Calibration methods, devices, and vehicles for vehicle slope sensors

Abstract

This application discloses a method, apparatus, and vehicle for calibrating a vehicle ramp sensor, relating to the field of vehicle technology. The method includes: determining a first slope value corresponding to each of a plurality of ramps based on a slope signal output by the ramp sensor; controlling a vehicle to sequentially stop on the plurality of ramps according to the first slope value corresponding to each of the ramps; for each ramp, in response to the vehicle moving on the ramp during the stopping operation, calibrating the first slope value corresponding to the ramp based on the vehicle's direction of movement; and determining the correspondence between the slope signal detected by the ramp sensor and the slope value based on the slope signal corresponding to each of the ramps and the calibrated second slope value. This method can improve the detection accuracy of ramp sensors mounted on vehicles.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle ramp sensor correction method and device and vehicle. BACKGROUND

[0002] The slope is the angle between the slope surface of the ramp and the horizontal plane. In order to measure the slope, the vehicle needs to be equipped with a ramp sensor, and when the vehicle is located on a ramp with different slopes, the slope signal collected by the ramp sensor has different values, so as to realize the measurement of the slope. Based on the measured slope, the power system of the vehicle can determine the driving strategy to ensure the stability and safety of the vehicle on the ramp.

[0003] At present, the vehicle equipped with the ramp sensor will calibrate the zero position of the ramp sensor on the horizontal plane before leaving the factory, but will not correct the correspondence accuracy between the slope signal measured by the ramp sensor and the slope value. However, the assembly state of the ramp sensor on the vehicle, the ground state during zero calibration and the tire pressure difference will all affect the accuracy of the ramp sensor. SUMMARY

[0004] In view of this, the present application provides a vehicle ramp sensor correction method, device and vehicle, which can improve the detection accuracy of the ramp sensor assembled on the vehicle.

[0005] Specifically, the technical scheme includes the following:

[0006] The present application provides a vehicle ramp sensor correction method, which comprises:

[0007] Based on the slope signal output by the ramp sensor, determine the first slope value corresponding to each ramp in the plurality of ramps;

[0008] According to the first slope value corresponding to each ramp in the plurality of ramps, control the vehicle to perform a parking operation on the plurality of ramps in turn;

[0009] For each ramp, in response to the movement of the vehicle on the ramp when performing the parking operation, based on the moving direction of the vehicle, correct the first slope value corresponding to the ramp;

[0010] Based on the slope signal corresponding to each ramp in the plurality of ramps and the second slope value obtained after correction, determine the correspondence between the slope signal detected by the ramp sensor and the slope value.

[0011] In some embodiments, the control of the vehicle to perform a parking operation on the plurality of ramps in turn according to the first slope value corresponding to each ramp in the plurality of ramps comprises:

[0012] For each ramp, based on the first slope value and the correspondence between slope value and torque, determine a balance torque, wherein the balance torque is used to keep the vehicle stationary on the ramp in the case that the accuracy of the ramp sensor is qualified;

[0013] Control the power system of the vehicle to output the balance torque.

[0014] In some embodiments, the correction of the slope value corresponding to the ramp based on the moving direction of the vehicle comprises:

[0015] Obtain a rotation speed signal of the vehicle, and determine the moving direction of the vehicle based on the rotation speed signal, wherein the moving direction of the vehicle comprises any one of forward and backward;

[0016] Based on the moving direction of the vehicle, adjust the output torque of the vehicle by a set step size until the vehicle is kept stationary on the ramp;

[0017] According to the output torque of the vehicle when the vehicle is kept stationary on the ramp and the correspondence between slope value and torque, obtain the second slope value;

[0018] Replace the first slope value with the second slope value.

[0019] In some embodiments, before controlling the vehicle to sequentially perform the parking operation on the plurality of ramps, the method further comprises:

[0020] Obtain a slope signal detected by the ramp sensor when the vehicle is parked on a horizontal surface, wherein the vehicle is a vehicle after zero calibration;

[0021] In response to the slope value corresponding to the slope signal being not zero, re-calibrate the vehicle.

[0022] In some embodiments, the method further comprises:

[0023] In response to the vehicle not generating movement on the ramp, determine that the accuracy of the ramp sensor is qualified.

[0024] In some embodiments, the slope values of each of the plurality of ramps are different;

[0025] Control the vehicle to sequentially perform the parking operation on the plurality of ramps, comprising:

[0026] Control the vehicle to sequentially perform the parking operation on the plurality of ramps in the order of the slope values from small to large.

[0027] In some embodiments, the number of the plurality of ramps is at least three.

[0028] In some embodiments, the determining the correspondence between the slope signals detected by the slope sensor and the slope values comprises:

[0029] determining the correspondence between the slope signals and the slope values according to an interpolation method; or

[0030] performing data fitting according to the slope signals corresponding to each of the plurality of slopes and the second slope values obtained after the correction, to determine the correspondence between the slope signals detected by the slope sensor and the slope values.

[0031] The embodiments of the present application also provide a correction device for a vehicle slope sensor, the device comprising:

[0032] a first determining module configured to determine, based on the slope signals output by the slope sensor, first slope values corresponding to each of the plurality of slopes;

[0033] a parking module configured to control the vehicle to perform parking operations on the plurality of slopes one by one according to the first slope values corresponding to each of the plurality of slopes;

[0034] a correction module configured to, for each slope, in response to the vehicle generating movement on the slope when performing the parking operation, correct the first slope value corresponding to the slope based on the moving direction of the vehicle;

[0035] a second determining module configured to determine, based on the slope signals corresponding to each of the plurality of slopes and the second slope values obtained after the correction, the correspondence between the slope signals detected by the slope sensor and the slope values.

[0036] The embodiments of the present application also provide a vehicle performing the correction method for a vehicle slope sensor as described above.

[0037] The technical solutions provided by the embodiments of the present application have at least the following beneficial effects:

[0038] The embodiments of the present application provide a correction method, device and vehicle for a vehicle slope sensor. The first slope value is determined based on an uncorrected slope sensor. The parking operation is performed based on the uncorrected slope value. If the vehicle generates deviation on the slope, it indicates that the first slope value is inaccurate. Therefore, the first slope value can be corrected according to the moving direction of the vehicle. Then, the correspondence between the slope signals detected by the slope sensor and the slope values is determined based on the slope signals corresponding to each of the plurality of slopes and the second slope values obtained after the correction. The correspondence is the corrected correspondence, which can improve the detection accuracy of the slope sensor mounted on the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0040] Figure 1 The method flow chart of the slope sensor correction method of the vehicle provided by the embodiments of the present application;

[0041] Figure 2 The method flow chart of another slope sensor correction method of the vehicle provided by the embodiments of the present application;

[0042] Figure 3 The method flow chart of controlling the vehicle to stop on multiple slopes in turn provided by the embodiments of the present application;

[0043] Figure 4 The method flow chart of correcting the first slope value corresponding to the slope based on the moving direction of the vehicle provided by the embodiments of the present application;

[0044] Figure 5 The structural schematic diagram of the slope sensor correction device of the vehicle provided by the embodiments of the present application. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0046] Figure 1 The method flow chart of the slope sensor correction method of the vehicle provided by the embodiments of the present application, which can be executed by the vehicle. As shown in the figure, Figure 1 The method comprises:

[0047] Step 101, based on the slope signal output by the slope sensor, determining the first slope value corresponding to each slope in the multiple slopes.

[0048] Step 102, according to the first slope value corresponding to each slope in the multiple slopes, controlling the vehicle to stop on the multiple slopes in turn.

[0049] Step 103, for each slope, in response to the movement of the vehicle on the slope when stopping, correcting the first slope value corresponding to the slope based on the moving direction of the vehicle.

[0050] In step 104, a correspondence between the slope signal detected by the slope sensor and the slope value is determined based on the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after the correction.

[0051] In the embodiments of the present application, the parking operation can be understood as an operation intended to make the vehicle stationary parked on the slope.

[0052] The slope value determined based on the slope signal output by the slope sensor is related to the driving strategy of the vehicle. If the slope value determination is inaccurate, it may lead to an incorrect driving strategy, which in turn affects the stability and safety of the vehicle driving on the slope. In some embodiments, the vehicle control unit can store a correspondence between the slope value and the balance torque corresponding to the parking operation. If the determined slope value is inaccurate, the vehicle may not be able to be parked stationary on the slope when performing the parking operation based on the balance torque determined based on the slope value, but may deviate. In other words, the parking operation is performed by the vehicle according to the predetermined driving strategy to determine the balance torque autonomously after the user issues an instruction (e.g., a parking instruction), rather than being performed manually by the user operating the driving system such as the accelerator and brake.

[0053] In addition, the vehicle control unit can also store a correspondence between the slope signal and the slope value. The vehicle control unit can determine the slope value of the slope on which the vehicle is currently located based on the slope signal output by the slope sensor.

[0054] For a slope sensor whose structure and installation position on the vehicle are determined, the slope signal output by the slope sensor is certain for a specific position of the slope on which the vehicle is located. The slope signal can be an electrical signal. Therefore, if it is necessary to correct the slope value determined based on the slope sensor to optimize the driving strategy of the vehicle, the correspondence between the slope signal and the slope value can be corrected. The embodiments of the present application provide a correction method for a vehicle slope sensor, wherein the first slope value is a slope value determined based on an uncorrected slope sensor, and the parking operation is performed based on the uncorrected slope value. If the vehicle deviates on the slope, it indicates that the first slope value is inaccurate, and thus the first slope value can be corrected according to the moving direction of the vehicle. Then, a correspondence between the slope signal detected by the slope sensor and the slope value is determined based on the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after the correction. The correspondence is the corrected correspondence, which can improve the detection accuracy of the slope sensor mounted on the vehicle.

[0055] Compared with correcting the structure design or installation position of the ramp sensor itself, the correction method provided in the embodiments of the present application is easy to operate and low in cost, and can conveniently and quickly improve the detection accuracy of the ramp sensor mounted on the vehicle.

[0056] In some embodiments, the method further includes:

[0057] For each ramp, based on the slope value and the corresponding relationship between the slope value and the torque, a balance torque is determined, wherein the balance torque is used to keep the vehicle stationary on the ramp in the case that the accuracy of the ramp sensor is qualified.

[0058] The power system of the vehicle is controlled to output the balance torque.

[0059] In some embodiments, the slope value corresponding to the ramp is corrected based on the moving direction of the vehicle, including:

[0060] A rotation speed signal of the vehicle is obtained, and the moving direction of the vehicle is determined based on the rotation speed signal, wherein the moving direction of the vehicle includes any one of forward and backward;

[0061] Based on the moving direction of the vehicle, the output torque of the vehicle is adjusted by a set step size until the vehicle is kept stationary on the ramp;

[0062] A second slope value is obtained according to the output torque of the vehicle when the vehicle is kept stationary on the ramp and the corresponding relationship between the slope value and the torque;

[0063] The first slope value is replaced by the second slope value.

[0064] In some embodiments, before the vehicle is controlled to be parked on the plurality of ramps in sequence, the method further includes:

[0065] A slope signal detected by the ramp sensor when the vehicle is parked on a horizontal plane is obtained, wherein the vehicle is a vehicle after zero calibration;

[0066] In response to the slope value corresponding to the slope signal being not zero, the vehicle is re-calibrated to zero.

[0067] In some embodiments, the method further includes:

[0068] In response to the vehicle not generating movement on the ramp, it is determined that the accuracy of the ramp sensor is qualified.

[0069] In some embodiments, the slope values of each of the plurality of ramps are different;

[0070] The vehicle is controlled to be parked on the plurality of ramps in sequence, including:

[0071] The vehicle performs the parking operation on the plurality of ramps in order of the slope values from small to large.

[0072] In some embodiments, the number of the plurality of ramps is at least three.

[0073] In some embodiments, determining the correspondence between the slope signals detected by the slope sensors and the slope values comprises:

[0074] determining the correspondence between the slope signals and the slope values according to an interpolation method; or

[0075] performing data fitting according to the slope signals corresponding to each of the plurality of ramps and the second slope values obtained after the correction, to determine the correspondence between the slope signals detected by the slope sensors and the slope values.

[0076] The application also provides another method for correcting slope sensors of a vehicle, which can be performed by the vehicle and can be applied to a vehicle controller in the vehicle, as shown in Figure 2 The method can include the following steps:

[0077] In step 201, based on the slope signals output by the slope sensors, first slope values corresponding to each of the plurality of ramps are determined.

[0078] When the vehicle is driving on a ramp, the slope sensors will output slope signals in real time, and the vehicle controller can determine the first slope value corresponding to the ramp based on the slope signals output by the slope sensors.

[0079] It should be noted that different ramps have different slope values, i.e., the angles between the slope surfaces and the horizontal surfaces of different ramps are different. For a specific position of a specific ramp, the slope sensor can output a slope signal, and based on the correspondence between the slope signal and the slope value, the slope value corresponding to the slope signal, i.e., the slope value at the specific position, can be determined.

[0080] In the embodiments of the application, when the first slope value corresponding to each ramp is determined based on the slope signals output by the slope sensors, the correspondence between the slope signals and the slope values has not been corrected at this time, and the first slope value can be considered as an uncorrected slope value.

[0081] In some embodiments, the correspondence between the slope signals and the slope values can be stored in the vehicle controller. The slope sensors can output the slope signals to the vehicle controller, and the vehicle controller can determine the first slope value corresponding to each of the plurality of ramps based on the slope signals output by the slope sensors and the correspondence between the slope signals and the slope values.

[0082] In some embodiments, the slope sensor may be located at the vehicle's center of gravity and parallel to the sides of the vehicle body.

[0083] In some embodiments, the slope signal can be a voltage signal or a current signal.

[0084] In some embodiments, the ramp sensor is hardwired to the vehicle controller.

[0085] Step 202: Based on the first gradient value corresponding to each of the multiple ramps, control the vehicle to stop on the multiple ramps in sequence.

[0086] In some embodiments, the number of ramps may be at least three. The more ramps calibrated, the higher the accuracy of the calibrated ramp sensor.

[0087] The slope values ​​corresponding to each of the selected ramps can all fall within a threshold range, which represents the effective detection range of the ramp sensor. Furthermore, the slope values ​​corresponding to any two adjacent ramps can be distributed at fixed intervals within this threshold range. That is, the differences between the slope values ​​corresponding to any two adjacent ramps can be relatively uniform overall. The difference between the minimum and maximum slope values ​​among the multiple ramps can be no less than a set proportion of the difference between the maximum and minimum values ​​within the threshold range. For example, the difference between the minimum and maximum slope values ​​among the multiple ramps can be at least 80%, 90%, or more of the difference between the maximum and minimum values ​​within the threshold range.

[0088] The vehicle controller uses the first gradient value corresponding to each of the multiple slopes to make the vehicle stop on the multiple slopes in sequence, in order to determine whether the first gradient value corresponding to each of the multiple slopes is accurate.

[0089] like Figure 3 As shown, step 202 may specifically include the following sub-steps:

[0090] Step 2021: For each ramp, determine the balance torque based on the first slope value and the correspondence between the slope value and the torque.

[0091] In this configuration, assuming the slope sensor's accuracy is acceptable, the balancing torque is used to keep the vehicle stationary on the slope. In some embodiments, the slope sensor's accuracy is considered acceptable if the slope value determined based on the correspondence between the uncorrected slope signal and the slope value is substantially consistent with the slope value determined based on the corrected correspondence. Furthermore, the balancing torque determined based on this uncorrected correspondence can effectively park the vehicle stationary on the slope.

[0092] When the vehicle is performing the parking operation on a slope, the vehicle controller can determine a balance torque corresponding to the slope value of the slope based on a first slope value determined by the uncorrected slope sensor and a correspondence between the slope value and the torque. In the case where the accuracy of the slope sensor is qualified, i.e., the correspondence between the slope signal detected by the slope sensor and the slope value is accurate, the balance torque determined by the vehicle controller based on the first slope value and the correspondence between the slope value and the torque can keep the vehicle stationary on the slope.

[0093] If the accuracy of the slope sensor is unqualified, the first slope value determined by the slope sensor is inaccurate, and the balance torque determined according to the first slope value is deviated, and the vehicle cannot be stably kept on the slope.

[0094] Step 2022, controlling the power system of the vehicle to output the balance torque.

[0095] After determining the balance torque, the vehicle controller can control the power system of the vehicle to output the balance torque to perform the parking operation.

[0096] In some embodiments, the vehicle controller can control the power system to output the balance torque through a controller area network (CAN).

[0097] In some embodiments, before the step 201 or the step 202, the method can further include zero-position calibration of the slope sensor.

[0098] The zero-position calibration is to take the voltage value detected by the slope sensor when the vehicle is on a horizontal plane as a voltage reference value, and the corresponding slope value is recorded as 0°, so as to perform the zero-position calibration. In some embodiments, the zero-position calibration of the slope sensor can include parking the vehicle loaded with the slope sensor on a horizontal plane, and then acquiring a reference slope signal output by the slope sensor and a reference slope value corresponding to the reference slope signal, and taking the reference slope signal or the reference slope value as the zero position. The slope signal output by the slope sensor after the zero-position calibration is actually the difference between the actual slope signal and the reference slope signal; or the slope value determined based on the slope sensor after the zero-position calibration is actually the difference between the actual slope value and the reference slope value.

[0099] In some embodiments, prior to step 201 or step 202, the method may further include: acquiring a slope signal detected by a ramp sensor when the vehicle is parked on a level surface, wherein the vehicle is a vehicle that has undergone zero-position calibration; and recalibrating the vehicle at the zero position in response to a slope value corresponding to the slope signal being non-zero. This process of verifying the zero-position calibration can be performed multiple times. That is, after recalibrating the vehicle at the zero position, the steps of acquiring the slope signal detected by the ramp sensor when the vehicle is parked on a level surface and recalibrating the vehicle at the zero position in response to a slope value corresponding to the slope signal being non-zero can be repeated until the slope value corresponding to the acquired slope signal is zero.

[0100] The slope signal detected by the slope sensor is acquired when the vehicle is parked on a level surface after zero-point calibration. If the slope value corresponding to the slope signal is not zero, it indicates that zero-point calibration needs to be performed again. By verifying the accuracy of zero-point positioning, the detection accuracy of the slope sensor can be improved before the slope sensor is calibrated.

[0101] In some embodiments, zero-point calibration can be performed using a calibration instrument or a vehicle controller.

[0102] Step 203: In response to the vehicle not moving on the slope, determine that the accuracy of the slope sensor is qualified.

[0103] When a vehicle can remain stably parked on a slope without moving, it indicates that the slope sensor accurately corresponds to the slope value, and the slope sensor's accuracy is acceptable. In this case, the vehicle controller's determination of the balance torque based on the slope value and the relationship between the slope value and torque is accurate and can meet the vehicle's driving requirements. In this situation, the slope sensor calibration operation can be terminated directly.

[0104] In some embodiments, in response to the vehicle not moving on any of the multiple ramps, the accuracy of the ramp sensor is determined to be acceptable, and the calibration operation of the ramp sensor is terminated.

[0105] Step 204: For each ramp, in response to the vehicle moving on the ramp during the parking operation, the first slope value corresponding to the ramp is corrected based on the direction of the vehicle's movement.

[0106] When the vehicle moves on a slope, it indicates that the slope sensor is not accurate enough, and the balance torque determined by the vehicle controller based on the slope value and the correspondence between the slope value and torque cannot meet the driving requirements of the vehicle.

[0107] The moving direction of the vehicle on the slope can include any one of forward movement and backward movement. The moving direction can represent a deviation trend of the slope value. Therefore, the first slope value corresponding to the slope can be corrected based on the moving direction of the vehicle.

[0108] As shown in FIG. 4, step 204 can include the following sub-steps: Figure 4

[0109] In step 2041, a rotation speed signal of the vehicle is acquired, and the moving direction of the vehicle is determined based on the rotation speed signal.

[0110] The vehicle controller can acquire the rotation speed signal sent by the power system, and can determine whether the vehicle is stably parked on the slope, moving forward on the slope or moving backward on the slope based on the rotation speed signal.

[0111] In some embodiments, the power system can send the rotation speed signal to the vehicle controller through a CAN bus.

[0112] In step 2042, the output torque of the vehicle is adjusted by a set step based on the moving direction of the vehicle until the vehicle is kept stationary on the slope.

[0113] Based on the forward movement or backward movement of the vehicle on the slope, the vehicle controller can adjust the output torque of the vehicle by a set step to hinder the forward movement or backward movement of the vehicle on the slope, so that the vehicle can be kept stationary on the slope.

[0114] For example, when the vehicle controller determines that the vehicle has deviated backward based on the rotation speed signal, the output torque of the vehicle can be increased by a set step based on the current output balance torque. The rotation speed signal after the adjustment of the torque is acquired, if it is determined that the vehicle still deviates backward, the output torque of the vehicle is increased by a continued set step based on the adjusted torque; if it is determined that the vehicle deviates forward, the step can be reduced by a certain proportion, and the output torque of the vehicle is reduced by the reduced step based on the adjusted torque until the vehicle is kept stationary on the slope.

[0115] In some embodiments, in order to ensure the accuracy of the correction, the set compensation cannot be too large.

[0116] In step 2043, a second slope value is acquired according to the output torque of the vehicle when the vehicle is kept stationary on the slope and the corresponding relationship between the slope value and the torque.

[0117] After the output torque of the vehicle is adjusted by a set step for multiple times to determine a target output torque that can keep the vehicle stationary on the slope, the vehicle controller can obtain a second slope value corresponding to the target output torque according to the target output torque and the corresponding relationship between the slope value and the torque.

[0118] ​It should be noted that the correspondence between the slope value and the torque can be fixed, and the correspondence can be used by the vehicle controller to control the balance torque output by the power system of the vehicle according to the slope value.

[0119] In step 2044, the first slope value is replaced by the second slope value.

[0120] The second slope value corresponding to the target output torque obtained above is the slope value that can meet the driving strategy without deviation. Replacing the first slope value corresponding to the slope signal output by the ramp sensor based on a specific ramp by the second slope value realizes correction of the correspondence between the slope signal detected by the ramp sensor and the slope value.

[0121] For example, when the vehicle is on the A ramp with the actual slope value θ = 20°, the vehicle controller can determine the first slope value θ 检测 corresponding to the A ramp based on the slope signal output by the uncorrected ramp sensor and the correspondence between the current slope signal and the slope value; the vehicle controller determines the balance torque T based on the first slope value θ 检测 and the correspondence between the first slope value θ 检测 and the torque, controls the power system of the vehicle to output the balance torque T for parking operation; if the vehicle does not move on the A ramp, it indicates that the balance torque T output by the power system can keep the vehicle stationary on the A ramp, the first slope value θ 检测 is close to the actual slope value θ = 20° and does not need to be corrected, and it is determined that the accuracy of the ramp sensor is qualified; in response to the movement of the vehicle on the A ramp when parking operation is performed, it indicates that the balance torque T output by the power system cannot keep the vehicle stationary on the A ramp, the deviation between the first slope value θ 检测 and the actual slope value θ = 20° is large, and the ramp sensor needs to be corrected.

[0122] Assuming that the moving direction of the vehicle on the A slope is backward when the parking operation is performed, it is explained that the balance torque required for the vehicle to be stationary on the A slope needs to be greater than the current output torque. The vehicle control unit adjusts the output torque of the vehicle according to the moving direction of the vehicle backward each time the step size ΔT is set. After the first adjustment, the output torque of the vehicle is T+ΔT. If the output torque T+ΔT after the first adjustment still cannot make the vehicle stationary on the A slope and generates a backward movement, it is necessary to continue to increase the output torque. After the second adjustment, the output torque of the vehicle is T+2×ΔT. After the nth adjustment, the output torque of the vehicle is T+n×ΔT, until the output torque T+n×ΔT can make the vehicle stationary on the A slope. According to the corresponding relationship between the output torque T+n×ΔT and the slope value when the vehicle is stationary on the A slope, the second slope value corresponding to the output torque T+n×ΔT is obtained. The first slope value of the corresponding relationship between the current slope signal and the slope value is replaced by the second slope value. For example, the second slope value can be 20°.

[0123] In step 205, the corresponding relationship between the slope signal detected by the slope sensor and the slope value is determined based on the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after correction.

[0124] The slope value corresponding to each of the plurality of slopes can be different, and thus the slope signal detected by the slope sensor is also different. By correcting the slope value corresponding to the plurality of slope signals, the corresponding relationship between the value point of the plurality of more accurate slope signals and the slope value can be obtained. On this basis, the corresponding relationship between the slope signal detected by the slope sensor and the slope value can be further obtained through data analysis.

[0125] Step 205 can be specifically implemented in the following manner: the corresponding relationship between the slope signal and the slope value is determined according to the interpolation method; or the corresponding relationship between the slope signal detected by the slope sensor and the slope value is determined through data fitting based on the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after correction.

[0126] Step 204 can obtain the corresponding relationship between the slope signal of the slope sensor on the plurality of slopes and the second slope value after correction; for the slope signal of the slope sensor on other slopes except the plurality of slopes, the slope value corresponding to the slope signal can be determined by the interpolation method, and finally the corresponding relationship between the slope signal and the slope value is obtained. Or, for the case where the number of slopes is large, the obtained slope signal of the slope sensor on the plurality of slopes and the second slope value after correction can be fitted to determine the corresponding relationship between the slope signal detected by the slope sensor and the slope value.

[0127] In some embodiments, the number of the plurality of slopes is at least three, and the more the number of the plurality of slopes, the more accurate the correspondence between the slope signal of the slope sensor and the slope value obtained by using the interpolation method or the fitting method.

[0128] In some embodiments, the slope values of each of the plurality of slopes are different, so as to avoid reducing the accuracy of the correspondence between the slope signal of the slope sensor and the slope value obtained by using the interpolation method or the fitting method; and considering the safety of the vehicle and the data stickiness of the slope sensor itself, the vehicle performs the parking operation on the plurality of slopes in the order of the slope values from small to large.

[0129] Since the balance torque corresponding to the slope with a small slope value is small, and the balance torque corresponding to the slope with a large slope value is large, if the balance torque before correction cannot make the vehicle stationary on the slope with a small slope value when the vehicle is parked on the slope, it indicates that the correspondence between the slope signal detected by the slope sensor and the slope value is not accurate on the slope with a small slope value, and the user can have certain psychological expectation that the vehicle can also move on the slope with a large slope value, and the rotation speed can be greater than that on the slope with a small slope value, so that the parking operation is performed on the plurality of slopes in the order of the slope values from small to large, which can prevent the situation that the vehicle moves and cannot be intervened in time when the vehicle is parked on the slope with a large slope value.

[0130] In addition, since the vehicle has a maximum climbing slope, when the parking operation is performed on the slope with a slope value greater than the slope value corresponding to the maximum climbing slope, the output torque of the power system controlled by the vehicle controller cannot satisfy the requirement that the vehicle is stopped on the slope, and in order to ensure the accuracy and actual applicability of the correspondence between the slope signal of the slope sensor and the slope value obtained by using the interpolation method or the fitting method, in some embodiments, the maximum slope value in the plurality of slopes can be not greater than the maximum climbing slope.

[0131] The correction method of the vehicle slope sensor provided by the embodiments of the present application can ensure that the accuracy of the slope sensor is not affected by the installation state of the slope sensor on the vehicle, the ground state during zero calibration, and the tire pressure difference when the vehicle is delivered from the factory, so as to ensure the use reliability of the slope sensor and the safety of the vehicle; when the correspondence between the slope signal detected by the slope sensor and the slope value is inaccurate, the correspondence between the slope signal detected by the slope sensor and the slope value can be automatically corrected by the vehicle controller without replacing the slope sensor, which saves time and effort, reduces maintenance cost, improves the user's driving experience, and ensures the safety of the vehicle when the user drives on the slope.

[0132] For example, when the vehicle is on a slope and the user triggers a parking instruction, if the vehicle controller has determined and output a balance torque based on the current detected slope signal, but still detects that the vehicle has deviated, the vehicle controller can automatically perform the above correction process without human intervention.

[0133] In conclusion, the correction method for a vehicle slope sensor provided by the embodiments of the present application can ensure the accuracy of the correspondence between the slope signal detected by the slope sensor and the slope value, and can correct the vehicle slope sensor at low cost and high efficiency.

[0134] The embodiments of the present application also provide a correction device for a vehicle slope sensor, as shown in the Figure 5 The device can include:

[0135] The first determination module 501 is configured to determine a first slope value corresponding to each slope in the plurality of slopes based on the slope signal output by the slope sensor.

[0136] The parking module 502 is configured to control the vehicle to perform parking operations on the plurality of slopes in sequence according to the first slope value corresponding to each slope in the plurality of slopes.

[0137] The correction module 503 is configured to, for each slope, in response to the vehicle moving on the slope when performing the parking operation, correct the first slope value corresponding to the slope based on the moving direction of the vehicle.

[0138] The second determination module 504 is configured to determine the correspondence between the slope signal detected by the slope sensor and the slope value based on the slope signal corresponding to each slope in the plurality of slopes and the second slope value obtained after correction.

[0139] In some embodiments, the parking module 502 includes:

[0140] The first determination unit is configured to, for each slope, determine a balance torque based on the first slope value and the correspondence between the slope value and the torque, wherein the balance torque is used to keep the vehicle stationary on the slope in the case that the accuracy of the slope sensor is qualified.

[0141] The control unit is configured to control the power system of the vehicle to output the balance torque.

[0142] In some embodiments, the correction module 503 includes:

[0143] The acquisition unit is configured to acquire a rotation speed signal of the vehicle and determine the moving direction of the vehicle based on the rotation speed signal, wherein the moving direction of the vehicle includes any one of forward and backward.

[0144] an adjusting unit, configured to adjust an output torque of the vehicle by a set step length based on a moving direction of the vehicle until the vehicle is kept stationary on the slope;

[0145] a corresponding unit, configured to obtain the second slope value according to the output torque when the vehicle is kept stationary on the slope and a corresponding relationship between the slope value and the torque;

[0146] a replacing unit, configured to replace the first slope value with the second slope value.

[0147] In some embodiments, the apparatus further includes:

[0148] an obtaining module, configured to obtain a slope signal detected by the slope sensor when the vehicle is parked on a horizontal plane, wherein the vehicle is a vehicle after zero calibration;

[0149] a repeating module, configured to re-calibrate the vehicle in response to the slope value corresponding to the slope signal being not zero.

[0150] In some embodiments, the apparatus further includes:

[0151] a third determining module, configured to determine that the accuracy of the slope sensor is qualified in response to the vehicle not generating movement on the slope.

[0152] In some embodiments, the slope values of the plurality of slopes are different from each other;

[0153] controlling the vehicle to perform parking operations on the plurality of slopes in sequence, including:

[0154] the vehicle performing the parking operations on the plurality of slopes in sequence according to the slope values in ascending order.

[0155] In some embodiments, the number of the plurality of slopes is at least three.

[0156] In some embodiments, the second determining module 504 includes:

[0157] a second determining unit, configured to determine the corresponding relationship between the slope signal and the slope value according to an interpolation method; or

[0158] performing data fitting according to the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after correction, to determine the corresponding relationship between the slope signal detected by the slope sensor and the slope value.

[0159] In summary, the embodiments of the present application provide a correction apparatus of a vehicle slope sensor, which can ensure the accuracy of the corresponding relationship between the slope signal detected by the slope sensor and the slope value.

[0160] The embodiments of the present application also provide a vehicle which performs the correction method of the vehicle ramp sensor as described above. The vehicle can perform self-correction of the correspondence relationship between the ramp signal detected by the ramp sensor and the ramp value, thereby ensuring the accuracy of the correspondence relationship between the ramp signal detected by the ramp sensor and the ramp value.

[0161] In the present application, the terms "first" and "second" are only used for descriptive purposes and are not to be construed as indicating or implying relative importance. The term "a plurality of" refers to two or more, unless otherwise expressly specified.

[0162] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the general inventive concepts described herein and including the optional use of any of the additional features and characteristics in any combination or sub-combination. The specification and examples are illustrative only.

[0163] It should be understood that the application is not limited to the precise construction and will vary in the details of practice without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

Claims

1. A method of calibrating a ramp sensor of a vehicle, characterized by, The method comprises: determining a first slope value corresponding to each of the plurality of slopes based on a slope signal output by the slope sensor; the first slope value is an uncorrected slope value; the slope value of each of the plurality of slopes is different; controlling the vehicle to perform a parking operation on the plurality of slopes in a sequence according to the first slope value corresponding to each of the plurality of slopes in ascending order of the slope value, to determine whether the first slope value corresponding to each of the plurality of slopes determined is accurate; in response to the vehicle not generating movement on the slope, determining that the accuracy of the slope sensor is qualified; for each slope, in response to the vehicle generating movement on the slope when the parking operation is performed, obtaining a rotation speed signal of the vehicle, and determining a movement direction of the vehicle based on the rotation speed signal, wherein the movement direction of the vehicle includes any one of forward and backward; adjusting an output torque of the vehicle by a set step based on the movement direction of the vehicle until the vehicle remains stationary on the slope; obtaining a second slope value according to the output torque of the vehicle when the vehicle remains stationary on the slope and a corresponding relationship between the slope value and the torque, the corresponding relationship between the slope value and the torque serving as a basis for the vehicle control unit to control the power system of the vehicle to output a balanced torque according to the slope value; and replacing the first slope value with the second slope value; determining a corresponding relationship between the slope signal detected by the slope sensor and the slope value based on the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after correction; the determination of the corresponding relationship between the slope signal detected by the slope sensor and the slope value comprises: determining the corresponding relationship between the slope signal and the slope value according to an interpolation method; or performing data fitting on the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after correction to determine the corresponding relationship between the slope signal detected by the slope sensor and the slope value; before controlling the vehicle to perform a parking operation on the plurality of slopes in sequence, the method further comprises: obtaining a slope signal detected by the slope sensor when the vehicle is parked on a horizontal surface, wherein the vehicle is a vehicle after zero calibration; and in response to the slope value corresponding to the slope signal being other than zero, re-calibrating the vehicle.

2. The correction method of claim 1, wherein the control of the vehicle to perform a parking operation on the plurality of slopes in sequence according to the first slope value corresponding to each of the plurality of slopes comprises: for each slope, determining a balanced torque based on the first slope value and the corresponding relationship between the slope value and the torque, wherein the balanced torque is used to keep the vehicle stationary on the slope in the case that the accuracy of the slope sensor is qualified; controlling the power system of the vehicle to output the balanced torque.

3. The correction method of claim 1, wherein The number of the plurality of slopes is at least three.

4. A calibration device for a vehicle ramp sensor, characterized in that The device comprises: The first determination module is configured to determine a first slope value corresponding to each of the plurality of slopes based on a slope signal output by the slope sensor; the first slope value is an uncorrected slope value; the slope value of each of the plurality of slopes is different; The parking module is configured to control the vehicle to perform a parking operation on the plurality of slopes in a sequence from small to large according to the first slope value corresponding to each of the plurality of slopes, to determine whether the determined first slope value corresponding to each of the plurality of slopes is accurate; The correction module is configured to determine that the accuracy of the slope sensor is qualified in response to the vehicle not generating movement on the slope; for each slope, in response to the vehicle generating movement on the slope when the parking operation is performed, acquire a rotation speed signal of the vehicle, and determine a movement direction of the vehicle based on the rotation speed signal, wherein the movement direction of the vehicle includes any one of forward movement and backward movement; adjust an output torque of the vehicle by a set step length based on the movement direction of the vehicle until the vehicle remains stationary on the slope; acquire a second slope value according to the output torque of the vehicle when the vehicle remains stationary on the slope and a corresponding relationship between the slope value and the torque, the corresponding relationship between the slope value and the torque serving as a basis for the vehicle controller to control the power system of the vehicle to output a balanced torque according to the slope value; and replace the first slope value with the second slope value; The second determination module is configured to determine a corresponding relationship between the slope signal and the slope value detected by the slope sensor based on the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after correction. The device is further configured to: determine the corresponding relationship between the slope signal and the slope value according to an interpolation method; or perform data fitting based on the slope signal corresponding to each of the plurality of slopes and the second slope value obtained after correction, to determine the corresponding relationship between the slope signal and the slope value detected by the slope sensor; acquire a slope signal detected by the slope sensor when the vehicle is parked on a horizontal plane, wherein the vehicle is a vehicle after zero calibration; and in response to the slope value corresponding to the slope signal being other than zero, perform zero calibration on the vehicle again.

5. A vehicle, which performs the correction method of the vehicle slope sensor according to any one of claims 1-3.

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