A vehicle condition-based slope calculation method and device and vehicle

Abstract

The application relates to a slope calculation method and device based on vehicle conditions and a vehicle. The method comprises the following steps: determining the first speed of each wheel, wherein the first speed is used to indicate the speed of the rotation speed of each wheel converted to the mass center of the current vehicle and in the driving direction; determining the confidence degree of each first speed; determining the current vehicle speed based on each confidence degree and / or the driving state of the current vehicle; and calculating the current slope according to the current vehicle speed. The method can improve the accuracy of slope calculation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a slope calculation method and device based on vehicle conditions and a vehicle. BACKGROUND

[0002] At present, with the increasing demand of users for the comfort and power of new energy vehicles, new energy vehicle technology is increasingly updated, for example, auxiliary driving functions such as hill start assist, automatic parking, and adaptive cruise control are developed.

[0003] In order to realize the auxiliary driving functions such as hill start assist, it is necessary to obtain the slope of the road surface on which the vehicle is currently driving or the road surface that the vehicle is about to enter, and accurate slope is conducive to the vehicle control system and electronic stability control system to automatically and reasonably adjust the driving action of the vehicle according to the road slope, so as to meet the user's demand for the comfort and power of the vehicle.

[0004] However, the existing method of calculating slope based on motor speed and sensor-acquired acceleration can only obtain relatively accurate slope when the vehicle is stationary or uniformly and stably driving on a consistent road condition, and it is difficult to obtain relatively accurate slope when the state of the vehicle is in a dynamic change process. Therefore, the accuracy of slope calculation in the prior art needs to be improved. SUMMARY

[0005] Therefore, a slope calculation method and device based on vehicle conditions and a vehicle are provided to improve the accuracy of slope calculation.

[0006] In a first aspect, a slope calculation method based on vehicle conditions is provided, and the method comprises:

[0007] determining a first speed of each wheel, wherein the first speed is used to indicate the speed of each wheel converted to the center of mass of the current vehicle and in the driving direction;

[0008] determining the confidence of each first speed;

[0009] determining the current vehicle speed based on each confidence and / or the driving state of the current vehicle;

[0010] calculating the current slope according to the current vehicle speed.

[0011] In combination with the first aspect, in a first implementation manner of the first aspect, the step of determining the first speed of each wheel comprises:

[0012] obtaining the wheel track of the current vehicle;

[0013] collecting a yaw rate and current rotating speeds of each wheel, wherein the each wheel comprises a front left wheel, a front right wheel, a rear left wheel and a rear right wheel, with a driving direction as a reference direction;

[0014] acquiring wheel radii, and obtaining second speeds of each wheel according to the wheel radii and the current rotating speeds;

[0015] determining corresponding first speeds based on the wheel track, the yaw rate and the second speeds of each wheel.

[0016] In a second implementation form of the first aspect, in the first implementation form of the first aspect, the step of determining the corresponding first speeds based on the wheel track, the yaw rate and the second speeds of each wheel comprises:

[0017] collecting a first rotating angle of a steering wheel;

[0018] converting the first rotating angle into a second rotating angle of each wheel;

[0019] setting a center of mass of the current vehicle, and acquiring a first distance from the center of mass to a front axle of the current vehicle;

[0020] obtaining a first speed of the front left wheel according to the second rotating angle, the yaw rate, the wheel track, the first distance and the second speed of the front left wheel;

[0021] obtaining a first speed of the front right wheel according to the second rotating angle, the yaw rate, the wheel track, the first distance and the second speed of the front right wheel;

[0022] obtaining a first speed of the rear left wheel according to the yaw rate, the wheel track and the second speed of the rear left wheel;

[0023] obtaining a first speed of the rear right wheel according to the yaw rate, the wheel track and the second speed of the rear right wheel.

[0024] In a third implementation form of the first aspect, in the first aspect, the step of determining the confidence of each first speed comprises:

[0025] determining an acceleration correction value in the driving direction;

[0026] obtaining a first acceleration according to the first speed of each wheel;

[0027] acquiring an absolute value of a difference between each first acceleration and the acceleration correction value;

[0028] acquire a preset first threshold value and a first time length, judge whether each of the absolute values is greater than or equal to the first threshold value, and continue for the first time length;

[0029] if yes, determine that the confidence of the first speed of the wheel pointed to by the absolute value is 0;

[0030] if no, determine that the confidence of the first speed of the wheel pointed to by the absolute value is 1.

[0031] In combination with the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the step of determining the acceleration correction value in the driving direction comprises:

[0032] acquiring a first rotating speed of a first motor, a second rotating speed of a second motor, and a second acceleration of the current vehicle in the driving direction, wherein the first motor is used to control a front axle of the current vehicle, and the second motor is used to control a rear axle of the current vehicle;

[0033] obtaining an estimated vehicle speed of the current vehicle based on the first rotating speed and the second rotating speed;

[0034] obtaining a third acceleration according to the estimated vehicle speed, and obtaining an estimated slope based on the second acceleration and the third acceleration;

[0035] calculating the acceleration correction value in the driving direction according to the second acceleration and the estimated slope.

[0036] In combination with the fourth implementation manner of the first aspect, in a fifth implementation manner of the first aspect, the step of obtaining the estimated vehicle speed of the current vehicle based on the first rotating speed and the second rotating speed comprises:

[0037] acquiring a wheel radius, a first speed ratio of the first motor, and a second speed ratio of the second motor;

[0038] obtaining a first vehicle speed according to the first rotating speed, the wheel radius, and the first speed ratio;

[0039] obtaining a second vehicle speed according to the second rotating speed, the wheel radius, and the second speed ratio;

[0040] obtaining the estimated vehicle speed of the current vehicle according to an average value of a sum of the first vehicle speed and the second vehicle speed.

[0041] In combination with the third implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the step of determining the current vehicle speed based on each of the confidences and / or a driving state of the current vehicle comprises:

[0042] acquire a historical vehicle speed, a preset second threshold value, a third threshold value and a fourth threshold value;

[0043] compare a minimum speed in the first speeds with the second threshold value, compare the acceleration correction value with the third threshold value, and compare the historical vehicle speed with the fourth threshold value;

[0044] when the minimum speed is less than or equal to the second threshold value, the acceleration correction value is less than or equal to the third threshold value, and the historical vehicle speed is less than or equal to the fourth threshold value, determine that the current vehicle is in a static driving state, and take the minimum speed as the current vehicle speed.

[0045] In the seventh implementation manner of the first aspect, in a third implementation manner of the first aspect, the step of determining the current vehicle speed based on the confidence levels and / or the driving state of the current vehicle comprises:

[0046] acquire a historical vehicle speed, a preset fifth threshold value and a sixth threshold value;

[0047] compare a maximum speed in the first speeds with the fifth threshold value, and compare the historical vehicle speed with the sixth threshold value;

[0048] when the maximum speed is less than or equal to the fifth threshold value, and the historical vehicle speed is greater than or equal to the sixth threshold value, determine that the current vehicle is in a wheel lock driving state, and obtain the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

[0049] In the eighth implementation manner of the first aspect, in the third implementation manner of the first aspect, the step of determining the current vehicle speed based on the confidence levels and / or the driving state of the current vehicle comprises:

[0050] acquire a yaw rate and a first steering angle degree of a steering wheel;

[0051] convert the first steering angle degree into a second steering angle degree of each wheel;

[0052] acquire a preset seventh threshold value and an eighth threshold value, compare the second steering angle degree with the seventh threshold value, and compare the yaw rate with the eighth threshold value;

[0053] when the second steering angle degree is greater than the seventh threshold value, and the yaw rate is less than the eighth threshold value, determine that the current vehicle is in a left-turn driving state;

[0054] determine whether a confidence level corresponding to a first speed of a right rear wheel is 1, wherein the right rear wheel is determined with reference to the driving direction.

[0055] If yes, taking the first speed of the right rear wheel as the current vehicle speed;

[0056] If no, obtaining a historical vehicle speed, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

[0057] With reference to the third implementation manner of the first aspect, in a ninth implementation manner of the first aspect, the step of determining the current vehicle speed based on the confidence levels and / or the driving state of the current vehicle comprises:

[0058] collecting a yaw rate and a first steering angle of a steering wheel;

[0059] converting the first steering angle into a second steering angle of each wheel;

[0060] obtaining a ninth threshold value and a tenth threshold value, comparing the second steering angle with the ninth threshold value, and comparing the yaw rate with the tenth threshold value;

[0061] when the second steering angle is less than the ninth threshold value and the yaw rate is greater than the tenth threshold value, determining that the current vehicle is in a right-turn driving state;

[0062] judging whether a confidence level corresponding to a first speed of a left rear wheel is 1, wherein the left rear wheel is determined with reference to the driving direction;

[0063] If yes, taking the first speed of the left rear wheel as the current vehicle speed;

[0064] If no, obtaining a historical vehicle speed, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

[0065] With reference to the third implementation manner of the first aspect, in a tenth implementation manner of the first aspect, the step of determining the current vehicle speed based on the confidence levels and / or the driving state of the current vehicle comprises:

[0066] collecting a second acceleration of the current vehicle in the driving direction;

[0067] obtaining an eleventh threshold value, and judging whether a number of confidence levels being 0 is less than or equal to the eleventh threshold value;

[0068] If no, obtaining a historical vehicle speed, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

[0069] If yes, judging whether the second acceleration is positive;

[0070] If yes, it is determined that the current vehicle is in a driving running state, and the minimum speed of each of the first speeds is taken as the current vehicle speed;

[0071] If no, it is determined that the current vehicle is in a braking running state, and the maximum speed of each of the first speeds is taken as the current vehicle speed.

[0072] In a second aspect, a slope calculation device based on vehicle conditions is provided, and the device comprises a vehicle controller, wherein the vehicle controller is configured to:

[0073] determine first speeds of each wheel, wherein the first speed is used to indicate a speed of a rotation speed of each wheel converted to a mass center of the current vehicle and in a running direction;

[0074] determine a confidence degree of each of the first speeds;

[0075] determine a current vehicle speed based on each of the confidence degrees and / or a running state of the current vehicle;

[0076] calculate a current slope according to the current vehicle speed.

[0077] In a third aspect, a vehicle is provided, and the vehicle comprises the slope calculation device based on vehicle conditions as described in the second aspect, wherein the slope calculation device based on vehicle conditions is configured to perform the slope calculation method based on vehicle conditions as described in the first aspect or any one of the implementable manners in combination with the first aspect.

[0078] The slope calculation method, device and vehicle based on vehicle conditions described above determine the first speed of each wheel and the confidence degree of each first speed, and determine the current vehicle speed based on each of the confidence degrees and / or the running state of the current vehicle, and then calculate the current slope according to the current vehicle speed, wherein the first speed is used to indicate the speed of the rotation speed of each wheel converted to the mass center of the current vehicle and in the running direction. It can be seen that the current vehicle speed under the corresponding vehicle condition is determined in combination with the confidence degree of the first speed and / or the running state of the current vehicle, which improves the calculation accuracy of the current vehicle speed, and then the current slope is calculated based on the current vehicle speed, so that the corresponding current slope is accurately calculated under different vehicle conditions. Therefore, compared with the prior art, the accuracy of slope calculation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0079] Figure 1 A flowchart of the slope calculation method based on vehicle conditions in the first embodiment;

[0080] Figure 2 A structural block diagram of the slope calculation device based on vehicle conditions in the second embodiment;

[0081] Figure 3 Structure block diagram of the slope calculation device based on vehicle conditions in the second embodiment;

[0082] Figure 4 Structure block diagram of the slope calculation device based on vehicle conditions in the second embodiment. DETAILED DESCRIPTION

[0083] For the purposes of the present application, the technical solutions and advantages thereof are more clearly apparent, the following will be further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not intended to limit the present application.

[0084] It should be noted that the diagrams provided in the embodiments only schematically illustrate the basic concept of the present application, and only show the components related to the present application in the diagrams, rather than being drawn according to the number, shape and size of the components in actual implementation. The actual implementation of each component may be arbitrarily changed in shape, number and proportion, and the component layout pattern may also be more complex.

[0085] The structure, proportion, size, etc. shown in the diagrams attached to the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not intended to limit the conditions that can be implemented by the present application. Therefore, any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects that can be produced by the present application and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present application.

[0086] The orientations or positional relationships indicated by terms such as "upper", "lower", "left", "right", "intermediate", "vertical", "horizontal", "inner", "outer", "radial", "circumferential", etc. in the present specification are based on the orientations or positional relationships shown in the drawings, and are only used to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0087] At present, in order to realize the driving function such as slope assistance, the slope of the road where the vehicle is currently driving or the road to be entered needs to be obtained, and the accurate slope is beneficial to the vehicle control system and the electronic stability control system to reasonably adjust the driving action of the vehicle, so as to meet the user's demand for vehicle comfort and power performance. The prior art calculates the slope based on the motor speed and the acceleration collected by the sensor. This method can only obtain an accurate slope when the vehicle is stationary or uniformly and stably driving on a consistent road, and is difficult to apply to the slope calculation scene where the vehicle is in a dynamic change. Therefore, the accuracy of the slope calculation in the prior art needs to be improved.

[0088] Therefore, the present application proposes a slope calculation method based on vehicle conditions, which determines the first speed of each wheel and the corresponding confidence, and determines the current vehicle speed under the corresponding vehicle condition by combining the confidence of the first speed and / or the current driving state of the vehicle, thereby improving the calculation accuracy of the current vehicle speed. Then, the current slope is calculated based on the current vehicle speed, and the corresponding current slope is accurately calculated under different vehicle conditions. Therefore, compared with the prior art, the present application improves the accuracy of slope calculation.

[0089] In a first embodiment, as shown in Figure 1 , a slope calculation method based on vehicle conditions is provided, and the execution subject of the method is taken as an example to illustrate the vehicle controller, which includes the following steps:

[0090] S1: determining the first speed of each wheel, wherein the first speed is used to indicate the speed of each wheel converted to the center of mass of the current vehicle and in the driving direction.

[0091] In an implementable manner, specifically, the step of determining the first speed of each wheel includes: acquiring the wheel track of the current vehicle; collecting the yaw rate and the current speed of each wheel, wherein the driving direction is taken as the reference direction, and the wheels include the left front wheel, the right front wheel, the left rear wheel and the right rear wheel; acquiring the wheel radius, and obtaining the second speed of each wheel according to the wheel radius and each current speed; and determining the corresponding first speed based on the wheel track, the yaw rate and the second speed of each wheel.

[0092] It should be noted that the yaw rate and the current speed can be collected by a speed sensor, wherein the positive and negative of the yaw rate is related to the steering direction of the current vehicle. Taking the driving direction of the current vehicle as the reference direction, if the steering direction is left, the yaw rate is negative, and if the steering direction is right, the yaw rate is positive. In this embodiment, the second speed of each wheel is calculated based on the wheel radius and the corresponding current speed, wherein the mathematical expression for calculating the second speed includes: wl_xx = 2πNxx R / 60, v wl_xx Second speed for indicating specific wheel, exemplary description, v wl_fl Second speed for indicating left front wheel, v wl_fr Second speed for indicating right front wheel, v wl_rl Second speed for indicating left rear wheel, v wl_rr Second speed for indicating right rear wheel, in other embodiments, other symbols can also be used; N xx Current rotation speed for indicating specific wheel, for example, using the symbols of the aforementioned wheels as an example, N fl Current rotation speed for indicating left front wheel, N fr Current rotation speed for indicating right front wheel, N rl Current rotation speed for indicating left rear wheel, N rr Current rotation speed for indicating right rear wheel; π is the circular constant, and R is the wheel radius. In other embodiments, the second speed of each wheel, i.e., the wheel speed, can also be directly collected by a speed sensor or an electronic stability controller (ESC).

[0093] Further, the step of determining the corresponding first speed based on the wheelbase, the yaw rate, and the second speed of each wheel includes: collecting a first rotation angle of a steering wheel; converting the first rotation angle into a second rotation angle of each wheel; setting a center of mass of the current vehicle and obtaining a first distance from the center of mass to a front axle of the current vehicle; obtaining the first speed of the left front wheel according to the second rotation angle, the yaw rate, the wheelbase, the first distance, and the second speed of the left front wheel; obtaining the first speed of the right front wheel according to the second rotation angle, the yaw rate, the wheelbase, the first distance, and the second speed of the right front wheel; obtaining the first speed of the left rear wheel according to the yaw rate, the wheelbase, and the second speed of the left rear wheel; and obtaining the first speed of the right rear wheel according to the yaw rate, the wheelbase, and the second speed of the right rear wheel.

[0094] It should be noted that, taking the driving direction of the current vehicle as a reference direction, the first steering angle degree number refers to the angle degree number of the steering wheel steering to the left or right side relative to the straight driving direction; the second steering angle degree number refers to the angle degree number of each wheel steering to the left or right side relative to the straight driving direction corresponding to the steering of the steering wheel according to the first steering angle degree number; the step of converting the first steering angle degree number into the second steering angle degree number of each wheel refers to: obtaining a preset first mapping table, searching in the first mapping table based on the first steering angle degree number to obtain the corresponding second steering angle degree number, wherein the first mapping table is used to indicate the relationship between the first steering angle degree number and the second steering angle degree number, and if the steering wheel is steered to the left side, the second steering angle degree number is a positive value, and if the steering wheel is steered to the right side, the second steering angle degree number is a negative value.

[0095] wherein the mathematical expression of obtaining the first speed of the left front wheel comprises: v xfl is the first speed of the left front wheel, xwl_fl is the second speed of the left front wheel, δ is the second steering angle degree number, γ is the yaw rate, L w is the wheelbase, L a is the first distance; the mathematical expression of obtaining the first speed of the right front wheel comprises: v xfr is the first speed of the right front wheel, v wl_fr is the second speed of the right front wheel, δ is the second steering angle degree number, γ is the yaw rate, L w is the wheelbase, L a is the first distance; the mathematical expression of obtaining the first speed of the left rear wheel comprises: v xrl is the first speed of the left rear wheel, v wl_rl is the second speed of the left rear wheel, γ is the yaw rate, L w is the wheelbase; the mathematical expression of obtaining the first speed of the right rear wheel comprises: v xrr is the first speed of the right rear wheel, v wl_rr is the second speed of the right rear wheel, γ is the yaw rate, L w is the wheelbase.

[0096] S2: determining the confidence degree of each first speed.

[0097] Specifically, in an implementable manner, the step of determining the confidence of each first speed comprises: determining an acceleration correction value in the driving direction; obtaining a corresponding first acceleration according to the first speed of each wheel; obtaining an absolute value of a difference between each first acceleration and the acceleration correction value; obtaining a preset first threshold and a first time length, and determining whether each absolute value is greater than or equal to the first threshold and lasts for the first time length; if yes, determining that the confidence of the first speed of the wheel to which the absolute value points is 0; and if no, determining that the confidence of the first speed of the wheel to which the absolute value points is 1.

[0098] It should be noted that the step of obtaining a corresponding first acceleration according to the first speed of each wheel refers to obtaining a change rate of the first speed, i.e., the first acceleration, by derivation; the first threshold and the first time length can be determined by slip test of the whole vehicle, and the first threshold can be set to 2; when the confidence is 0, it is considered that the first speed of the wheel pointed by the confidence is not reliable, and when the confidence is 1, it is considered that the first speed of the wheel pointed by the confidence is reliable. For example, if the absolute value of the difference between the first acceleration of the left front wheel and the acceleration correction value is greater than or equal to the first threshold and lasts for the first time length, it is determined that the confidence of the first speed of the left front wheel is 0, and it is considered that the first speed of the left front wheel is not reliable; if the absolute value of the difference between the first acceleration of the left front wheel and the acceleration correction value is less than the first threshold, it is determined that the confidence of the first speed of the left front wheel is 1, and it is considered that the first speed of the left front wheel is reliable.

[0099] Further, in the above step of determining the confidence, the step of determining the acceleration correction value in the driving direction comprises: collecting a first rotating speed of a first motor, a second rotating speed of a second motor, and a second acceleration of the current vehicle in the driving direction, wherein the first motor is used to control a front axle of the current vehicle, and the second motor is used to control a rear axle of the current vehicle; obtaining an estimated vehicle speed of the current vehicle based on the first rotating speed and the second rotating speed; obtaining a third acceleration according to the estimated vehicle speed; obtaining an estimated slope based on the second acceleration and the third acceleration; and calculating the acceleration correction value in the driving direction according to the second acceleration and the estimated slope. The first rotating speed, the second rotating speed, and the second acceleration can be obtained by collecting through a speed sensor.

[0100] It should be noted that the step of obtaining a third acceleration according to the estimated vehicle speed refers to obtaining a change rate of the estimated vehicle speed, i.e., the third acceleration, by derivation; the mathematical expression of the estimated slope comprises: wherein, is the estimated slope, a2 is the second acceleration, a3 is the third acceleration, and g is the gravitational acceleration, which can be taken as 9.8 m / s2 The mathematical expression for calculating the acceleration correction value includes: a2-g c a2-g 2 , wherein a is the acceleration correction value, a2 is the second acceleration, g is the acceleration of gravity, which can be 9.8 m / s 2 , The slope is estimated in the driving direction of the current vehicle. If the road condition in front of the vehicle is uphill, the estimated slope is positive; if the road condition in front of the vehicle is downhill, the estimated slope is negative.

[0101] Further, in the step of determining the acceleration correction value, the step of obtaining the estimated speed of the current vehicle based on the first rotational speed and the second rotational speed includes: obtaining the wheel radius, the first speed ratio of the first motor, and the second speed ratio of the second motor; obtaining the first speed according to the first rotational speed, the wheel radius, and the first speed ratio; obtaining the second speed according to the second rotational speed, the wheel radius, and the second speed ratio; and obtaining the estimated speed of the current vehicle according to the average of the sum of the first speed and the second speed.

[0102] It should be noted that the mathematical expression for calculating the first speed includes: v mf = 0.377n f R / i f , wherein v mf is the first speed, n f is the first rotational speed, R is the wheel radius, and i f is the first speed ratio. mr = 0.377n r R / i r , wherein v mr is the second speed, n r is the second rotational speed, R is the wheel radius, and i r is the second speed ratio.

[0103] S3: determining the current vehicle speed based on each confidence and / or the driving state of the current vehicle.

[0104] Specifically, in an applicable scenario, the step of determining the current vehicle speed can comprise: obtaining a historical vehicle speed, a preset second threshold, a third threshold, and a fourth threshold; comparing the minimum speed in each of the first speeds with the second threshold, comparing the acceleration correction value with the third threshold, and comparing the historical vehicle speed with the fourth threshold; when the minimum speed is less than or equal to the second threshold, the acceleration correction value is less than or equal to the third threshold, and the historical vehicle speed is less than or equal to the fourth threshold, determining that the current vehicle is in a static driving state, and taking the minimum speed as the current vehicle speed. It should be noted that the historical vehicle speed refers to the vehicle speed calculated at a previous time point that is one running period away from the current time point, and the running period can be set to 10 ms. The second threshold, the third threshold, and the fourth threshold can be obtained through a vehicle static test.

[0105] In another applicable scenario, the step of determining the current vehicle speed can further comprise: obtaining a historical vehicle speed, a preset fifth threshold, and a sixth threshold; comparing the maximum speed in each of the first speeds with the fifth threshold, and comparing the historical vehicle speed with the sixth threshold; when the maximum speed is less than or equal to the fifth threshold, and the historical vehicle speed is greater than or equal to the sixth threshold, determining that the current vehicle is in a wheel lock driving state, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value. The fifth threshold and the sixth threshold can be obtained through a wheel lock test of the vehicle.

[0106] In another applicable scenario, the step of determining the current vehicle speed can further comprise: collecting a yaw rate and a first steering angle; converting the first steering angle into a second steering angle of each wheel; obtaining a preset seventh threshold and an eighth threshold, comparing the second steering angle with the seventh threshold, and comparing the yaw rate with the eighth threshold; when the second steering angle is greater than the seventh threshold, and the yaw rate is less than the eighth threshold, determining that the current vehicle is in a left-turn driving state; determining whether the confidence degree corresponding to the first speed of the right rear wheel is 1, wherein the right rear wheel is determined with reference to the driving direction; if yes, taking the first speed of the right rear wheel as the current vehicle speed; if no, obtaining a historical vehicle speed, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value. It should be noted that the specific steps of converting the first steering angle into the second steering angle have been described in the foregoing, and the related content can be referred to in the foregoing, which will not be described here. The seventh threshold and the eighth threshold can be obtained through a left-turn test of the vehicle.

[0107] In another applicable scenario, the step of determining the current vehicle speed may further include: collecting the yaw rate and the first steering wheel angle; converting the first steering wheel angle into the second steering wheel angle for each wheel; obtaining preset ninth and tenth thresholds, comparing the second steering wheel angle with the ninth threshold, and comparing the yaw rate with the tenth threshold; when the second steering wheel angle is less than the ninth threshold and the yaw rate is greater than the tenth threshold, determining that the current vehicle is in a right-turn driving state; determining whether the confidence level corresponding to the first speed of the left rear wheel is 1, wherein the left rear wheel is determined with the driving direction as the reference direction; if yes, taking the first speed of the left rear wheel as the current vehicle speed; if no, obtaining the historical vehicle speed, and obtaining the current vehicle speed based on the historical vehicle speed and the acceleration correction value. It should be noted that the specific steps for converting the first steering wheel angle into the second steering wheel angle have been described above; please refer to the previous text for relevant content, and they will not be repeated here; the ninth and tenth thresholds can be obtained by performing a right-turn test on the entire vehicle.

[0108] In another applicable scenario, the step of determining the current vehicle speed may further include: acquiring the second acceleration of the current vehicle in the direction of travel; obtaining a preset eleventh threshold, and determining whether the number of confidence levels of 0 is less than or equal to the eleventh threshold; if not, acquiring historical vehicle speeds, and obtaining the current vehicle speed based on the historical vehicle speeds and the acceleration correction value; if yes, determining whether the second acceleration is positive; if yes, determining that the current vehicle is in a driving state, and taking the minimum speed among the first speeds as the current vehicle speed; if not, determining that the current vehicle is in a braking state, and taking the maximum speed among the first speeds as the current vehicle speed. The eleventh threshold can be set to 3.

[0109] In the aforementioned application scenarios, including stationary, wheel lock-up, left turn, right turn, driving, and braking, the mathematical expression of the current vehicle speed, based on the historical vehicle speed and the acceleration correction value, includes: V est =V estz +∫a c dt, where V est V represents the current speed of the entire vehicle. estz For historical vehicle speed, a c The acceleration correction value is t, which is the preset running period.

[0110] S4: Calculate the current gradient based on the current vehicle speed.

[0111] It should be noted that the mathematical expression for calculating the current gradient based on the current vehicle speed includes: θ = sin -1[(a2-V est ) / g], wherein θ is the current slope, a2 is the second acceleration, V est is the current vehicle speed, and g is the gravity acceleration, which can be 9.8 m / s 2

[0112] In summary, the application combines the confidence of the first speed and / or the driving state of the current vehicle to determine the current vehicle speed under the corresponding vehicle condition, thereby improving the calculation accuracy of the current vehicle speed, and then calculates the current slope based on the current vehicle speed, thereby accurately calculating the corresponding current slope under different vehicle conditions. Therefore, compared with the prior art, the application improves the accuracy of slope calculation.

[0113] In another implementable manner, the estimated vehicle speed can also be corrected, i.e., according to different vehicle conditions and based on the second acceleration collected by the sensor to obtain the integral, so as to improve the calculation accuracy of the estimated vehicle speed, thereby improving the accuracy of the acceleration correction value based on the estimated vehicle speed and the current vehicle speed obtained by integrating the acceleration correction value. Specifically:

[0114] If the current vehicle is in a stationary driving state, the minimum speed in the first speed is taken as the estimated vehicle speed; if the current vehicle is in a wheel lock driving state, the estimated vehicle speed is obtained according to the estimated speed and the second acceleration at the last moment; if the current vehicle is in a left turning driving state, it is judged whether the confidence corresponding to the first speed of the right rear wheel is 1, if yes, the first speed of the right rear wheel is taken as the estimated vehicle speed, if no, the estimated vehicle speed is obtained according to the estimated speed and the second acceleration at the last moment; if the current vehicle is in a right turning driving state, it is judged whether the confidence corresponding to the first speed of the left rear wheel is 1, if yes, the first speed of the left rear wheel is taken as the estimated vehicle speed, if no, the estimated vehicle speed is obtained according to the estimated speed and the second acceleration at the last moment; if the number of confidence of 0 is less than a preset eleventh threshold, if no, the estimated vehicle speed is obtained according to the estimated speed and the second acceleration at the last moment; if yes, and the current vehicle is in a driving driving state, the minimum speed in the first speed is taken as the estimated vehicle speed, and the current vehicle is in a braking driving state, the maximum speed in the first speed is taken as the estimated vehicle speed.

[0115] It should be noted that in the above steps, the mathematical expression for obtaining the estimated vehicle speed according to the estimated speed and the second acceleration at the last moment includes: V g = V gz +∫a2dt, wherein V g is the estimated vehicle speed, and V gz ​is the estimated vehicle speed at the last time, a2 is the second acceleration, and t is a preset running period; the estimated vehicle speed at the last time and the estimated vehicle speed at the current time are separated by a time length indicated by the running period; the determination manners of the static state, the left turn, the right turn, the driving and the braking involved in the above steps, and the steps of determining the confidence level have been described in the step of determining the current vehicle speed, and the related content can be referred to the foregoing description, and thus will not be described herein.

[0116] It should be understood that, although Figure 1 The steps in the flowchart of the method are displayed in sequence according to the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps in the method can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be alternately executed with other steps or at least part of the sub-steps or stages of other steps.

[0117] In a second embodiment, a slope calculation device based on vehicle conditions is provided, which is a vehicle controller, wherein the vehicle controller is configured to:

[0118] determine a first speed of each wheel, wherein the first speed is used to indicate the speed of each wheel converted to the center of mass of the current vehicle and in the driving direction;

[0119] determine a confidence level of each of the first speeds;

[0120] determine a current vehicle speed based on each of the confidence levels and / or the driving state of the current vehicle;

[0121] calculate a current slope according to the current vehicle speed.

[0122] Preferably, refer to Figure 2The device can further comprise a first speed sensor, wherein the first speed sensor is electrically connected with the vehicle control unit, and on this basis, the vehicle control unit determines the first speed of each wheel by: obtaining the wheelbase of the current vehicle; collecting the yaw rate and the current rotating speed of each wheel through the first speed sensor, wherein the wheels include the left front wheel, the right front wheel, the left rear wheel and the right rear wheel with the driving direction as the reference direction; obtaining the wheel radius and the second speed of each wheel according to the wheel radius and the current rotating speed; and determining the corresponding first speed based on the wheelbase, the yaw rate and the second speed of each wheel. The first speed sensor can be five, and the five first speed sensors are respectively used to collect the yaw rate, the current rotating speed of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel.

[0123] Preferably, referring to Figure 3 The device can further comprise an angular displacement sensor, wherein the angular displacement sensor is electrically connected with the vehicle control unit, and on this basis, the vehicle control unit determines the first speed of each wheel based on the wheelbase, the yaw rate and the second speed of each wheel by: collecting the first angle of the steering wheel through the angular displacement sensor; converting the first angle into the second angle of each wheel; setting the center of mass of the current vehicle and obtaining the first distance from the center of mass to the front axle of the current vehicle; obtaining the first speed of the left front wheel according to the second angle, the yaw rate, the wheelbase, the first distance and the second speed of the left front wheel; obtaining the first speed of the right front wheel according to the second angle, the yaw rate, the wheelbase, the first distance and the second speed of the right front wheel; obtaining the first speed of the left rear wheel according to the yaw rate, the wheelbase and the second speed of the left rear wheel; and obtaining the first speed of the right rear wheel according to the yaw rate, the wheelbase and the second speed of the right rear wheel.

[0124] Specifically, the vehicle control unit determines the confidence of each first speed by: determining the acceleration correction value in the driving direction; obtaining the corresponding first acceleration according to the first speed of each wheel; obtaining the absolute value of the difference between each first acceleration and the acceleration correction value; obtaining a preset first threshold and a first time length, and determining whether each absolute value is greater than or equal to the first threshold and lasts for the first time length; if yes, determining the confidence of the first speed of the wheel pointed by the absolute value as 0; and if no, determining the confidence of the first speed of the wheel pointed by the absolute value as 1.

[0125] Preferably, referring to Figure 4The device can further include a second speed sensor, wherein the second speed sensor is electrically connected to the vehicle control unit, and the vehicle control unit determines the acceleration correction value in the driving direction by collecting a first rotation speed of a first motor, a second rotation speed of a second motor, and a second acceleration of the current vehicle in the driving direction through the second speed sensor, wherein the first motor is used to control a front axle of the current vehicle, and the second motor is used to control a rear axle of the current vehicle; obtains an estimated vehicle speed of the current vehicle based on the first rotation speed and the second rotation speed; obtains a third acceleration according to the estimated vehicle speed, and obtains an estimated slope based on the second acceleration and the third acceleration; and calculates the acceleration correction value in the driving direction according to the second acceleration and the estimated slope. The second speed sensor can be three, and the three second speed sensors are respectively used to collect the first rotation speed, the second rotation speed, and the second acceleration.

[0126] Specifically, the vehicle control unit obtains the estimated vehicle speed of the current vehicle based on the first rotation speed and the second rotation speed, which includes: obtaining a wheel radius, a first speed ratio of the first motor, and a second speed ratio of the second motor; obtaining a first vehicle speed according to the first rotation speed, the wheel radius, and the first speed ratio; obtaining a second vehicle speed according to the second rotation speed, the wheel radius, and the second speed ratio; and obtaining the estimated vehicle speed of the current vehicle according to an average value of a sum of the first vehicle speed and the second vehicle speed.

[0127] In an applicable scenario, the vehicle control unit determines the current vehicle speed based on each confidence and / or a driving state of the current vehicle, which includes: obtaining a historical vehicle speed, a second threshold, a third threshold, and a fourth threshold; comparing a minimum speed in each first speed with the second threshold, comparing the acceleration correction value with the third threshold, and comparing the historical vehicle speed with the fourth threshold; when the minimum speed is less than or equal to the second threshold, the acceleration correction value is less than or equal to the third threshold, and the historical vehicle speed is less than or equal to the fourth threshold, determining that the current vehicle is in a static driving state, and taking the minimum speed as the current vehicle speed.

[0128] In another applicable scenario, the vehicle controller determines the current vehicle speed based on the confidence levels and / or the driving state of the current vehicle, and the step further comprises: obtaining a historical vehicle speed, a fifth preset threshold value and a sixth threshold value; comparing the maximum speed in the first speeds with the fifth threshold value, and comparing the historical vehicle speed with the sixth threshold value; when the maximum speed is less than or equal to the fifth threshold value, and the historical vehicle speed is greater than or equal to the sixth threshold value, determining that the current vehicle is in a wheel lock driving state, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

[0129] In another applicable scenario, the vehicle controller determines the current vehicle speed based on the confidence levels and / or the driving state of the current vehicle, and the step further comprises: obtaining a historical vehicle speed, a fifth preset threshold value and a sixth threshold value; comparing the maximum speed in the first speeds with the fifth threshold value, and comparing the historical vehicle speed with the sixth threshold value; when the maximum speed is less than or equal to the fifth threshold value, and the historical vehicle speed is greater than or equal to the sixth threshold value, determining that the current vehicle is in a wheel lock driving state, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

[0130] In another applicable scenario, the vehicle controller determines the current vehicle speed based on the confidence levels and / or the driving state of the current vehicle, and the step further comprises: obtaining a historical vehicle speed, a fifth preset threshold value and a sixth threshold value; comparing the maximum speed in the first speeds with the fifth threshold value, and comparing the historical vehicle speed with the sixth threshold value; when the maximum speed is less than or equal to the fifth threshold value, and the historical vehicle speed is greater than or equal to the sixth threshold value, determining that the current vehicle is in a wheel lock driving state, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

[0131] In another applicable scenario, the vehicle controller determines the current vehicle speed based on the respective confidence and / or the driving state of the current vehicle, further comprising: collecting a second acceleration of the current vehicle in the driving direction; obtaining a preset eleventh threshold value, determining whether the number of the confidence of 0 is less than or equal to the eleventh threshold value; if not, obtaining a historical vehicle speed, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value; if yes, determining whether the second acceleration is positive; if yes, determining that the current vehicle is in a driving state, and taking the minimum speed of the respective first speeds as the current vehicle speed; if not, determining that the current vehicle is in a braking state, and taking the maximum speed of the respective first speeds as the current vehicle speed.

[0132] The specific limitations of the slope calculation device based on vehicle conditions can be referred to the limitations of the slope calculation method based on vehicle conditions described above, which will not be repeated here.

[0133] In a third embodiment, a vehicle is provided, comprising the slope calculation device based on vehicle conditions as described in the second embodiment, wherein the slope calculation device based on vehicle conditions is configured to perform the slope calculation method based on vehicle conditions as described in the first embodiment.

[0134] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0135] Any combination of the technical features in the above embodiments can be made, and for the sake of brevity, not all possible combinations are described above, however, as long as the combination of the technical features does not exist in contradiction, it shall be considered within the scope of the present disclosure.

[0136] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it shall not be understood as a limitation on the patent scope of the present application. It shall be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these shall be within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A vehicle condition-based slope calculation method, characterized by, The method comprises: determining a first speed of each wheel, wherein the first speed is used to indicate a speed of a rotation speed of each wheel converted to a center of mass of a current vehicle and in a driving direction; determining a confidence degree of each first speed; determining a current vehicle speed based on each confidence degree and / or a driving state of the current vehicle; calculating a current slope according to the current vehicle speed; the determining of the current vehicle speed based on each confidence degree and / or the driving state of the current vehicle comprises: if it is determined that the current vehicle is in a left-turn driving state and it is judged that a confidence degree corresponding to the first speed of a right rear wheel is 1, then the first speed of the right rear wheel is taken as the current vehicle speed; wherein the right rear wheel is determined with the driving direction as a reference direction; if it is determined that the current vehicle is in a right-turn driving state and it is judged that a confidence degree corresponding to the first speed of a left rear wheel is 1, then the first speed of the left rear wheel is taken as the current vehicle speed; wherein the left rear wheel is determined with the driving direction as a reference direction; if it is judged that a number of the confidence degrees being 0 is less than or equal to an eleventh threshold value and it is determined that the current vehicle is in a driving driving state, then a minimum speed in each first speed is taken as the current vehicle speed; if it is judged that the number of the confidence degrees being 0 is less than or equal to the eleventh threshold value and it is determined that the current vehicle is in a braking driving state, then a maximum speed in each first speed is taken as the current vehicle speed.

2. The vehicle condition-based slope calculation method according to claim 1, characterized by, The step of determining the first speed of each wheel comprises: obtaining a wheel track of the current vehicle; collecting a yaw rate and current rotation speeds of each wheel, wherein each wheel comprises a left front wheel, a right front wheel, a left rear wheel and a right rear wheel with the driving direction as a reference direction; obtaining wheel radii and obtaining second speeds of each wheel according to the wheel radii and each current rotation speed; determining a corresponding first speed based on the wheel track, the yaw rate and the second speeds of each wheel.

3. The vehicle condition-based slope calculation method according to claim 2, characterized by, The step of determining the corresponding first speed based on the wheel track, the yaw rate and the second speeds of each wheel comprises: collecting a first rotation angle of a steering wheel; converting the first rotation angle into second rotation angles of each wheel; setting a center of mass of the current vehicle and obtaining a first distance from the center of mass to a front axle of the current vehicle; obtaining the first speed of the left front wheel according to the second rotation angles, the yaw rate, the wheel track, the first distance and the second speed of the left front wheel; obtaining the first speed of the right front wheel according to the second rotation angles, the yaw rate, the wheel track, the first distance and the second speed of the right front wheel; obtaining the first speed of the left rear wheel according to the yaw rate, the wheel track and the second speed of the left rear wheel; obtaining the first speed of the right rear wheel according to the yaw rate, the wheel track and the second speed of the right rear wheel.

4. The vehicle condition-based slope calculation method according to claim 1, characterized by, The step of determining the confidence degree of each first speed comprises: determining an acceleration correction value in the driving direction; According to the first speed of each wheel, a corresponding first acceleration is obtained; An absolute value of a difference between each first acceleration and the acceleration correction value is obtained; A preset first threshold value and a first time length are obtained, and it is determined whether each absolute value is greater than or equal to the first threshold value and lasts for the first time length; If yes, the confidence degree of the first speed of the wheel to which the absolute value points is determined to be 0; If no, the confidence degree of the first speed of the wheel to which the absolute value points is determined to be 1.

5. The vehicle condition-based slope calculation method according to claim 4, characterized by, The step of determining the acceleration correction value in the driving direction comprises: A first rotating speed of a first motor, a second rotating speed of a second motor and a second acceleration of the current vehicle in the driving direction are collected, wherein the first motor is used to control a front axle of the current vehicle, and the second motor is used to control a rear axle of the current vehicle; Based on the first rotating speed and the second rotating speed, an estimated vehicle speed of the current vehicle is obtained; According to the estimated vehicle speed, a third acceleration is obtained, and based on the second acceleration and the third acceleration, an estimated slope is obtained; According to the second acceleration and the estimated slope, the acceleration correction value in the driving direction is calculated.

6. The vehicle condition-based slope calculation method according to claim 5, characterized by, The step of obtaining the estimated vehicle speed of the current vehicle based on the first rotating speed and the second rotating speed comprises: A wheel radius, a first speed ratio of the first motor and a second speed ratio of the second motor are obtained; According to the first rotating speed, the wheel radius and the first speed ratio, a first vehicle speed is obtained; According to the second rotating speed, the wheel radius and the second speed ratio, a second vehicle speed is obtained; According to an average value of a sum of the first vehicle speed and the second vehicle speed, the estimated vehicle speed of the current vehicle is obtained.

7. The vehicle condition-based slope calculation method according to claim 4, characterized by, The step of determining the current vehicle speed based on each confidence degree and / or a driving state of the current vehicle comprises: A historical vehicle speed, a preset second threshold value, a third threshold value and a fourth threshold value are obtained; The minimum speed in each first speed and the second threshold value are compared, the acceleration correction value and the third threshold value are compared, and the historical vehicle speed and the fourth threshold value are compared; When the minimum speed is less than or equal to the second threshold value, the acceleration correction value is less than or equal to the third threshold value, and the historical vehicle speed is less than or equal to the fourth threshold value, it is determined that the current vehicle is in a static driving state, and the minimum speed is taken as the current vehicle speed.

8. The vehicle condition-based slope calculation method according to claim 4, characterized by, The step of determining the current vehicle speed based on each confidence degree and / or a driving state of the current vehicle comprises: A historical vehicle speed, a preset fifth threshold value and a sixth threshold value are obtained; The maximum speed in each first speed and the fifth threshold value are compared, and the historical vehicle speed and the sixth threshold value are compared; When the maximum speed is less than or equal to the fifth threshold value, and the historical vehicle speed is greater than or equal to the sixth threshold value, it is determined that the current vehicle is in a wheel lock driving state, and the current vehicle speed is obtained according to the historical vehicle speed and the acceleration correction value.

9. The slope calculation method based on vehicle behavior according to claim 4, characterized by, The step of determining the current vehicle speed based on each of the confidence and / or the driving state of the current vehicle comprises: collecting a first rotation angle of the yaw rate and the steering wheel; converting the first rotation angle into a second rotation angle of each wheel; obtaining a preset seventh threshold and an eighth threshold, comparing the second rotation angle with the seventh threshold, and comparing the yaw rate with the eighth threshold; when the second rotation angle is greater than the seventh threshold and the yaw rate is less than the eighth threshold, determining that the current vehicle is in a left-turn driving state; if the confidence corresponding to the first speed of the right rear wheel is not 1, obtaining a historical vehicle speed, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

10. The vehicle condition-based slope calculation method according to claim 4, characterized by, The step of determining the current vehicle speed based on each of the confidence and / or the driving state of the current vehicle comprises: collecting a first rotation angle of the yaw rate and the steering wheel; converting the first rotation angle into a second rotation angle of each wheel; obtaining a preset ninth threshold and a tenth threshold, comparing the second rotation angle with the ninth threshold, and comparing the yaw rate with the tenth threshold; when the second rotation angle is less than the ninth threshold and the yaw rate is greater than the tenth threshold, determining that the current vehicle is in a right-turn driving state; if the confidence corresponding to the first speed of the left rear wheel is not 1, obtaining a historical vehicle speed, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value.

11. The slope calculation method based on vehicle behavior according to claim 4, characterized by, The step of determining the current vehicle speed based on each of the confidence and / or the driving state of the current vehicle comprises: collecting a second acceleration of the current vehicle in the driving direction; obtaining a preset eleventh threshold, and determining whether the number of the confidence of 0 is less than or equal to the eleventh threshold; if not, obtaining a historical vehicle speed, and obtaining the current vehicle speed according to the historical vehicle speed and the acceleration correction value; if yes, determining whether the second acceleration is positive; if yes, determining that the current vehicle is in a driving driving state; if not, determining that the current vehicle is in a braking driving state.

12. A vehicle condition-based slope calculation device characterized by comprising: The device comprises a vehicle controller, wherein the vehicle controller is configured to: determine a first speed of each wheel, wherein the first speed indicates a speed of each wheel converted to a mass center of the current vehicle and in the driving direction; determine a confidence of each of the first speed; determine a current vehicle speed based on each of the confidence and / or the driving state of the current vehicle; calculate a current slope according to the current vehicle speed; The vehicle controller is specifically configured to: if it is determined that the current vehicle is in a left-turn driving state and the confidence corresponding to the first speed of the right rear wheel is 1, the first speed of the right rear wheel is taken as the current vehicle speed; wherein the right rear wheel is determined with the driving direction as a reference direction. If it is determined that the current vehicle is in a right-turn driving state, and it is judged that the confidence degree corresponding to the first speed of the left rear wheel is 1, the first speed of the left rear wheel is taken as the current vehicle speed; wherein the left rear wheel is determined with the driving direction as the reference direction; If it is judged that the number of the confidence degrees of 0 is less than or equal to an eleventh threshold value, and it is determined that the current vehicle is in a driving driving state, the minimum speed in each of the first speeds is taken as the current vehicle speed; If it is judged that the number of the confidence degrees of 0 is less than or equal to the eleventh threshold value, and it is determined that the current vehicle is in a braking driving state, the maximum speed in each of the first speeds is taken as the current vehicle speed.

13. A vehicle characterized by comprising: The vehicle comprises the slope calculation device based on vehicle conditions according to claim 12, wherein the device is used to execute the slope calculation method based on vehicle conditions according to any one of claims 1-11.

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