A method and apparatus for calculating slope

Abstract

The embodiment of the application provides a slope calculation method and a slope calculation device, the method comprising: acquiring an output shaft rotating speed, a first longitudinal acceleration, a throttle pedal opening degree and a brake pedal opening degree of a vehicle; calculating a second longitudinal acceleration based on the output shaft rotating speed; calculating a jerk based on the second longitudinal acceleration; judging whether the throttle pedal opening degree is equal to 0, whether the brake pedal opening degree is greater than a pedal opening degree threshold, whether the second longitudinal acceleration is less than an acceleration threshold and whether the jerk is less than a jerk threshold; if the throttle pedal opening degree is not equal to 0, the brake pedal opening degree is not greater than the pedal opening degree threshold, the second longitudinal acceleration is not less than the acceleration threshold and the jerk is not less than the jerk threshold, obtaining a target slope value based on the first longitudinal acceleration and the second longitudinal acceleration; and outputting the target slope value. The embodiment of the application judges the working condition in which the slope calculation is inaccurate, and improves the slope calculation precision.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a slope calculation method and device. Background Technology

[0002] Currently, the automotive industry is highly competitive, and only vehicles that excel in comfort, power, and other aspects can gain a competitive edge. Therefore, vehicles need to meet the requirements of various road conditions as much as possible. Among these, for incline roads, the gradient value is increasingly used as a dynamic indicator of whether a vehicle is fully adapted to incline conditions. Currently, most algorithms for calculating gradients utilize nonlinear compensation, orthogonal compensation, special bias tracking algorithms, and Kalman filtering algorithms. These algorithms generally provide relatively accurate gradient values, especially under stationary road conditions. However, when driving on continuous slopes, these algorithms can lead to larger calculation errors, affecting strategies related to gradient signals. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a slope calculation method and device. By analyzing and estimating signals such as accelerator pedal opening, brake pedal opening, acceleration, jerk, and output shaft speed, the method identifies working conditions where slope calculation is inaccurate, avoids situations where slope calculation is inaccurate when the absolute value of braking acceleration is large, and improves the accuracy of slope calculation. The specific technical solution is as follows:

[0004] In a first aspect, this application provides a slope calculation method, the method comprising:

[0005] The vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening are obtained.

[0006] Calculate the second longitudinal acceleration based on the output shaft rotation speed;

[0007] The degree of jerk is calculated based on the second longitudinal acceleration;

[0008] Determine whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than the pedal opening threshold, whether the second longitudinal acceleration is less than the acceleration threshold, and whether the jerk is less than the jerk threshold;

[0009] If the following conditions are not met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold, the target slope value is obtained based on the first longitudinal acceleration and the second longitudinal acceleration.

[0010] Output the target slope value.

[0011] In one possible implementation, calculating the second longitudinal acceleration based on the output shaft rotational speed includes:

[0012] The vehicle speed is calculated based on the output shaft rotation speed;

[0013] The second longitudinal acceleration is calculated based on the vehicle speed.

[0014] In one possible implementation, obtaining the target slope value based on the first longitudinal acceleration and the second longitudinal acceleration includes:

[0015] The sine value of the tilt angle is obtained based on the first longitudinal acceleration, and the tilt angle is the angle corresponding to the slope.

[0016] The slope percentage is calculated based on the sine value of the inclination angle to obtain the original slope value;

[0017] Based on the vehicle speed and the second longitudinal acceleration, the corresponding filter time is obtained from the acceleration and velocity time list;

[0018] The original slope value is filtered based on the filtering time to obtain the target slope value.

[0019] In one possible implementation, after determining whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than a pedal opening threshold, whether the second longitudinal acceleration is less than an acceleration threshold, and whether the jerk is less than a jerk threshold, the method further includes:

[0020] If the following conditions are met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold, the slope value obtained in the previous step is output.

[0021] In one possible implementation, after determining whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than a pedal opening threshold, whether the second longitudinal acceleration is less than an acceleration threshold, and whether the jerk is less than a jerk threshold, the method further includes:

[0022] If the following conditions are met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold, then the vehicle is prohibited from shifting gears.

[0023] Secondly, this application also provides a slope calculation device, the device comprising:

[0024] The acquisition module is used to acquire the vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening.

[0025] The first calculation module is used to calculate the second longitudinal acceleration based on the output shaft rotation speed;

[0026] The second calculation module is used to calculate the jerk based on the second longitudinal acceleration;

[0027] The judgment module is used to determine whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than the pedal opening threshold, whether the second longitudinal acceleration is less than the acceleration threshold, and whether the jerk is less than the jerk threshold.

[0028] The third calculation module is used to obtain the target slope value based on the first longitudinal acceleration and the second longitudinal acceleration if the following conditions are not met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold.

[0029] The output module is used to output the target slope value.

[0030] In one possible implementation, the first computing module is specifically used for:

[0031] The vehicle speed is calculated based on the output shaft rotation speed;

[0032] The second longitudinal acceleration is calculated based on the vehicle speed.

[0033] In one possible implementation, the third computing module is specifically used for:

[0034] The sine value of the tilt angle is obtained based on the first longitudinal acceleration, and the tilt angle is the angle corresponding to the slope.

[0035] The slope percentage is calculated based on the sine value of the inclination angle to obtain the original slope value;

[0036] Based on the vehicle speed and the second longitudinal acceleration, the corresponding filter time is obtained from the acceleration and velocity time list;

[0037] The original slope value is filtered based on the filtering time to obtain the target slope value.

[0038] In one possible implementation, the output module is further configured to output the slope value obtained in the previous step if the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold.

[0039] In one possible implementation, the device further includes:

[0040] The control module is configured to prohibit the vehicle from shifting gears if the following conditions are met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold.

[0041] The method provided in this application includes: acquiring the vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening; calculating a second longitudinal acceleration based on the output shaft speed; calculating jerk based on the second longitudinal acceleration; determining whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than a pedal opening threshold, whether the second longitudinal acceleration is less than an acceleration threshold, and whether the jerk is less than a jerk threshold; if the conditions of accelerator pedal opening being equal to 0, brake pedal opening being greater than a pedal opening threshold, second longitudinal acceleration being less than an acceleration threshold, and jerk being less than a jerk threshold are not met, obtaining a target slope value based on the first and second longitudinal accelerations; and outputting the target slope value. This application improves the accuracy of slope calculation by analyzing and estimating signals such as accelerator pedal opening, brake pedal opening, acceleration, jerk, and output shaft speed to identify inaccurate slope calculations. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 An installation diagram of a TCU controller provided in an embodiment of this application is shown;

[0044] Figure 2 A flowchart of an embodiment of a slope calculation method provided in this application is shown;

[0045] Figure 3 This application provides a flowchart for calculating a target slope value according to an embodiment of the present application.

[0046] Figure 4 This illustration shows a schematic diagram of a program for calculating a target slope value according to an embodiment of this application;

[0047] Figure 5 This illustration shows a schematic diagram of the conversion between angle and acceleration provided in an embodiment of this application;

[0048] Figure 6 This document illustrates a flowchart of an optimized slope calculation method provided in an embodiment of this application.

[0049] Figure 7 This paper illustrates a control logic diagram for slope calculation optimization provided in an embodiment of this application.

[0050] Figure 8 A schematic diagram of the slope calculation device provided in this application is shown. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] First, some terms that may appear in the embodiments of this application will be explained.

[0053] Slope: It is the degree of steepness of a land surface unit. It is usually called the ratio of the vertical height of the slope to the distance traveled.

[0054] Kalman filtering is an algorithm that uses the state equations of a linear system to make an optimal estimate of the system state using the system's input and output observation data.

[0055] Automated Mechanical Transmission (AMT): This is an automatic control mechanism with an electronic unit added, without changing the basic structure of the original mechanical manual transmission. It replaces the manual operation of clutch engagement and disengagement, gear shifting, and adjustment of engine and motor speed and torque, which were originally performed by the driver, thus automating the gear shifting process.

[0056] Acceleration: is the ratio of the change in velocity to the time taken for that change to occur.

[0057] Jerkiness: is the rate of change of acceleration, the third derivative of displacement with respect to time.

[0058] Automatic transmission control unit (TCU): Used to implement automatic transmission control.

[0059] The slope is estimated by using Kalman filtering to collect signals from the built-in acceleration sensor. However, due to the complexity of actual vehicle conditions, the accuracy of slope calculation cannot be met by simply using full-condition Kalman filtering during emergency braking.

[0060] The inventors discovered through analysis of a large amount of data that the calculation of slope is closely related to parameters such as acceleration, output shaft speed, and jerk. Therefore, the embodiments of this application achieve the required accuracy of slope calculation by processing the relevant signals.

[0061] Hill start control is one of the key technologies for the commercialization of AMT products. It plays an important role in energy management, shift control, and anti-rollback. Therefore, accurate slope signals are one of the necessary inputs for effective vehicle control strategies.

[0062] The accelerometer installed in the TCU controller is a triaxial accelerometer, with the forward direction as the X-axis, the lateral acceleration as the Y-axis, and the vertical acceleration as the Z-axis. The directions of acceleration are as follows: Figure 1 As shown. The three-axis accelerometer is located inside the TCU controller. The installation location is selected based on the principle of minimizing vibration, preferably in a location such as the vehicle frame that is not prone to vibration. In this embodiment, the TCU controller is installed on the vehicle frame as an example. Figure 1 A schematic diagram of the TCU controller installation is shown. It should be noted that the installation location of the TCU controller can be set by technicians according to the actual needs of the scenario, and this embodiment does not limit it.

[0063] Please see Figure 2 The flowchart illustrates an embodiment of a slope calculation method provided in this application. This embodiment includes at least the following steps:

[0064] S1, acquire the vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening.

[0065] The output shaft speed is obtained from the vehicle's output shaft speed sensor, the first longitudinal acceleration is obtained from the three-axis acceleration sensor, the accelerator pedal opening is obtained from the accelerator pedal opening sensor, and the brake pedal opening is obtained from the brake pedal opening sensor.

[0066] S2, calculate the second longitudinal acceleration based on the output shaft rotation speed.

[0067] In this embodiment, the second longitudinal acceleration can be calculated based on the output shaft rotational speed, and the steps are as follows:

[0068] S21, calculate the vehicle speed based on the output shaft rotation speed;

[0069] S22, calculates the second longitudinal acceleration based on vehicle speed.

[0070] The frequency of the output shaft rotation speed is equal to the frequency of the vehicle speed. Therefore, the relationship between the output shaft rotation speed and the vehicle speed can be derived using the following formula:

[0071]

[0072] Where V represents vehicle speed, Rpm represents output shaft speed, and K represents speed ratio.

[0073] S3, calculates the jerkiness based on the second longitudinal acceleration.

[0074] Jerkiness is the third derivative of displacement with respect to time, that is, jerkiness is the derivative of acceleration with respect to time. Therefore, jerkiness can be calculated based on the second longitudinal acceleration.

[0075] S4 determines whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than the pedal opening threshold, whether the second longitudinal acceleration is less than the acceleration threshold, and whether the jerk is less than the jerk threshold.

[0076] Signals such as accelerator pedal opening, brake pedal opening, acceleration, and jerk are introduced to determine whether the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold. This determines whether the vehicle is in a special operating condition. If the conditions of accelerator pedal opening being equal to 0, brake pedal opening being greater than the pedal opening threshold, second longitudinal acceleration being less than the acceleration threshold, and jerk being less than the jerk threshold are not met, it indicates that the vehicle is not in a special operating condition, and the target slope value is output. If the conditions of accelerator pedal opening being equal to 0, brake pedal opening being greater than the pedal opening threshold, second longitudinal acceleration being less than the acceleration threshold, and jerk being less than the jerk threshold are met, it indicates that the vehicle is in a special operating condition, and the slope of the previous step must be maintained.

[0077] In this embodiment, the pedal opening threshold can be 50%, the acceleration threshold can be -3000mm / s^2, and the jerk threshold can be -4000mm / s^3. It should be noted that the pedal opening threshold, acceleration threshold, and jerk threshold can be set by technicians according to the actual needs of the scenario, and this embodiment does not limit them.

[0078] Sudden deceleration during braking can result in an excessively large absolute value of acceleration, affecting the calculation of the gradient. Therefore, this application embodiment determines whether the vehicle is in a special condition of sudden deceleration by judging the output shaft signal, accelerator pedal, brake pedal and built-in acceleration signals. If the vehicle is in this condition, the gradient calculation value is limited and optimized by using latching logic.

[0079] S5. If the following conditions are not met: accelerator pedal opening is equal to 0, brake pedal opening is greater than the pedal opening threshold, second longitudinal acceleration is less than the acceleration threshold and jerk is less than the jerk threshold, the target slope value is obtained based on the first longitudinal acceleration and the second longitudinal acceleration.

[0080] Figure 3 This application provides a flowchart for calculating a target slope value according to an embodiment. Figure 4This illustration shows a schematic diagram of a program for calculating a target slope value according to an embodiment of this application. The target slope value is obtained based on a first longitudinal acceleration and a second longitudinal acceleration, including the following steps:

[0081] S51, the sine value of the tilt angle is obtained based on the first longitudinal acceleration, and the tilt angle is the angle corresponding to the slope;

[0082] Figure 5 This illustration shows a conversion diagram of angle and acceleration according to an embodiment of this application. The relationship between tilt angle and acceleration can be converted using the following formula:

[0083]

[0084] Where θ represents the tilt angle, X represents the longitudinal acceleration, and Z represents the vertical acceleration.

[0085] S52, calculate the slope percentage based on the sine of the inclination angle to obtain the original slope value;

[0086] The first longitudinal acceleration is passed through a low-pass filter and a Kalman filter to obtain the sine value of the tilt angle. Based on the sine value of the tilt angle f(θ), the percentage of the slope value is calculated to obtain the original slope value, where f(θ) = sinθ. Before performing Kalman filtering, it is necessary to set the calibration quantity Q and the calibration quantity R, where Q represents the process excitation noise covariance and R represents the measurement noise covariance.

[0087] The percentage of slope can be obtained from the inclination angle θ. The percentage of slope value refers to the percentage method of slope. The percentage method of slope is the most commonly used method, which is the percentage of the elevation difference between two points to the distance traveled. The calculation formula is: Slope = (Elevation difference / Distance) * 100%.

[0088] S53, based on vehicle speed and second longitudinal acceleration, obtain the corresponding filtering time from the time list of acceleration and speed;

[0089] After obtaining the vehicle speed and the second longitudinal acceleration, the corresponding filtering time is obtained from the acceleration and speed time list based on the vehicle speed and the second longitudinal acceleration.

[0090] S54 filters the original slope value based on the filtering time to obtain the target slope value.

[0091] The original slope value is filtered using a low-pass filter based on the filtering time to obtain the target slope value.

[0092] S6 outputs the target slope value.

[0093] Figure 6 This document illustrates a flowchart of an optimized slope calculation method provided in an embodiment of this application. Figure 7This paper illustrates a control logic diagram for slope calculation optimization provided in an embodiment of this application.

[0094] In S4, after determining whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than the pedal opening threshold, whether the second longitudinal acceleration is less than the acceleration threshold, and whether the jerk is less than the jerk threshold, the embodiments of this application further include:

[0095] S7. If the following conditions are met: accelerator pedal opening is equal to 0, brake pedal opening is greater than the pedal opening threshold, second longitudinal acceleration is less than the acceleration threshold and jerk is less than the jerk threshold, output the slope value obtained in the previous step.

[0096] If the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold, it indicates that the vehicle is in a special operating condition and needs to maintain the slope of the previous step length. In this case, the slope value obtained in the previous step length will be output to minimize the impact of the entire operating condition on the control logic.

[0097] Real-vehicle testing based on the target slope calculation method (S51-S54) reveals a significant discrepancy between the calculated target slope and the baseline slope. This is because sudden deceleration during braking results in an excessively large absolute acceleration, affecting the slope calculation. Therefore, this embodiment of the application determines whether the vehicle is in a special condition of sudden deceleration by analyzing signals from the output shaft, accelerator pedal, brake pedal, and built-in acceleration. If the vehicle is in this condition, latching logic is used to limit and optimize the calculated slope value.

[0098] S8. If the following conditions are met: accelerator pedal opening is 0, brake pedal opening is greater than the pedal opening threshold, second longitudinal acceleration is less than the acceleration threshold and jerk is less than the jerk threshold, then the vehicle is prohibited from shifting gears.

[0099] A crucial control strategy for gradient-related issues is gear shifting. Due to high acceleration, the probability of gear shifting failure is high, and there's no power demand. Therefore, gear shifting is prohibited when the accelerator pedal opening is 0, the brake pedal opening is greater than a threshold, the second longitudinal acceleration is less than a threshold, and the abrupt change is less than a threshold. This corrects gear shifting strategies that are inaccurate in gradient calculation, improving safety.

[0100] In this embodiment, the vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening are acquired; a second longitudinal acceleration is calculated based on the output shaft speed; jerk is calculated based on the second longitudinal acceleration; it is determined whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than a pedal opening threshold, whether the second longitudinal acceleration is less than an acceleration threshold, and whether the jerk is less than a jerk threshold; if the conditions of accelerator pedal opening being equal to 0, brake pedal opening being greater than a pedal opening threshold, second longitudinal acceleration being less than an acceleration threshold, and jerk being less than a jerk threshold are not met, a target slope value is obtained based on the first and second longitudinal accelerations; and the target slope value is output. This embodiment improves slope calculation accuracy by analyzing and estimating signals such as accelerator pedal opening, brake pedal opening, acceleration, jerk, and output shaft speed to identify inaccurate slope calculations.

[0101] The following section introduces a slope calculation device provided in this application. The slope calculation device described below can be referred to in correspondence with the slope calculation method described above.

[0102] Please see Figure 8 The diagram shows a structural schematic of a slope calculation device provided in this application, the device comprising:

[0103] The acquisition module 801 is used to acquire the vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening;

[0104] The first calculation module 802 is used to calculate the second longitudinal acceleration based on the output shaft rotation speed;

[0105] The second calculation module 803 is used to calculate the jerk based on the second longitudinal acceleration;

[0106] The judgment module 804 is used to determine whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than the pedal opening threshold, whether the second longitudinal acceleration is less than the acceleration threshold, and whether the jerk is less than the jerk threshold.

[0107] The third calculation module 805 is used to obtain a target slope value based on the first longitudinal acceleration and the second longitudinal acceleration if the following conditions are not met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold.

[0108] Output module 806 is used to output the target slope value.

[0109] In this embodiment of the application, the first calculation module 802 is specifically used for:

[0110] The vehicle speed is calculated based on the output shaft rotation speed;

[0111] The second longitudinal acceleration is calculated based on the vehicle speed.

[0112] In this embodiment of the application, the third calculation module 805 is specifically used for:

[0113] The sine value of the tilt angle is obtained based on the first longitudinal acceleration, and the tilt angle is the angle corresponding to the slope.

[0114] The slope percentage is calculated based on the sine value of the inclination angle to obtain the original slope value;

[0115] Based on the vehicle speed and the second longitudinal acceleration, the corresponding filter time is obtained from the acceleration and velocity time list;

[0116] The original slope value is filtered based on the filtering time to obtain the target slope value.

[0117] In this embodiment of the application, the output module 806 is further configured to output the slope value obtained in the previous step if the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold.

[0118] In this embodiment of the application, the device further includes:

[0119] The control module is configured to prohibit the vehicle from shifting gears if the following conditions are met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold.

[0120] In this embodiment, the vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening are acquired; a second longitudinal acceleration is calculated based on the output shaft speed; jerk is calculated based on the second longitudinal acceleration; it is determined whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than a pedal opening threshold, whether the second longitudinal acceleration is less than an acceleration threshold, and whether the jerk is less than a jerk threshold; if the conditions of accelerator pedal opening being equal to 0, brake pedal opening being greater than a pedal opening threshold, second longitudinal acceleration being less than an acceleration threshold, and jerk being less than a jerk threshold are not met, a target slope value is obtained based on the first and second longitudinal accelerations; and the target slope value is output. This embodiment improves slope calculation accuracy by analyzing and estimating signals such as accelerator pedal opening, brake pedal opening, acceleration, jerk, and output shaft speed to identify inaccurate slope calculations.

[0121] It should be noted that similar or identical parts between the various embodiments can be referred to interchangeably. For device embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to in the description of the method embodiments.

[0122] For the foregoing embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0123] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 limitations, 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.

[0124] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0125] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A slope calculation method, characterized in that, The method includes: The vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening are obtained. The vehicle speed is calculated based on the output shaft rotation speed, and the second longitudinal acceleration is calculated based on the vehicle speed. The degree of jerk is calculated based on the second longitudinal acceleration; Determine whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than the pedal opening threshold, whether the second longitudinal acceleration is less than the acceleration threshold, and whether the jerk is less than the jerk threshold; If the following conditions are met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold, output the slope value obtained in the previous step. If the following conditions are not met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold, the target slope value is obtained based on the first longitudinal acceleration and the second longitudinal acceleration. The step of obtaining the target slope value based on the first longitudinal acceleration and the second longitudinal acceleration includes: The first longitudinal acceleration is subjected to low-pass filtering and Kalman filtering in sequence, and the tilt angle sine value is obtained based on the filtered first longitudinal acceleration. The slope percentage is calculated based on the sine value of the inclination angle to obtain the original slope value; Based on the vehicle speed and the second longitudinal acceleration, the corresponding filter time is obtained from the acceleration and velocity time list; The original slope value is filtered based on the filtering time to obtain the target slope value; Output the target slope value.

2. The method according to claim 1, characterized in that, After determining whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than a pedal opening threshold, whether the second longitudinal acceleration is less than an acceleration threshold, and whether the jerk is less than a jerk threshold, the method further includes: If the following conditions are met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold, then the vehicle is prohibited from shifting gears.

3. A slope calculation device, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's output shaft speed, first longitudinal acceleration, accelerator pedal opening, and brake pedal opening. The first calculation module is used to calculate the vehicle speed based on the output shaft rotation speed, and to calculate the second longitudinal acceleration based on the vehicle speed; The second calculation module is used to calculate the jerk based on the second longitudinal acceleration; The judgment module is used to determine whether the accelerator pedal opening is equal to 0, whether the brake pedal opening is greater than the pedal opening threshold, whether the second longitudinal acceleration is less than the acceleration threshold, and whether the jerk is less than the jerk threshold. The third calculation module is used to obtain the target slope value based on the first longitudinal acceleration and the second longitudinal acceleration if the following conditions are not met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold. The third calculation module is specifically used for: The first longitudinal acceleration is subjected to low-pass filtering and Kalman filtering in sequence. The sine value of the tilt angle is obtained based on the filtered first longitudinal acceleration. The tilt angle is the angle corresponding to the slope. The slope percentage is calculated based on the sine value of the inclination angle to obtain the original slope value; Based on the vehicle speed and the second longitudinal acceleration, the corresponding filter time is obtained from the acceleration and velocity time list; The original slope value is filtered based on the filtering time to obtain the target slope value; The output module is used to output the target slope value; The output module is further configured to output the slope value obtained in the previous step if the following conditions are met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold.

4. The apparatus according to claim 3, characterized in that, The device further includes: The control module is configured to prohibit the vehicle from shifting gears if the following conditions are met: the accelerator pedal opening is equal to 0, the brake pedal opening is greater than the pedal opening threshold, the second longitudinal acceleration is less than the acceleration threshold, and the jerk is less than the jerk threshold.

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