A Dynamic Slope Estimation Method and Device

Abstract

The present application provides a dynamic slope estimation method and device. The method includes: obtaining a vehicle body speed signal of a target vehicle; estimating a current vehicle body acceleration of the target vehicle according to the vehicle body speed signal; calculating an initial value of the current slope according to the current vehicle body acceleration; calculating the credibility of the initial value of the current slope; and calculating a current dynamic slope according to the credibility and the initial value of the current slope. It can be seen that the method and device can estimate the slope under all driving conditions of the vehicle, have relatively low requirements for vehicle mass estimation, and have good estimation effects.

Description

Technical Field

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

[0002] To achieve the best performance of a vehicle, it is of great significance to determine the gear of the vehicle and master the vehicle parameters and road conditions, especially the vehicle mass and road slope. Existing slope estimation methods usually calculate the component of gravitational acceleration generated by the current ramp by subtracting the acceleration of the vehicle body from the absolute acceleration of the vehicle, and then estimate the slope size. In practice, it is found that the existing methods can only estimate the slope with a certain accuracy when the vehicle is in a stable state (i.e., the acceleration is stable and the vehicle body does not shake), and the estimation effect is not ideal in working conditions such as vehicle acceleration start, braking, and skidding. It can be seen that the existing methods cannot estimate the slope of the vehicle at low speeds and when stationary, and have relatively high requirements for vehicle mass estimation. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method and device for estimating dynamic slope, which can estimate the slope under all driving conditions of the vehicle, have relatively low requirements for vehicle mass estimation, and have good estimation effects.

[0004] The first aspect of the embodiments of the present application provides a method for estimating dynamic slope, including:

[0005] Obtain the vehicle body speed signal of the target vehicle;

[0006] Estimate the current vehicle body acceleration of the target vehicle according to the vehicle body speed signal;

[0007] Calculate the initial value of the current slope according to the current vehicle body acceleration;

[0008] Calculate the credibility of the initial value of the current slope;

[0009] Calculate the current dynamic slope according to the credibility and the initial value of the current slope.

[0010] In the above implementation process, the method can first obtain the vehicle body speed signal of the target vehicle; then, estimate the current vehicle body acceleration of the target vehicle according to the vehicle body speed signal; then, calculate the initial value of the current slope according to the current vehicle body acceleration; then, calculate the credibility of the initial value of the current slope; finally, calculate the current dynamic slope according to the credibility and the initial value of the current slope. It can be seen that the method can estimate the slope under all driving conditions of the vehicle, have relatively low requirements for vehicle mass estimation, and have good estimation effects.

[0011] Further, the obtaining the vehicle body speed signal of the target vehicle includes:

[0012] Determine the drive configuration information of the target vehicle;

[0013] Obtain the vehicle body speed signal according to the drive configuration information.

[0014] Further, the drive configuration information is a two-wheel drive configuration or a four-wheel drive configuration;

[0015] Wherein, when the drive configuration information is the two-wheel drive configuration, the vehicle body speed signal is the non-driven wheel speed, and when the drive configuration information is the four-wheel drive configuration, the vehicle body speed signal is the reference vehicle speed of the target vehicle.

[0016] Further, the estimating the current vehicle body acceleration of the target vehicle according to the vehicle body speed signal includes:

[0017] Construct a state space equation according to the vehicle body speed signal;

[0018] Construct a standard Kalman filter based on the state space equation;

[0019] Estimate the current vehicle body acceleration of the target vehicle according to the standard Kalman filter.

[0020] Further, the calculating the credibility of the current slope initial value includes:

[0021] Calculate the slope change rate credibility, the slip credibility, the sudden acceleration and deceleration credibility, and the distance credibility according to the current slope initial value;

[0022] Calculate the credibility of the current slope initial value according to the slope change rate credibility, the slip credibility, the sudden acceleration and deceleration credibility, and the distance credibility.

[0023] Further, the calculating the current dynamic slope according to the credibility and the current slope initial value includes:

[0024] Obtain the historical slope signal of the previous moment, and calculate the historical slope signal weighting coefficient according to the credibility;

[0025] Perform weighted average processing according to the current slope initial value, the historical slope signal, the credibility, and the historical slope signal weighting coefficient to obtain the current dynamic slope; wherein, the credibility is the current slope initial value weighting coefficient.

[0026] A second aspect of the embodiments of the present application provides a dynamic slope estimation device, and the dynamic slope estimation device includes:

[0027] An acquisition unit, configured to acquire the vehicle body speed signal of the target vehicle;

[0028] An estimation unit for estimating the current vehicle body acceleration of the target vehicle according to the vehicle body speed signal;

[0029] A first calculation unit for calculating an initial current slope value according to the current vehicle body acceleration;

[0030] A second calculation unit for calculating the credibility of the initial current slope value;

[0031] A third calculation unit for calculating the current dynamic slope according to the credibility and the initial current slope value.

[0032] In the above implementation process, the dynamic slope estimation device can obtain the vehicle body speed signal of the target vehicle through the acquisition unit; estimate the current vehicle body acceleration of the target vehicle through the estimation unit according to the vehicle body speed signal; calculate the initial current slope value according to the current vehicle body acceleration through the first calculation unit; calculate the credibility of the initial current slope value through the second calculation unit; and then calculate the current dynamic slope according to the credibility and the initial current slope value through the third calculation unit. It can be seen that the device can estimate the slope under all driving conditions of the vehicle, has a low requirement for vehicle mass estimation, and has a good estimation effect.

[0033] Further, the acquisition unit includes:

[0034] A determination subunit for determining the drive configuration information of the target vehicle;

[0035] A first acquisition subunit for acquiring the vehicle body speed signal according to the drive configuration information.

[0036] Further, the drive configuration information is a two-wheel drive configuration or a four-wheel drive configuration;

[0037] Wherein, when the drive configuration information is the two-wheel drive configuration, the vehicle body speed signal is the non-driving wheel speed, and when the drive configuration information is the four-wheel drive configuration, the vehicle body speed signal is the reference vehicle speed of the target vehicle.

[0038] Further, the estimation unit includes:

[0039] A construction subunit for constructing a state space equation according to the vehicle body speed signal;

[0040] The construction subunit is further configured to construct a standard Kalman filter based on the state space equation;

[0041] An estimation subunit for estimating the current vehicle body acceleration of the target vehicle according to the standard Kalman filter.

[0042] Further, the second calculation unit includes:

[0043] A first calculation subunit, configured to calculate the credibility of the slope change rate, the skid credibility, the sudden acceleration and deceleration credibility, and the distance credibility according to the initial value of the current slope;

[0044] A second calculation subunit, configured to calculate the credibility of the initial value of the current slope according to the credibility of the slope change rate, the skid credibility, the sudden acceleration and deceleration credibility, and the distance credibility.

[0045] Further, the third calculation unit includes:

[0046] A second acquisition subunit, configured to acquire the historical slope signal at the previous moment, and calculate the historical slope signal weighting coefficient according to the credibility;

[0047] A weighted average subunit, configured to perform weighted average processing on the initial value of the current slope, the historical slope signal, the credibility, and the historical slope signal weighting coefficient to obtain the current dynamic slope; wherein, the credibility is the weighting coefficient of the initial value of the current slope.

[0048] A third aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the dynamic slope estimation method according to any one of the first aspects of the embodiments of the present application.

[0049] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores computer program instructions. When the computer program instructions are read and run by a processor, the dynamic slope estimation method according to any one of the first aspects of the embodiments of the present application is executed. Description of the Drawings

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0051] Figure 1 It is a schematic flowchart of a dynamic slope estimation method provided by an embodiment of the present application;

[0052] Figure 2 It is a schematic structural diagram of a dynamic slope estimation device provided by an embodiment of the present application;

[0053] Figure 3A schematic flow chart for summarizing the credibility of the initial value of the current slope provided by the embodiments of the present application. Detailed implementation manners

[0054] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application.

[0055] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0056] Embodiment 1

[0057] Please refer to Figure 1 , Figure 1 , which provides a schematic flow chart of a dynamic slope estimation method for this embodiment. Among them, the dynamic slope estimation method includes:

[0058] S101. Determine the drive configuration information of the target vehicle.

[0059] In this embodiment, the drive configuration information is a two-wheel drive configuration or a four-wheel drive configuration.

[0060] In this embodiment, when the drive configuration information is a two-wheel drive configuration, the vehicle body speed signal is the non-driven wheel speed; when the drive configuration information is a four-wheel drive configuration, the vehicle body speed signal is the reference vehicle speed of the target vehicle.

[0061] S102. Obtain the vehicle body speed signal according to the drive configuration information.

[0062] S103. Construct a state space equation according to the vehicle body speed signal.

[0063] S104. Construct a standard Kalman filter based on the state space equation.

[0064] S105. Estimate the current vehicle body acceleration of the target vehicle according to the standard Kalman filter.

[0065] In this embodiment, for a vehicle with a two-wheel drive configuration, the average value of the non-driven wheel speeds is used to approximate the vehicle body speed. For a vehicle with a four-wheel drive configuration, the estimated reference vehicle speed is used as the approximate vehicle body speed.

[0066] Specifically, the method can perform a third-order Taylor expansion on the vehicle body speed signal:

[0067]

[0068] After performing first-order and second-order derivatives and then discretizing, the following state-space equations can be obtained:

[0069]

[0070]

[0071] It can be seen that by constructing a standard Kalman filter based on the above state-space equations, the current estimated vehicle body acceleration can be obtained.

[0072] S106. Calculate the initial value of the current slope according to the current vehicle body acceleration.

[0073] In this embodiment, the method estimates the initial value of the current slope using the kinematic equation as follows:

[0074]

[0075]

[0076] Where, is the vehicle body acceleration, a x The absolute acceleration is obtained using a longitudinal acceleration sensor, qsinθ is the longitudinal component of the gravitational acceleration, and θ is the initial value of the currently estimated slope.

[0077] S107. Calculate the credibility of the slope change rate, the credibility of slipping, the credibility of rapid acceleration and deceleration, and the credibility of distance according to the initial value of the current slope.

[0078] In this embodiment, the credibility of the slope change rate can be that when the original estimated value oscillates rapidly in the time domain, the credibility is reduced according to its change rate. The credibility is obtained by looking up a table according to the change rate of the current θ, and the specific parameters are determined by actual vehicle tests.

[0079] In this embodiment, the credibility of slipping can be the flag bit (Bool value) indicating whether the current vehicle is slipping output by the vehicle speed calculation module. When the vehicle slips, a lower credibility T1 is used, and after the slipping ends, the credibility gradually rises from T1 to 1. The value of T1 and the rising rate are determined by actual vehicle tests.

[0080] In this embodiment, the credibility of rapid acceleration and deceleration can be to obtain the depth signals of the current vehicle's throttle and brake pedals from the sensors. And calculate the change rates of both through them. When one of the current change rates exceeds A1 (corresponding to the throttle) and A2 (corresponding to the brake) respectively, it is considered that the driver is performing rapid acceleration and deceleration operations. At this time, a lower credibility T2 is used, and after the rapid acceleration and deceleration end, the credibility gradually rises from T2 to 1. The value of T2 and the rising rate are determined by actual vehicle tests.

[0081] In this embodiment, the distance credibility can be that when the vehicle wheel speeds are all 0, it is considered that the vehicle is stationary, and at this time the distance credibility is 1. After the vehicle starts to drive, a relatively low credibility T3 is adopted, and T3 is gradually increased to 1 according to the distance it travels. The value of T3 and the rising rate are determined by actual vehicle tests.

[0082] In this embodiment, the credibility of the current slope initial value is the product of the above four credibilities.

[0083] Please refer to Figure 3 , Figure 3 which shows a schematic flow diagram of an example summary of the credibility of the current slope initial value in this method.

[0084] S108. Calculate the credibility of the current slope initial value according to the slope change rate credibility, the slip credibility, the sudden acceleration and deceleration credibility, and the distance credibility.

[0085] S109. Obtain the historical slope signal of the previous moment, and calculate the historical slope signal weighting coefficient according to the credibility.

[0086] In the embodiment of the present application, the calculation formula of the historical slope signal weighting coefficient is: historical slope signal weighting coefficient = 1 - credibility.

[0087] S110. Perform weighted average processing on the current slope initial value, the historical slope signal, the credibility, and the historical slope signal weighting coefficient to obtain the current dynamic slope.

[0088] In the embodiment of the present application, this credibility is the current slope initial value weighting coefficient.

[0089] In this embodiment, the slope after fusion and correction is weighted and averaged according to the current initial slope value and the slope value of the previous moment according to the credibility.

[0090] In this embodiment, this method can be applied to scenarios such as ramp assist, anti-rollback, and line and parking torque requests in the ICV field, so as to improve the smoothness and consistency of driving on ramps.

[0091] In this embodiment, this method is different from general slope estimation algorithms. Specifically, this method can output a slope signal that is stable and has a certain accuracy under all driving conditions, so as to meet the functional application requirements.

[0092] In this embodiment, the execution subject of this method can be a computing device such as a computer or a server, and no limitation is made in this embodiment.

[0093] In this embodiment, the execution subject of this method can also be a smart device such as a smart phone or a tablet computer, and no limitation is made in this embodiment.

[0094] It can be seen that implementing the dynamic slope estimation method described in this embodiment can integrate vehicle skid status, driving estimation, driver pedal request information, etc., so as to effectively estimate the slope continuously during rapid acceleration and deceleration, vehicle shaking, and skidding on icy and snowy roads, thereby ensuring that the output slope signal does not oscillate and jump due to extreme working conditions, and having a certain estimation accuracy to meet the requirements of engineering applications.

[0095] Embodiment 2

[0096] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a dynamic slope estimation device provided in this embodiment. As Figure 2 shown, the dynamic slope estimation device includes:

[0097] An acquisition unit 210, configured to acquire the vehicle body speed signal of the target vehicle;

[0098] An estimation unit 220, configured to estimate the current vehicle body acceleration of the target vehicle according to the vehicle body speed signal;

[0099] A first calculation unit 230, configured to calculate the current slope initial value according to the current vehicle body acceleration;

[0100] A second calculation unit 240, configured to calculate the credibility of the current slope initial value;

[0101] A third calculation unit 250, configured to calculate the current dynamic slope according to the credibility and the current slope initial value;

[0102] As an optional implementation manner, the acquisition unit 210 includes:

[0103] A determination subunit 211, configured to determine the drive configuration information of the target vehicle;

[0104] A first acquisition subunit 212, configured to acquire the vehicle body speed signal according to the drive configuration information.

[0105] In this embodiment, the drive configuration information is a two-wheel drive configuration or a four-wheel drive configuration;

[0106] Among them, when the drive configuration information is a two-wheel drive configuration, the vehicle body speed signal is the non-driven wheel speed, and when the drive configuration information is a four-wheel drive configuration, the vehicle body speed signal is the reference vehicle speed of the target vehicle.

[0107] As an optional implementation manner, the estimation unit 220 includes:

[0108] A construction subunit 221, configured to construct a state space equation according to the vehicle body speed signal;

[0109] The construction subunit 221 is also used to construct a standard Kalman filter based on the state space equation;

[0110] The estimation subunit 222 is used to estimate the current body acceleration of the target vehicle according to a standard Kalman filter.

[0111] As an optional implementation, the second calculation unit 240 includes:

[0112] The first calculation subunit 241 is used to calculate the slope change rate credibility, the slip credibility, the rapid acceleration and deceleration credibility and the distance credibility according to the current initial value of the slope;

[0113] The second calculation subunit 242 is used to calculate the credibility of the current slope initial value according to the slope change rate credibility, the slip credibility, the rapid acceleration and deceleration credibility and the distance credibility.

[0114] As an optional implementation, the third calculation unit 250 includes:

[0115] The second acquisition subunit 251 is used to acquire the historical slope signal of the previous moment and calculate the weight coefficient of the historical slope signal according to the credibility;

[0116] The weighted average subunit 252 is used to perform weighted average processing according to the current slope initial value, the historical slope signal, the credibility and the weight coefficient of the historical slope signal to obtain the current dynamic slope; wherein the credibility is the weight coefficient of the current slope initial value.

[0117] In this embodiment, the explanation of the dynamic slope estimation device can refer to the description in Embodiment 1, and will not be further elaborated in this embodiment.

[0118] It can be seen that the dynamic slope estimation device described in this embodiment can use a dynamic slope estimation algorithm to integrate the vehicle's slip status, driving estimation, driver's pedal request information, etc., so as to effectively and continuously estimate the slope during sudden acceleration and deceleration, vehicle shaking, and slipping on icy and snowy roads, thereby ensuring that the output slope signal does not oscillate or jump with extreme working conditions, and has a certain estimation accuracy to meet engineering application requirements.

[0119] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the dynamic slope estimation method in Embodiment 1 of the present application.

[0120] An embodiment of the present application provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are read and executed by a processor, the dynamic slope estimation method in Embodiment 1 of the present application is executed.

[0121] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0122] In addition, each functional module in various embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0123] If the above functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0124] The above are only embodiments of the present application and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0125] As described above, this is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all of them should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

[0126] It should be noted that in this text, relative 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 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 expressly listed, or further 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 additional identical elements in the process, method, article or device including the said element.

Claims

1. A dynamic slope estimation method, characterized in that, it includes: Obtain the vehicle body speed signal of the target vehicle; Estimate the current vehicle body acceleration of the target vehicle according to the vehicle body speed signal; Calculate the initial value of the current slope according to the current vehicle body acceleration; Calculate the credibility of the initial value of the current slope; Calculate the current dynamic slope according to the credibility and the initial value of the current slope; Among them, the calculation of the credibility of the initial value of the current slope includes: Calculate the slope change rate credibility, slip credibility, rapid acceleration and deceleration credibility, and distance credibility according to the initial value of the current slope; Calculate the credibility of the initial value of the current slope according to the slope change rate credibility, the slip credibility, the rapid acceleration and deceleration credibility, and the distance credibility; Among them, the calculation of the current dynamic slope according to the credibility and the initial value of the current slope includes: Obtain the historical slope signal at the previous moment, and calculate the historical slope signal weighting coefficient according to the credibility; Perform weighted average processing on the initial value of the current slope, the historical slope signal, the credibility, and the historical slope signal weighting coefficient to obtain the current dynamic slope; where the credibility is the weighting coefficient of the initial value of the current slope.

2. The dynamic slope estimation method according to claim 1, characterized in that, The obtaining of the vehicle body speed signal of the target vehicle includes: Determine the drive configuration information of the target vehicle; Obtain the vehicle body speed signal according to the drive configuration information.

3. The dynamic slope estimation method according to claim 2, characterized in that, The drive configuration information is a two-wheel drive configuration or a four-wheel drive configuration; Among them, when the drive configuration information is the two-wheel drive configuration, the vehicle body speed signal is the non-driving wheel speed, and when the drive configuration information is the four-wheel drive configuration, the vehicle body speed signal is the reference speed of the target vehicle.

4. The dynamic slope estimation method according to claim 1, characterized in that, The estimation of the current vehicle body acceleration of the target vehicle according to the vehicle body speed signal includes: Construct a state space equation according to the vehicle body speed signal; Construct a standard Kalman filter based on the state space equation; Estimate the current vehicle body acceleration of the target vehicle according to the standard Kalman filter.

5. A dynamic slope estimation device, characterized in that, The dynamic slope estimation device includes: An acquisition unit for acquiring the vehicle body speed signal of the target vehicle; An estimation unit for estimating the current vehicle body acceleration of the target vehicle according to the vehicle body speed signal; A first calculation unit for calculating the initial value of the current slope according to the current vehicle body acceleration; A second calculation unit for calculating the credibility of the initial value of the current slope; A third calculation unit for calculating the current dynamic slope according to the credibility and the initial value of the current slope; Among them, the second calculation unit includes: A first calculation subunit for calculating the slope change rate credibility, slip credibility, rapid acceleration and deceleration credibility, and distance credibility according to the initial value of the current slope; A second calculation subunit, configured to calculate the credibility of the current initial slope value according to the credibility of the slope change rate, the credibility of the skidding, the credibility of rapid acceleration and rapid deceleration, and the credibility of the distance; Wherein, the third calculation unit includes: A second acquisition subunit, configured to acquire a historical slope signal at a previous moment, and calculate a historical slope signal weighting coefficient according to the credibility; A weighted average subunit, configured to perform weighted average processing on the current initial slope value, the historical slope signal, the credibility, and the historical slope signal weighting coefficient to obtain a current dynamic slope; wherein, the credibility is a current initial slope value weighting coefficient.

6. The dynamic slope estimation device according to claim 5, characterized in that the acquisition unit includes: A determination subunit, configured to determine the drive configuration information of the target vehicle; A first acquisition subunit, configured to acquire a vehicle body speed signal according to the drive configuration information.

7. An electronic device, characterized in that the electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the dynamic slope estimation method according to any one of claims 1 to 4.

8. A readable storage medium, characterized in that computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and run by a processor, the dynamic slope estimation method according to any one of claims 1 to 4 is executed.

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