A slope calculation method and device

Abstract

An embodiment of the present application provides a slope calculation method and device. The method includes: obtaining the output shaft speed, the first longitudinal acceleration, the throttle pedal opening, and the brake pedal opening of a vehicle; obtaining the second longitudinal acceleration based on the output shaft speed; determining whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than the acceleration threshold; if it satisfies that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, obtaining the actual load of the vehicle; obtaining the corresponding acceleration value in the acceleration list based on the actual load and the brake pedal opening; obtaining the third longitudinal acceleration based on the first longitudinal acceleration and the acceleration value; obtaining the target slope value based on the second longitudinal acceleration and the third longitudinal acceleration; and outputting the target slope value. The embodiment of the present application judges special working conditions with inaccurate slope calculation, increasing the credibility of slope calculation.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a slope calculation method and device. Background Art

[0002] Currently, the automotive industry is highly competitive. Only by improving in multiple aspects such as comfort and power performance can a vehicle be more competitive. Therefore, a vehicle needs to meet the requirements of various road conditions as much as possible. Among them, for slope road conditions, the slope value has increasingly become a power performance indicator for whether a vehicle can fully adapt to slope road conditions. Currently, algorithms such as nonlinear compensation, orthogonal compensation, special offset tracking algorithms, and Kalman filtering algorithms are mostly used to calculate the slope. The slope values calculated by these algorithms are generally accurate, especially in a stationary road condition. However, when continuously on a slope, these algorithms will cause relatively large calculation errors, which will affect the strategies related to the slope signal. Summary of the Invention

[0003] In view of this, the purpose of the present application is to provide a slope calculation method and device. By analyzing and estimating parameters such as the throttle pedal opening, brake pedal opening, and acceleration, it judges the working conditions where the slope calculation is inaccurate, avoids the situation where the slope calculation is inaccurate when the absolute value of the brake acceleration is relatively large, and improves the slope calculation accuracy. The specific technical solutions are as follows:

[0004] In a first aspect, the present application provides a slope calculation method, and the method includes:

[0005] Obtain the output shaft speed, first longitudinal acceleration, throttle pedal opening, and brake pedal opening of the vehicle;

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

[0007] Judge whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than an acceleration threshold;

[0008] If it satisfies that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, obtain the actual load of the vehicle;

[0009] Based on the actual load and the brake pedal opening, obtain the acceleration value corresponding to the actual load and the brake pedal opening in an acceleration list;

[0010] Calculate a third longitudinal acceleration based on the first longitudinal acceleration and the acceleration value;

[0011] Based on the second longitudinal acceleration and the third longitudinal acceleration, obtain a target slope value;

[0012] Output the target slope value.

[0013] In a possible implementation, calculating the second longitudinal acceleration based on the output shaft speed includes:

[0014] Calculating the vehicle speed based on the output shaft speed;

[0015] Calculating the second longitudinal acceleration based on the vehicle speed.

[0016] In a possible implementation, obtaining the target slope value based on the second longitudinal acceleration and the third longitudinal acceleration includes:

[0017] Obtaining a first sine value of the inclination angle based on the third longitudinal acceleration, where the inclination angle is the angle corresponding to the slope;

[0018] Calculating the percentage of the slope value based on the first sine value of the inclination angle to obtain a first original slope value;

[0019] Obtaining a corresponding first filtering time in the time list of acceleration and speed based on the output shaft speed and the second longitudinal acceleration;

[0020] Filtering the first original slope value based on the first filtering time to obtain the target slope value.

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

[0022] If it does not satisfy that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, obtaining an initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration;

[0023] Output the initial slope value.

[0024] In a possible implementation, obtaining the initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration includes:

[0025] Obtaining a second sine value of the inclination angle based on the first longitudinal acceleration;

[0026] Calculating the percentage of the slope value based on the second sine value of the inclination angle to obtain a second original slope value;

[0027] Obtaining a corresponding second filtering time in the time list of acceleration and speed based on the output shaft speed and the second longitudinal acceleration;

[0028] Filter the second original slope value based on the second filtering time to obtain the initial slope value.

[0029] In a second aspect, the present application also provides a slope calculation device, and the device includes:

[0030] An acquisition module, configured to acquire the output shaft speed, the first longitudinal acceleration, the throttle pedal opening, and the brake pedal opening of the vehicle;

[0031] A first calculation module, configured to calculate a second longitudinal acceleration based on the output shaft speed;

[0032] A judgment module, configured to judge whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than an acceleration threshold;

[0033] The acquisition module is further configured to, if it is satisfied that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, acquire the actual load of the vehicle;

[0034] The acquisition module is further configured to, based on the actual load and the brake pedal opening, acquire an acceleration value corresponding to the actual load and the brake pedal opening in an acceleration list;

[0035] A second calculation module, configured to calculate a third longitudinal acceleration based on the first longitudinal acceleration and the acceleration value;

[0036] A third calculation module, configured to obtain a target slope value based on the second longitudinal acceleration and the third longitudinal acceleration;

[0037] An output module, configured to output the target slope value.

[0038] In a possible implementation manner, the first calculation module is specifically configured to:

[0039] Calculate the vehicle speed based on the output shaft speed;

[0040] Calculate a second longitudinal acceleration based on the vehicle speed.

[0041] In a possible implementation manner, the third calculation module is specifically configured to:

[0042] Obtain a first sine value of the inclination angle based on the third longitudinal acceleration, where the inclination angle is the angle corresponding to the slope;

[0043] Perform a percentage calculation of the slope value based on the first sine value of the inclination angle to obtain a first original slope value;

[0044] Obtain a corresponding first filtering time in the time list of acceleration and speed based on the output shaft speed and the second longitudinal acceleration;

[0045] Filter the first original slope value based on the first filtering time to obtain the target slope value.

[0046] In a possible implementation manner, the device further includes:

[0047] A fourth calculation module, configured to obtain an initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration if the throttle pedal opening is not equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold;

[0048] The output module is further configured to output the initial slope value.

[0049] In a possible implementation manner, the fourth calculation module is specifically configured to:

[0050] Obtain a second inclination sine value based on the first longitudinal acceleration;

[0051] Calculate a slope value percentage based on the second inclination sine value to obtain a second original slope value;

[0052] Obtain a corresponding second filtering time in the time list of acceleration and speed based on the output shaft speed and the second longitudinal acceleration;

[0053] Filter the second original slope value based on the second filtering time to obtain the initial slope value.

[0054] The method provided by the embodiments of the present application includes: obtaining the output shaft speed, the first longitudinal acceleration, the throttle pedal opening, and the brake pedal opening of a vehicle; obtaining a second longitudinal acceleration based on the output shaft speed; determining whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than the acceleration threshold; if the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, obtaining the actual load of the vehicle; obtaining a corresponding acceleration value in the acceleration list based on the actual load and the brake pedal opening; obtaining a third longitudinal acceleration based on the first longitudinal acceleration and the acceleration value; obtaining a target slope value based on the second longitudinal acceleration and the third longitudinal acceleration; outputting the target slope value. By analyzing and estimating signals such as the throttle pedal opening, the brake pedal opening, and the acceleration, the embodiments of the present application determine special working conditions where the slope calculation is inaccurate, and calculate the acceleration for slope calculation using the acceleration list under special working conditions, increasing the credibility of the slope calculation. Description of the Drawings

[0055] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0056] Figure 1 Shows an installation schematic diagram of a TCU controller provided by an embodiment of the present application;

[0057] Figure 2 Shows a flowchart of an embodiment of a slope calculation method provided by an embodiment of the present application;

[0058] Figure 3 Shows a flowchart of calculating an initial slope value provided by an embodiment of the present application;

[0059] Figure 4 Shows a program schematic diagram of calculating an initial slope value provided by an embodiment of the present application;

[0060] Figure 5 Shows a flowchart after optimizing the slope calculation provided by an embodiment of the present application;

[0061] Figure 6 Shows a control logic diagram after optimizing the slope calculation provided by an embodiment of the present application;

[0062] Figure 7 Shows a conversion schematic diagram of an angle and an acceleration provided by an embodiment of the present application;

[0063] Figure 8 Shows a structural schematic diagram of a slope calculation device provided by the present application. Detailed implementation manners

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0065] First, some terms that may appear in the embodiments of the present application will be explained.

[0066] Slope: It is the degree of steepness of the surface unit. Usually, the ratio of the vertical height of the slope surface to the distance is called the slope.

[0067] Kalman filtering: It is an algorithm that uses the state equation of a linear system and, through the input and output observation data of the system, optimally estimates the state of the system.

[0068] Automated Mechanical Transmission (AMT): On the basis of the basic structure of the original mechanical manual transmission remaining unchanged, an electronic unit is added to the automatic control mechanism, replacing operations such as the separation and engagement of the clutch, gear shifting, and the adjustment of the engine and motor speeds and torques that were originally manually completed by the driver, thus realizing the automation of the shifting process.

[0069] Acceleration: It is the ratio of the change in velocity to the time taken for this change to occur.

[0070] Load: (Of a vehicle or other means of transportation) the weight it can carry.

[0071] Transmission Control Unit (TCU): Used to achieve automatic transmission control.

[0072] By collecting the signals of the built-in acceleration sensor and using Kalman filtering for slope estimation, however, due to the complex working conditions of the actual vehicle, when braking suddenly, simply using Kalman filtering for all working conditions cannot meet the slope calculation accuracy.

[0073] In the embodiments of this application, by collecting the accelerations under different loads and different brakings in the normal flat road state, a two-dimensional MAP regarding the load and the brake opening is obtained. Using the collected acceleration signals and the acceleration signals in the two-dimensional MAP, the slope under extreme working conditions can be effectively calculated, ensuring that the slopes under all working conditions are within the calculation accuracy.

[0074] Hill-start control is one of the key technologies for AMT productization and plays an important role in energy management, shift control, anti-rollback, etc. Therefore, an accurate slope signal is one of the necessary inputs for a good vehicle control strategy.

[0075] The acceleration sensor installed in the TCU controller is a three-axis acceleration sensor. The forward direction is the X-axis direction, the lateral acceleration is the Y direction, and the vertical acceleration is the Z direction. The direction of the acceleration is as Figure 1 shown. The three-axis acceleration sensor is located inside the TCU controller, and the installation position is selected based on the principle of less vibration. Positions such as the vehicle frame that are not easily vibrated are preferably chosen. In the embodiments of this application, taking the installation position of the TCU controller as the vehicle frame as an example, Figure 1 the installation schematic diagram of the TCU controller is shown. It should be noted that the installation position of the TCU controller can be set by technicians according to actual scenario needs, and the embodiments of this application do not make any limitations.

[0076] Please refer to Figure 2 , which shows the flowchart of an embodiment of a slope calculation method provided by an embodiment of the present application. The embodiment of the present application at least includes the following steps:

[0077] S1. Obtain the output shaft speed, the first longitudinal acceleration, the throttle pedal opening, and the brake pedal opening of the vehicle.

[0078] Obtain the output shaft speed from the output shaft speed sensor of the vehicle, obtain the first longitudinal acceleration from the triaxial acceleration sensor, obtain the throttle pedal opening from the throttle pedal opening sensor, and obtain the brake pedal opening from the brake pedal opening sensor.

[0079] S2. Calculate the second longitudinal acceleration based on the output shaft speed.

[0080] In the embodiment of the present application, the second longitudinal acceleration can be obtained based on the output shaft speed. The steps are as follows:

[0081] S21. Calculate the vehicle speed based on the output shaft speed;

[0082] S22. Calculate the second longitudinal acceleration based on the vehicle speed.

[0083] The frequency of the output shaft speed is equal to the frequency of the vehicle speed. It can be deduced that the relationship between the output shaft speed and the vehicle speed can be converted by the following formula:

[0084]

[0085] Among them, V represents the vehicle speed, Rpm represents the output shaft speed, and K represents the speed ratio.

[0086] S3. Judge whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than the acceleration threshold.

[0087] Introduce signals such as the throttle pedal opening, the brake pedal opening, and the acceleration, and judge whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than the acceleration threshold to determine whether the vehicle is in a special working condition. If it does not meet the conditions that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, it means that the vehicle is not in a special working condition, and the initial slope value is output; if it meets the conditions that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, it means that the vehicle is in a special working condition, and the target slope value is output. Figure 3 Shows the flowchart of calculating the initial slope value provided by the embodiment of the present application, Figure 4 Shows the program schematic diagram of calculating the initial slope value provided by the embodiment of the present application, Figure 5The figure shows a flowchart with optimized slope calculation provided by an embodiment of the present application. Figure 6 The figure shows a control logic diagram with optimized slope calculation provided by an embodiment of the present application. It can be seen that the initial slope value and the target slope value are calculated based on different operation logics.

[0088] In the embodiment of the present application, the acceleration threshold can be -2000 mm / s^2. It should be noted that the acceleration threshold can be set by those skilled in the art according to actual scenario requirements, and the embodiment of the present application does not make any limitations.

[0089] S4. If it is satisfied that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, obtain the actual load of the vehicle.

[0090] As Figure 6 shown, if it is satisfied that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, it indicates that the vehicle is in a special working condition, and then obtain the actual load of the vehicle.

[0091] S5. Based on the actual load and the brake pedal opening, obtain the corresponding acceleration value in the acceleration list.

[0092] The acceleration MAP corresponding to the load and the brake pedal opening, that is, the acceleration list, is shown in Table 1 below. Table 1 is the acceleration list queried according to the load and the brake pedal opening, without considering the slope factor. The unit of acceleration is mm / s^2, and the unit of load is ton t.

[0093] Collect the two-dimensional MAP regarding the load and the brake opening as the benchmark. If the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, after obtaining the actual load of the vehicle, based on the actual load and the brake pedal opening, obtain the corresponding acceleration value in the acceleration list.

[0094] Table 1 Example of acceleration list

[0095]

[0096] S6. Based on the first longitudinal acceleration and the acceleration value, calculate the third longitudinal acceleration.

[0097] The embodiment of the present application corrects the first longitudinal acceleration by using the acceleration value obtained from the acceleration list, that is, based on the first longitudinal acceleration and the acceleration value, calculate the third longitudinal acceleration.

[0098] According to the mechanical equation, there is the following relationship:

[0099] Driving force - Resistance = Load * (Acceleration sensor value - Acceleration value generated by slope).

[0100] As Figure 6 shown, when the first condition is satisfied, the operation logic of Figure 6 is used to correct the acceleration input to the first longitudinal acceleration collected by the acceleration sensor minus the acceleration value found in the acceleration MAP according to the load and the brake pedal opening. The first condition is that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold. The second condition is that the throttle pedal opening is not equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold is not satisfied.

[0101] S7. Based on the second longitudinal acceleration and the third longitudinal acceleration, obtain the target slope value.

[0102] As Figure 5 、 Figure 6 shown, based on the second longitudinal acceleration and the third longitudinal acceleration, obtaining the target slope value includes the following steps:

[0103] S71. Based on the third longitudinal acceleration, obtain the first sine value of the inclination angle, where the inclination angle is the angle corresponding to the slope;

[0104] Figure 7 shows a conversion schematic diagram of an angle and an acceleration provided by an embodiment of the present application. The relationship between the inclination angle and the acceleration can be converted by the following formula:

[0105]

[0106] where θ represents the inclination angle, X represents the longitudinal acceleration, and Z represents the vertical acceleration.

[0107] S72. Based on the first sine value of the inclination angle, calculate the percentage of the slope value to obtain the first original slope value;

[0108] After the third longitudinal acceleration passes through a low-pass filter and a Kalman filter, the first sine value of the inclination angle is obtained. Based on the first sine value f(θ) of the inclination angle, the percentage of the slope value is calculated to obtain the first original slope value, where f(θ) = sinθ. Before performing the Kalman filter, it is necessary to set the calibration quantity Q and the calibration quantity R. Q represents the process excitation noise covariance, and R represents the measurement noise covariance.

[0109] The percentage of the slope can be obtained through the inclination angle θ. The percentage of the slope value refers to the percentage method of the slope. The percentage method of the slope is the most commonly used method for the slope, that is, the percentage of the elevation difference between two points and their distance. Its calculation formula is slope = (elevation difference / distance) * 100%.

[0110] S73. Based on the output shaft speed and the second longitudinal acceleration, obtain the corresponding first filtering time in the time list of acceleration and speed;

[0111] After obtaining the output shaft speed and the second longitudinal acceleration, calculate the vehicle speed based on the output shaft speed, and obtain the corresponding first filtering time based on the vehicle speed and the second longitudinal acceleration in the acceleration and speed time list. The acceleration and speed time list is preset, and the speed is the vehicle speed.

[0112] S74. Filter the first original slope value based on the first filtering time to obtain the target slope value.

[0113] Filter the first original slope value through a low-pass filter based on the first filtering time to obtain the target slope value.

[0114] S8. Output the target slope value.

[0115] As Figure 3 、 Figure 4 shown, after determining whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than the acceleration threshold in S3, the embodiments of the present application further include:

[0116] S9. If it does not satisfy that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, obtain the initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration.

[0117] If it does not satisfy that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, it means that the vehicle is not in a special working condition, then obtain the initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration.

[0118] In S9, obtaining the initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration includes the following steps:

[0119] S91. Obtain the second sine value of the inclination angle based on the first longitudinal acceleration;

[0120] S92. Calculate the percentage of the slope value based on the second sine value of the inclination angle to obtain the second original slope value;

[0121] After the first longitudinal acceleration passes through a low-pass filter and Kalman filtering, the second sine value of the inclination angle is obtained. Based on the second sine value of the inclination angle f(θ), the percentage of the slope value is calculated to obtain the second 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. The calibration quantity Q and the calibration quantity R required for calculating the initial slope value and calculating the target slope value are different. Therefore, before performing Kalman filtering, it is necessary to set the calibration quantity Q and the calibration quantity R. By judging the special working condition, the Kalman filtering coefficient is adjusted in a timely manner.

[0122] S93. Obtain the corresponding second filtering time in the time list of acceleration and speed based on the output shaft speed and the second longitudinal acceleration.

[0123] After obtaining the output shaft speed and the second longitudinal acceleration, calculate the vehicle speed based on the output shaft speed, and obtain the corresponding second filtering time in the time list of acceleration and speed based on the vehicle speed and the second longitudinal acceleration.

[0124] S94. Filter the second original slope value based on the second filtering time to obtain the initial slope value.

[0125] Filter the second original slope value through a low-pass filter based on the second filtering time to obtain the initial slope value.

[0126] When conducting on-vehicle tests on the calculation method of the initial slope value based on S91 - S94, it will be found that there is a large gap between the calculated initial slope value and the reference slope value, that is, there is a large jump in the calculated initial slope value compared to the reference slope. This is because during braking, the deceleration is too rapid, resulting in too large an absolute value of acceleration, which affects the calculation of the slope. Therefore, in the embodiments of this application, by judging signals such as the throttle pedal opening, the brake pedal opening, and the acceleration, it is determined whether the vehicle is in a special working condition. If the vehicle is in a special working condition, Figure 6 the operation logic is used to calculate the target slope value. If the vehicle is not in a special working condition, Figure 4 the operation logic is used to calculate the initial slope value, and the slope calculation value is restricted and optimized through the load and the brake pedal opening.

[0127] S10. Output the initial slope value.

[0128] S11. If it satisfies that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, prohibit the vehicle from shifting gears.

[0129] An important control strategy affected by the slope is the shift control. At this time, due to the large acceleration, the probability of gear shifting failure is relatively high, and there is no power demand at this time. Then, when it satisfies that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, prohibit the vehicle from shifting gears. The embodiments of this application correct the shift strategy with inaccurate slope calculation to improve safety.

[0130] In an embodiment of the present application, the output shaft speed, the first longitudinal acceleration, the throttle pedal opening, and the brake pedal opening of the vehicle are obtained; the second longitudinal acceleration is obtained based on the output shaft speed; it is determined whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than the acceleration threshold; if it is satisfied that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, the actual load of the vehicle is obtained; based on the actual load and the brake pedal opening, the corresponding acceleration value is obtained in the acceleration list; based on the first longitudinal acceleration and the acceleration value, the third longitudinal acceleration is obtained; based on the second longitudinal acceleration and the third longitudinal acceleration, the target slope value is obtained; the target slope value is output. In the embodiment of the present application, through the analysis and estimation of signals such as the throttle pedal opening, the brake pedal opening, and the acceleration, the special working conditions with inaccurate slope calculation are judged, and in special working conditions, the acceleration list is used to calculate the acceleration for slope calculation, increasing the credibility of slope calculation.

[0131] Next, a slope calculation device provided by the present application will be introduced. The slope calculation device described below can be correspondingly referred to the slope calculation method described above.

[0132] Please refer to Figure 8 , which shows a schematic structural diagram of a slope calculation device provided by the present application. The device includes:

[0133] An acquisition module 801, configured to acquire the output shaft speed, the first longitudinal acceleration, the throttle pedal opening, and the brake pedal opening of the vehicle;

[0134] A first calculation module 802, configured to calculate a second longitudinal acceleration based on the output shaft speed;

[0135] A judgment module 803, configured to judge whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than an acceleration threshold;

[0136] The acquisition module 801 is further configured to, if it is satisfied that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, acquire the actual load of the vehicle;

[0137] The acquisition module 801 is further configured to, based on the actual load and the brake pedal opening, acquire an acceleration value corresponding to the actual load and the brake pedal opening in an acceleration list;

[0138] A second calculation module 804, configured to calculate a third longitudinal acceleration based on the first longitudinal acceleration and the acceleration value;

[0139] The third calculation module 805 is configured to obtain a target slope value based on the second longitudinal acceleration and the third longitudinal acceleration;

[0140] An output module 806 is configured to output the target slope value.

[0141] In an embodiment of the present application, the first calculation module 802 is specifically configured to:

[0142] Calculate the vehicle speed based on the output shaft speed;

[0143] Calculate a second longitudinal acceleration based on the vehicle speed.

[0144] In an embodiment of the present application, the third calculation module 805 is specifically configured to:

[0145] Obtain a first sine value of an inclination angle based on the third longitudinal acceleration, where the inclination angle is the angle corresponding to the slope;

[0146] Perform a percentage calculation of the slope value based on the first sine value of the inclination angle to obtain a first original slope value;

[0147] Obtain a corresponding first filtering time in the acceleration and speed time list based on the output shaft speed and the second longitudinal acceleration;

[0148] Filter the first original slope value based on the first filtering time to obtain the target slope value.

[0149] In an embodiment of the present application, the device further includes:

[0150] A fourth calculation module, configured to obtain an initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration if the throttle pedal opening is not equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold;

[0151] The output module 806 is further configured to output the initial slope value.

[0152] In an embodiment of the present application, the fourth calculation module is specifically configured to:

[0153] Obtain a second sine value of an inclination angle based on the first longitudinal acceleration;

[0154] Perform a percentage calculation of the slope value based on the second sine value of the inclination angle to obtain a second original slope value;

[0155] Obtain a corresponding second filtering time in the acceleration and speed time list based on the output shaft speed and the second longitudinal acceleration;

[0156] Filter the second original slope value based on the second filtering time to obtain the initial slope value.

[0157] In the embodiments of the present application, the output shaft speed, the first longitudinal acceleration, the throttle pedal opening, and the brake pedal opening of the vehicle are obtained; the second longitudinal acceleration is obtained based on the output shaft speed; it is determined whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than the acceleration threshold; if it satisfies that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, the actual load of the vehicle is obtained; based on the actual load and the brake pedal opening, the corresponding acceleration value is obtained in the acceleration list; based on the first longitudinal acceleration and the acceleration value, the third longitudinal acceleration is obtained; based on the second longitudinal acceleration and the third longitudinal acceleration, the target slope value is obtained; the target slope value is output. In the embodiments of the present application, by analyzing and estimating signals such as the throttle pedal opening, the brake pedal opening, and the acceleration, special working conditions with inaccurate slope calculation are judged, and in special working conditions, the acceleration used for slope calculation is calculated using the acceleration list, increasing the credibility of slope calculation.

[0158] It should be noted that the same or similar parts among the various embodiments can be referred to each other. For device - type embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0159] For the foregoing embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0160] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non - exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

[0161] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0162] The foregoing are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, several improvements and refinements can be made without departing from the principle of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A slope calculation method, characterized in that, The method includes: Obtaining the output shaft speed of the electronically controlled mechanical automatic transmission of the vehicle, the first longitudinal acceleration of the acceleration sensor of the vehicle, the throttle pedal opening, and the brake pedal opening; Calculating a second longitudinal acceleration based on the vehicle speed calculated from the output shaft speed; Judging whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than an acceleration threshold; If it satisfies that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, obtaining the actual load of the vehicle; Based on the actual load and the brake pedal opening, obtaining an acceleration value corresponding to the actual load and the brake pedal opening in an acceleration list; Calculating a third longitudinal acceleration based on subtracting the acceleration value corresponding to the actual load and the brake pedal opening from the first longitudinal acceleration; Obtaining a target slope value based on the second longitudinal acceleration and the third longitudinal acceleration; Outputting the target slope value; The obtaining the target slope value based on the second longitudinal acceleration and the third longitudinal acceleration includes: Obtaining a first sine value of an inclination angle based on the third longitudinal acceleration, where the inclination angle is the angle corresponding to the slope; Performing a slope value percentage calculation based on the first sine value of the inclination angle to obtain a first original slope value; Based on the output shaft speed and the second longitudinal acceleration, obtaining a corresponding first filtering time in a time list of acceleration and speed; Filtering the first original slope value based on the first filtering time to obtain the target slope value.

2. The method according to claim 1, wherein After judging whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than the acceleration threshold, the method further includes: If it does not satisfy that the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold, obtaining an initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration; Outputting the initial slope value.

3. The method according to claim 2, wherein The obtaining the initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration includes: Obtaining a second sine value of an inclination angle based on the first longitudinal acceleration; Performing a slope value percentage calculation based on the second sine value of the inclination angle to obtain a second original slope value; Based on the output shaft speed and the second longitudinal acceleration, obtaining a corresponding second filtering time in a time list of acceleration and speed; Filtering the second original slope value based on the second filtering time to obtain the initial slope value.

4. A slope calculation device, characterized in that, The device includes: An obtaining module, configured to obtain the output shaft speed of the electronically controlled mechanical automatic transmission of the vehicle, the first longitudinal acceleration of the acceleration sensor of the vehicle, the throttle pedal opening, and the brake pedal opening; A first calculation module, configured to calculate a second longitudinal acceleration based on the vehicle speed calculated from the output shaft speed; A judging module, configured to judge whether the throttle pedal opening is equal to 0, whether the brake pedal opening is equal to 0, and whether the second longitudinal acceleration is less than an acceleration threshold; The obtaining module is further configured to obtain the actual load of the vehicle if the throttle pedal opening is equal to 0, the brake pedal opening is not equal to 0, and the second longitudinal acceleration is less than the acceleration threshold; The obtaining module is further configured to obtain, in an acceleration list, an acceleration value corresponding to the actual load and the brake pedal opening based on the actual load and the brake pedal opening; The second calculation module is configured to calculate a third longitudinal acceleration based on subtracting the acceleration value corresponding to the actual load and the brake pedal opening from the first longitudinal acceleration; The third calculation module is configured to obtain a target slope value based on the second longitudinal acceleration and the third longitudinal acceleration; The output module is configured to output the target slope value; Specifically, the third calculation module is configured to: Obtain a first sine value of an inclination angle, where the inclination angle is the angle corresponding to the slope, based on the third longitudinal acceleration; Perform a percentage calculation of the slope value based on the first sine value of the inclination angle to obtain a first original slope value; Obtain a corresponding first filtering time in a time list of acceleration and speed based on the output shaft speed and the second longitudinal acceleration; Filter the first original slope value based on the first filtering time to obtain the target slope value.

5. The device according to claim 4, characterized in that, The device further includes: The fourth calculation module is configured to obtain an initial slope value based on the first longitudinal acceleration and the second longitudinal acceleration if the throttle pedal opening is not equal to 0, the brake pedal opening is not equal to 0, or the second longitudinal acceleration is not less than the acceleration threshold; The output module is further configured to output the initial slope value.

6. The device according to claim 5, characterized in that, Specifically, the fourth calculation module is configured to: Obtain a second sine value of an inclination angle based on the first longitudinal acceleration; Perform a percentage calculation of the slope value based on the second sine value of the inclination angle to obtain a second original slope value; Obtain a corresponding second filtering time in a time list of acceleration and speed based on the output shaft speed and the second longitudinal acceleration; Filter the second original slope value based on the second filtering time to obtain the initial slope value.

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