value of the tractor in the target road segment and a second slope angle parameter value of the semi-trailer in the target road segment; and a calculation module for calculating the equivalent gradient of the road segment where the semi-trailer train is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle of the semi-trailer train when it travels on the target road segment.

[0008] Thirdly, embodiments of this application also provide an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the above-described method.

[0009] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the above-described method.

[0010] Fifthly, embodiments of this application also provide a semi-trailer truck train, which includes the aforementioned gradient determining device.

[0011] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0012] By using the tractor seat angle and the first and second ramp angle parameters of the tractor and semi-trailer when the semi-trailer is traveling on the target road section, the equivalent gradient of the current road section can be accurately determined. Furthermore, this application is applicable to situations where the tractor frequently switches between semi-trailers, improving the return on investment. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0014] Figure 1 This is a flowchart illustrating the slope determination method in the embodiments of this application;

[0015] Figure 2 This is a schematic diagram of the slope determination device in the embodiments of this application;

[0016] Figure 3 This is a schematic diagram of the semi-trailer truck train in the slope determination method of this application embodiment;

[0017] Figure 4 This is a schematic diagram illustrating the calculation of the upslope angle in the slope determination method of this application embodiment;

[0018] Figure 5 This is a schematic diagram illustrating the calculation of the downslope angle in the slope determination method of this application embodiment;

[0019] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] The technical terms used in this application are as follows:

[0022] Semi-trailer truck train: consists of a tractor unit and a semi-trailer. The tractor unit and the semi-trailer are connected by a drawbar mounted on the tractor unit.

[0023] Slope: The tangent of the angle; positive when the front of the vehicle is higher than the rear, and negative when the front is lower than the rear; unit is %.

[0024] Least squares method: a mathematical tool that is widely used in many disciplines of data processing, such as error estimation, uncertainty, system identification and prediction, forecasting, etc.

[0025] Kalman filtering: an algorithm that uses the state equations of a linear system to make an optimal estimate of the system state using system input and output observation data. Since the observation data includes the effects of noise and interference in the system, the optimal estimation can also be regarded as a filtering process.

[0026] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0027] This application provides a method for determining slope, such as... Figure 1 The diagram shows a flowchart of a slope determination method in an embodiment of this application. The method includes at least the following steps S110 to S130:

[0028] Step S110: Obtain the traction seat angle of the semi-trailer truck when it is traveling on the target road section, wherein the target road section includes at least the road section when traveling on a slope.

[0029] like Figure 3 The semi-trailer truck train shown includes at least a tractor unit and a semi-trailer unit. Typically, a slope sensor is mounted on the tractor unit.

[0030] The traction seat angle of the semi-trailer truck when traveling on the target road section includes the slope angle of the road section where the semi-trailer truck is located. It should be noted that the target road section includes at least the road section where the truck is traveling on a slope. The slope here can be uphill or downhill, and is not specifically limited in the embodiments of this application.

[0031] In practice, the slope angle parameter value can be obtained by analyzing and calculating the gravity in the slope direction when the semi-trailer truck is traveling on the slope.

[0032] Step S120: Determine the first slope angle parameter value of the target road section where the tractor is located and the second slope angle parameter value of the semi-trailer on the target road section.

[0033] Determine the first slope angle parameter value of the target road section where the tractor is located.

[0034] In practice, the slope θ1 of the road section where the tractor is located satisfies the formula

[0035]

[0036] Where i1 is the slope of the road section where the tractor is located, in percentage, which can be calculated using existing slope estimation methods.

[0037] Determine the second slope angle parameter value of the semi-trailer on the target road section.

[0038] In practice, the slope θ2 of the road section where the semi-trailer is located satisfies the formula:

[0039] θ2=θ1+Δθ

[0040] The first and second slope angle parameter values ​​here represent the slope angles of the road section where the tractor unit is located and the road section where the semi-trailer unit is located, respectively. The unit here is °.

[0041] Step S130: Calculate the equivalent slope of the road section where the semi-trailer truck is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle when the semi-trailer truck is traveling on the target road section.

[0042] The equivalent slope of the road section where the semi-trailer truck is located is calculated based on the first slope angle parameter value, the second slope angle parameter value, the traction seat angle of the semi-trailer truck when it is traveling on the target road section, and the equivalent formula.

[0043] It should be noted that the equivalent gradient i of the section of road where the semi-trailer truck is located satisfies the formula

[0044] i = tanθ

[0045] Where i is the equivalent gradient of the road section where the semi-trailer truck is located, in percentage (%).

[0046] In one embodiment of this application, the tractor and the semi-trailer are connected by a traction seat mounted on the tractor. The traction seat is equipped with at least one angle sensor. The traction seat is taken as the origin, the front of the tractor is taken as the reference direction, and the front of the semi-trailer is taken as the direction of the angle to be measured. The angle Δθ is negative when the ray of the angle to be measured is below the ray of the reference direction, and positive when the ray of the angle to be measured is above the ray of the reference direction.

[0047] In specific implementation, such as Figure 4 as well as Figure 5 As shown, an angle sensor was added to the towing unit. The towing unit was used as the origin, the front of the tractor unit as the reference direction, and the front of the semi-trailer as the direction of the measured angle. When the ray of the measured angle direction is below the reference direction ray, the included angle Δθ is defined as a negative value; when the ray of the measured angle direction is above the reference direction ray, the included angle Δθ is defined as a positive value.

[0048] Preferably, when the angle Δθ is negative when the measured angle ray is below the reference direction ray, the semi-trailer truck is traveling on an uphill section; or, when the angle Δθ is positive when the measured angle ray is above the reference direction ray, the semi-trailer truck is traveling on an uphill section.

[0049] Δθ includes the slope angle of the road section where the semi-trailer truck is located, the slope angle of the road section where the tractor is located, the slope angle of the road section where the semi-trailer is located, and so on, depending on the different situations and the different entities on the road section.

[0050] In one embodiment of this application, determining the first slope angle parameter value of the target road segment where the tractor is located and the second slope angle parameter value of the semi-trailer on the target road segment includes: determining the first slope angle parameter value of the target road segment where the tractor is located based on a preset slope estimate value of the tractor on the target road segment, wherein the preset slope estimate value is calculated according to a preset processing method, and the unit of the preset slope estimate value is %; and obtaining the second slope angle parameter value of the semi-trailer on the target road segment based on the sum of the included angle Δθ measured by the angle sensor and the first slope angle parameter value.

[0051] In specific implementation, based on the preset slope estimate of the tractor on the target road section, the first slope angle parameter value of the tractor on the target road section is determined. That is, the first slope angle parameter value.

[0052]

[0053] Where i1 is the slope of the road section where the tractor is located, in percentage, which can be calculated using existing slope estimation methods.

[0054] In one embodiment of this application, calculating the equivalent slope of the road segment where the semi-trailer truck is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle when the semi-trailer truck is traveling on the target road segment includes: determining the included angle Δθ based on the front of the tractor as the reference direction and the front of the semi-trailer as the direction of the measured angle; and calculating the equivalent longitudinal slope of the road segment where the semi-trailer truck is located based on the first slope angle parameter value θ1, the second slope angle parameter value θ2, and the traction seat angle θ when the semi-trailer truck is traveling on the target road segment, wherein θ2 = θ1 + Δθ.

[0055] In specific implementation, the second slope angle parameter value of the semi-trailer on the target road section is obtained by summing the included angle Δθ measured by the angle sensor and the first slope angle parameter value. That is, the second slope angle parameter value θ2 satisfies...

[0056] θ2=θ1+Δθ (4).

[0057] In one embodiment of this application, obtaining the traction seat angle of the semi-trailer truck when it travels on a target road segment, wherein the target road segment includes at least a road segment where it travels on a slope, includes: obtaining the traction seat angle of the semi-trailer truck when it travels on the target road segment based on the component of the weight of the semi-trailer truck in the slope direction when it travels on the slope, wherein the unit of the slope angle parameter value is °.

[0058] In practice, when a semi-trailer truck travels on a slope, the component of gravity in the slope direction satisfies the formula...

[0059] F=m×g×sinθ=m1×g×sinθ1+(m-m1)×g×sinθ2 (1)

[0060] in,

[0061] F is the component of the weight of the semi-trailer truck in the direction of the slope, and its unit is N;

[0062] m represents the mass of the semi-trailer truck train, in kg, provided by the vehicle weight estimation module;

[0063] g is the acceleration due to gravity, taken as 9.8 m / s²;

[0064] θ is the slope angle of the road section where the semi-trailer truck is located, in degrees;

[0065] m1 is the curb weight of the tractor unit, in kg;

[0066] θ1 is the slope angle of the road section where the tractor is located, in degrees;

[0067] θ2 is the slope angle of the road section where the semi-trailer is located, in degrees.

[0068] From the above formula, we can obtain that the ramp angle θ satisfies formula (2):

[0069]

[0070] Furthermore, the equivalent gradient i of the section where the semi-trailer truck is located satisfies formula (5):

[0071] i = tanθ (5)

[0072] Where i is the equivalent gradient of the road section where the semi-trailer truck is located, in percentage (%).

[0073] Substituting formulas (2), (3), and (4) into formula (5), the method for calculating the equivalent gradient of the road section where the semi-trailer truck is located is as follows:

[0074]

[0075] It should be noted that the curb weight of the tractor unit and the weight of the semi-trailer truck can be obtained through existing methods and are not specifically limited in this application.

[0076] This application embodiment also provides a slope determining device 200, such as... Figure 2The diagram provided illustrates the structure of a slope determination device in an embodiment of this application. The slope determination device 200 includes at least: an acquisition module 210, a determination module 220, and a calculation module 230, wherein:

[0077] In one embodiment of this application, the acquisition module 210 is specifically used to: the traction seat angle of the semi-trailer truck when traveling on the target road segment includes the slope angle of the road segment where the semi-trailer truck is located. It should be noted that the target road segment includes at least the road segment where the truck travels on a slope. The slope here can be uphill or downhill, and is not specifically limited in the embodiments of this application.

[0078] In practice, the slope angle parameter value can be obtained by analyzing and calculating the gravity in the slope direction when the semi-trailer truck is traveling on the slope.

[0079] In one embodiment of this application, the determining module 220 is specifically used to: determine the first slope angle parameter value of the target road segment where the tractor is located.

[0080] In practice, the slope θ1 of the road section where the tractor is located satisfies the formula

[0081]

[0082] Where i1 is the slope of the road section where the tractor is located, in percentage, which can be calculated using existing slope estimation methods.

[0083] Determine the second slope angle parameter value of the semi-trailer on the target road section.

[0084] In practice, the slope θ2 of the road section where the semi-trailer is located satisfies the formula:

[0085] θ2=θ1+Δθ

[0086] The first and second slope angle parameter values ​​here represent the slope angles of the road section where the tractor unit is located and the road section where the semi-trailer unit is located, respectively. The unit here is °.

[0087] In one embodiment of this application, the calculation module 230 is specifically used to: calculate the equivalent slope of the road section where the semi-trailer is located based on the first slope angle parameter value, the second slope angle parameter value, the traction seat angle of the semi-trailer when it travels on the target road section, and the equivalent formula.

[0088] It should be noted that the equivalent gradient i of the section of road where the semi-trailer truck is located satisfies the formula i = tanθ.

[0089] Where i is the equivalent gradient of the road section where the semi-trailer truck is located, in percentage (%).

[0090] It is understood that the slope determination device described above can implement each step of the slope determination method provided in the foregoing embodiments. The relevant explanations of the slope determination method are applicable to the slope determination device, and will not be repeated here.

[0091] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Please refer to it. Figure 6 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0092] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0093] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0094] The processor reads the corresponding computer program from non-volatile memory into main memory and then runs it, forming a slope determination mechanism at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0095] The angle of the traction seat of the semi-trailer truck is obtained when it travels on the target road section, wherein the target road section includes at least the road section when traveling on a slope.

[0096] Determine the first slope angle parameter value of the target road section where the tractor is located and the second slope angle parameter value of the semi-trailer on the target road section;

[0097] The equivalent gradient of the road section where the semi-trailer truck is located is calculated based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle when the semi-trailer truck is traveling on the target road section.

[0098] The above is as stated in this application. Figure 1 The slope determination device disclosed in the illustrated embodiment can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0099] The electronic device can also perform Figure 1 The method for executing the slope determination device, and the implementation of the slope determination device in... Figure 1 The functions of the embodiments shown are not described in detail here.

[0100] This application also proposes a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by an electronic device including multiple applications, enable the electronic device to perform... Figure 1 The slope determination device in the illustrated embodiment performs a method specifically for the following purposes:

[0101] The angle of the traction seat of the semi-trailer truck is obtained when it travels on the target road section, wherein the target road section includes at least the road section when traveling on a slope.

[0102] Determine the first slope angle parameter value of the target road section where the tractor is located and the second slope angle parameter value of the semi-trailer on the target road section;

[0103] The equivalent gradient of the road section where the semi-trailer truck is located is calculated based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle when the semi-trailer truck is traveling on the target road section.

[0104] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0108] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0109] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0110] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0111] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0112] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for determining slope, wherein, This method is applied to the calculation of equivalent gradients on road sections where semi-trailer truck trains are located. The semi-trailer truck train includes at least a tractor unit and a semi-trailer unit. The method is applicable to scenarios where the tractor unit frequently switches between semi-trailer units. The method includes: The angle of the traction seat of the semi-trailer truck is obtained when it travels on the target road section, wherein the target road section includes at least the road section when traveling on a slope. The tractor and the semi-trailer are connected by a traction seat mounted on the tractor. The traction seat is equipped with at least one angle sensor. The step of acquiring the angle of the traction seat when the semi-trailer is traveling on the target road section includes: Using the traction seat as the origin, the front of the tractor as the reference direction, and the front of the semi-trailer as the direction of the angle to be measured, the included angle Δθ is negative when the ray of the angle to be measured is below the ray of the reference direction, and positive when the ray of the angle to be measured is above the ray of the reference direction. When the angle Δθ is negative when the ray of the measured angle direction is below the ray of the reference direction, the semi-trailer truck is traveling on an uphill section. When the angle Δθ is positive when the ray of the measured angle direction is above the ray of the reference direction, the semi-trailer truck is traveling on a downhill section. Determine the first slope angle parameter value of the target road section where the tractor is located and the second slope angle parameter value of the semi-trailer on the target road section; The equivalent gradient of the road section where the semi-trailer truck is located is calculated based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle when the semi-trailer truck is traveling on the target road section. The step of calculating the equivalent gradient of the road segment where the semi-trailer truck is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle of the semi-trailer truck when it is traveling on the target road segment includes: The included angle Δθ is determined based on the front of the tractor as the reference direction and the front of the semi-trailer as the direction of the angle being measured. Based on the first slope angle parameter value θ1, the second slope angle parameter value θ2, and the traction seat angle of the semi-trailer truck when it is traveling on the target road section, the equivalent longitudinal slope of the road section where the semi-trailer truck is located is calculated, wherein θ2 = θ1 + Δθ. The step of calculating the equivalent gradient of the road segment where the semi-trailer truck is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle of the semi-trailer truck when it is traveling on the target road segment includes: Based on the first ramp angle parameter value The second ramp angle parameter value is θ2 = θ1 + Δθ. The gradient angle of the semi-trailer truck when traveling on the target section of road. Calculate the equivalent gradient of the section of road where the semi-trailer truck is located. Where i = tanθ, F is the component of the weight of the semi-trailer in the direction of the slope, m is the mass of the semi-trailer, g is the gravitational acceleration, θ is the slope angle of the road section where the semi-trailer is located, m1 is the curb weight of the tractor, θ1 is the slope angle of the road section where the tractor is located, and θ2 is the slope angle of the road section where the semi-trailer is located.

2. The method as described in claim 1, wherein, Determining the first slope angle parameter value of the tractor unit on the target road segment and the second slope angle parameter value of the semi-trailer unit on the target road segment includes: Based on the preset slope estimate of the tractor on the target road section, the first slope angle parameter value of the tractor on the target road section is determined, wherein the preset slope estimate is calculated according to a preset processing method, and the unit of the preset slope estimate is %. The second slope angle parameter value of the semi-trailer on the target road section is obtained by summing the included angle Δθ measured by the angle sensor with the first slope angle parameter value.

3. A slope determining device, wherein, An equivalent gradient calculation method is applied to road sections where semi-trailer truck trains are located. The semi-trailer truck train includes at least a tractor unit and a semi-trailer unit. The device is used in scenarios where the tractor unit frequently switches between semi-trailer units. The device includes: The acquisition module is used to acquire the angle of the traction seat when the semi-trailer truck is traveling on the target road section, wherein the target road section includes at least the road section when traveling on a slope. The tractor and the semi-trailer are connected by a traction seat mounted on the tractor. The traction seat is equipped with at least one angle sensor. The step of acquiring the angle of the traction seat when the semi-trailer is traveling on the target road section includes: Using the traction seat as the origin, the front of the tractor as the reference direction, and the front of the semi-trailer as the direction of the angle to be measured, the included angle Δθ is negative when the ray of the angle to be measured is below the ray of the reference direction, and positive when the ray of the angle to be measured is above the ray of the reference direction. When the angle Δθ is negative when the ray of the measured angle direction is below the ray of the reference direction, the semi-trailer truck is traveling on an uphill section. When the angle Δθ is positive when the ray of the measured angle direction is above the ray of the reference direction, the semi-trailer truck is traveling on a downhill section. The determination module is used to determine the first slope angle parameter value of the tractor vehicle on the target road section and the second slope angle parameter value of the semi-trailer on the target road section. The calculation module is used to calculate the equivalent slope of the road section where the semi-trailer is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle when the semi-trailer is traveling on the target road section. The step of calculating the equivalent gradient of the road segment where the semi-trailer truck is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle of the semi-trailer truck when it is traveling on the target road segment includes: The included angle Δθ is determined based on the front of the tractor as the reference direction and the front of the semi-trailer as the direction of the angle being measured. Based on the first slope angle parameter value θ1, the second slope angle parameter value θ2, and the traction seat angle of the semi-trailer truck when it is traveling on the target road section, the equivalent longitudinal slope of the road section where the semi-trailer truck is located is calculated, wherein θ2 = θ1 + Δθ. The step of calculating the equivalent gradient of the road segment where the semi-trailer truck is located based on the first slope angle parameter value, the second slope angle parameter value, and the traction seat angle of the semi-trailer truck when it is traveling on the target road segment includes: Based on the first ramp angle parameter value The second ramp angle parameter value is θ2 = θ1 + Δθ. The gradient angle of the semi-trailer truck when traveling on the target section of road. Calculate the equivalent gradient of the section of road where the semi-trailer truck is located. Where i = tanθ, F is the component of the weight of the semi-trailer in the direction of the slope, m is the mass of the semi-trailer, g is the gravitational acceleration, θ is the slope angle of the road section where the semi-trailer is located, m1 is the curb weight of the tractor, θ1 is the slope angle of the road section where the tractor is located, and θ2 is the slope angle of the road section where the semi-trailer is located.

4. An electronic device, comprising: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1 to 2.

5. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of applications, cause the electronic device to perform the method of any one of claims 1 to 2.

6. A semi-trailer truck train, wherein, Includes the slope determining device as described in claim 3.

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