Vehicle slope calculation method and device, electronic device, and storage medium

Abstract

The embodiments of the present application disclose a vehicle slope calculation method and device, electronic device, and storage medium. The method includes: obtaining the wheel speed information of the vehicle at the current moment, and determining the effective wheel speed information in the wheel speed information; determining the driving mode of the vehicle based on the effective wheel speed information, and calculating the vehicle speed acceleration based on the driving mode and the effective wheel speed information; obtaining the longitudinal acceleration of the vehicle, and calculating the reference slope value of the vehicle based on the longitudinal acceleration and the speed acceleration; determining the target filtering strategy corresponding to the reference slope value based on the working condition information of the vehicle, and filtering the reference slope value based on the target filtering strategy to obtain the actual slope value of the vehicle based on the filtering result. The embodiments of the present application can execute different filtering strategies according to different working condition scenarios, and can ensure the accuracy of the calculation of the vehicle slope value under different working condition scenarios.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle slope calculation method and device, an electronic device, and a computer-readable storage medium. Background Art

[0002] As vehicles have more and more intelligent assisted driving functions, such as intelligent hill assist, automatic parking, adaptive cruise control and other functions, they all require road slope values ​​for assistance.

[0003] In the prior art, the current vehicle slope value is usually calculated based on the obtained vehicle sensor longitudinal acceleration and the actual vehicle acceleration value according to the formula, and the calculated slope value is corrected according to the lateral acceleration and the vehicle dynamics model.

[0004] However, conventional slope calculation methods in the existing technology are not universally applicable. In particular, the vehicle slope values ​​calculated using these methods can deviate significantly from the actual slope values ​​under different vehicle operating conditions. Therefore, a vehicle slope calculation method with high accuracy and adaptability to different operating conditions is urgently needed. Summary of the Invention

[0005] To solve the above technical problems, embodiments of the present application provide a vehicle slope calculation method and device, an electronic device, and a computer-readable storage medium.

[0006] According to one aspect of an embodiment of the present application, a vehicle slope calculation method is provided, including: obtaining the wheel speed information of the vehicle at a current moment, and determining the effective wheel speed information in the wheel speed information; determining the driving mode of the vehicle based on the effective wheel speed information, and calculating the vehicle speed acceleration based on the driving mode and the effective wheel speed information; obtaining the longitudinal acceleration of the vehicle, and calculating a reference slope value of the vehicle based on the longitudinal acceleration and the vehicle speed acceleration; determining a target filtering strategy corresponding to the reference slope value based on the working condition information of the vehicle, and filtering the reference slope value based on the target filtering strategy to obtain the actual slope value of the vehicle based on the filtering result.

[0007] According to one aspect of an embodiment of the present application, the target filtering strategy corresponding to the reference slope value is determined based on the operating condition information of the vehicle, including: if the operating condition information of the vehicle meets the conditions of a preset typical operating condition, then the target filtering strategy corresponding to the reference slope value is determined to be a first filtering strategy; if the operating condition information of the vehicle does not meet the conditions of a preset typical operating condition, then the target strategy corresponding to the reference slope value is determined to be a second filtering strategy, wherein the filtering period of the second filtering strategy is smaller than that of the first filtering strategy.

[0008] According to one aspect of an embodiment of the present application, the operating condition information includes: throttle depth, the changing trend of throttle depth per unit time, and the changing trend of brake depth per unit time. The method also includes: if the throttle depth of the vehicle reaches a preset throttle depth threshold and the vehicle speed reaches above the preset speed threshold, then it is determined that the operating condition information of the vehicle meets the conditions of the preset typical operating condition; if the changing trend of the throttle depth of the vehicle per unit time meets the preset throttle depth change condition, then it is determined that the operating condition information of the vehicle meets the conditions of the preset typical operating condition; if the changing trend of the brake depth of the vehicle per unit time meets the preset brake depth change condition, then it is determined that the operating condition information of the vehicle meets the conditions of the preset typical operating condition.

[0009] According to one aspect of an embodiment of the present application, the operating condition information includes: braking depth and motor speed, and the method also includes: if the braking depth of the vehicle reaches above a preset braking depth threshold and the vehicle speed does not reach above the preset speed threshold, then determining that the vehicle's operating condition information meets the conditions of a preset typical operating condition; if the vehicle's effective motor speed does not reach above a preset speed, then determining that the vehicle's operating condition information meets the conditions of a preset typical operating condition.

[0010] According to one aspect of an embodiment of the present application, the operating condition information also includes the wheel speed difference between the wheels with the same function of the vehicle, and the method also includes: if the wheel speed difference between the left front wheel and the right front wheel of the vehicle is greater than a preset wheel speed difference threshold, and / or the wheel speed difference between the left rear wheel and the right rear wheel of the vehicle is greater than the preset wheel speed difference threshold, then it is determined that the operating condition information of the vehicle meets the conditions of a preset typical operating condition.

[0011] According to one aspect of an embodiment of the present application, the calculating the vehicle speed acceleration based on the driving mode and the effective wheel speed information includes: if the vehicle is in a four-wheel drive mode, calculating the speed difference between the front wheel speed and the rear wheel speed of the vehicle, and calculating the vehicle speed acceleration based on the actual speed based on the speed difference, the front wheel speed and the rear wheel speed and the actual speed of the vehicle; if the vehicle is in a two-wheel drive mode, calculating the speed difference between the speeds of the driving wheels in different directions of the vehicle, and calculating the actual speed of the vehicle based on the speed difference and the speeds of the driving wheels in different directions, and calculating the vehicle speed acceleration based on the actual speed.

[0012] According to one aspect of an embodiment of the present application, the method further includes: if the vehicle is in two-wheel drive mode and the wheel speed of the vehicle is invalid, obtaining the motor speed corresponding to the wheel to determine the actual speed of the wheel based on the motor speed.

[0013] According to one aspect of an embodiment of the present application, a vehicle slope calculation device is provided, which includes: an acquisition module for acquiring the wheel speed information of the vehicle at a current moment, and determining the effective wheel speed information in the wheel speed information; a drive determination module for determining the driving mode of the vehicle based on the effective wheel speed information, and calculating the vehicle speed acceleration based on the driving mode and the effective wheel speed information; a calculation module for acquiring the longitudinal acceleration of the vehicle, and calculating a reference slope value of the vehicle based on the longitudinal acceleration and the vehicle speed acceleration; a filtering module for determining a target filtering strategy corresponding to the reference slope value based on the working condition information of the vehicle, and filtering the reference slope value based on the target filtering strategy to obtain the actual slope value of the vehicle based on the filtering result.

[0014] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle slope calculation method as described above.

[0015] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the vehicle slope calculation method as described above.

[0016] In the technical solution provided in the embodiments of the present application, the vehicle speed acceleration is calculated through the vehicle driving mode and the vehicle's effective wheel speed information, thereby avoiding inaccurate calculated slope values ​​when the vehicle speed signal fails, and executing different filtering strategies according to different working conditions, thereby improving the accuracy of the calculated slope values, improving the robustness of the slope algorithm, and improving the accuracy of the calculated vehicle slope values.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0019] Figure 1 is a schematic diagram of an implementation environment for vehicle slope calculation shown in an exemplary embodiment of the present application;

[0020] Figure 2 is a flow chart of a method for calculating a vehicle slope value shown in an exemplary embodiment of the present application;

[0021] Figure 3 is a flow chart of a method for calculating a vehicle slope value shown in another exemplary embodiment of the present application;

[0022] Figure 4 is a flow chart of a method for calculating a vehicle slope value shown in another exemplary embodiment of the present application;

[0023] Figure 5 is a flow chart of a method for calculating a vehicle slope value shown in another exemplary embodiment of the present application;

[0024] Figure 6 is a flow chart of a method for calculating a vehicle slope value shown in another exemplary embodiment of the present application;

[0025] Figure 7 This is a simplified flowchart of calculating the vehicle slope in the navigation interface in an exemplary application scenario;

[0026] Figure 8 is a block diagram of a vehicle slope calculation device shown in an exemplary embodiment of the present application;

[0027] Figure 9 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0029] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0030] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0031] In this application, "plurality" refers to two or more. "And / or" describes the relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0032] First of all, it should be noted that as more and more intelligent assisted driving functions are added to vehicles, such as intelligent hill assist, automatic parking, adaptive cruise control and other functions, all require road slope values ​​for assistance. Therefore, during vehicle driving, the vehicle's driving mode will be determined based on the vehicle's current effective wheel speed information. Then, in the corresponding driving mode, the vehicle's speed acceleration will be calculated based on the vehicle's effective wheel speed information. The vehicle's reference slope value will be calculated based on the vehicle's speed acceleration and longitudinal acceleration. The corresponding filtering strategy will be determined based on the reference slope value according to the vehicle's working environment. The prime number reference slope value will be filtered through the corresponding filtering strategy to obtain the vehicle's accurate actual slope value.

[0033] Please refer to Figure 1 , Figure 1 FIG. 1 is a schematic diagram of an implementation environment for calculating the vehicle slope during vehicle driving according to an exemplary embodiment provided by the present application. Figure 1 As shown, during vehicle travel, the smart terminal 110 obtains the current vehicle wheel speed information and sends the obtained vehicle speed information to the corresponding computing server 120. The server 120 determines the effective vehicle speed information in the vehicle wheel speed information and determines the vehicle driving mode based on the effective wheel speed information. Thus, different calculation strategies can be adopted according to different driving modes to calculate the corresponding vehicle speed acceleration based on the effective wheel speed information. The vehicle longitudinal acceleration information collected by the vehicle's sensor system through the smart terminal 110 is sent to the server 120, so that the server 120 can calculate the vehicle reference slope value based on the vehicle speed acceleration and longitudinal acceleration. The server 120 can also further determine different filtering strategies based on the vehicle's current working condition scenario, so as to filter the slope reference value using the filtering strategy corresponding to the working condition scenario to obtain the vehicle's actual slope value. This achieves accurate calculation of the vehicle's slope value.

[0034] in, Figure 1The smart terminal 110 shown can be any terminal device that supports the installation of navigation map software, such as a smart phone, a car computer, a tablet computer, a laptop computer, or a wearable device, but is not limited thereto. Figure 1 The server 120 shown can be, for example, an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms, and there is no limitation here. The smart terminal 110 can communicate with the server 120 through wireless networks such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), and 5G (fifth generation mobile information technology), and there is no limitation here.

[0035] In the prior art, the current vehicle slope value is usually calculated based on the obtained vehicle sensor longitudinal acceleration and the actual vehicle acceleration value according to the formula, and the calculated slope value is corrected according to the lateral acceleration and the vehicle dynamics model.

[0036] However, the traditional slope calculation method in the prior art is not universal, especially when the vehicle is in different working conditions, the vehicle slope value calculated according to the prior art deviates greatly from the actual slope value.

[0037] The issues identified above are generally applicable to common travel scenarios. As can be seen, in weak or unavailable network conditions, the inability to guarantee the frequency of updating the remaining time to the destination can lead to various problems. To address these issues, the present application provides a method for updating road conditions, a device for updating road conditions, an electronic device, a computer-readable storage medium, and a computer program product, each of which is described in detail below.

[0038] See also Figure 2 , Figure 2 This is a flow chart of a vehicle slope calculation method shown in an exemplary embodiment of the present application. This method can be applied to Figure 1 The implementation environment shown is specifically executed by the server 120 in the implementation environment. It should be understood that the method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0039] like Figure 2As shown, in an exemplary embodiment, the vehicle slope calculation method includes at least steps S210 to S240, which are described in detail as follows:

[0040] Step S210: obtaining the wheel speed information of the vehicle at the current moment, and determining the effective wheel speed information in the wheel speed information.

[0041] Specifically, the speed information corresponding to each wheel of the vehicle at the current moment can be obtained through the corresponding sensing system in the vehicle, including the left front wheel speed information, right front wheel speed information, left rear wheel speed information and right rear wheel speed information of the vehicle, and the effective wheel speed information in the vehicle's wheel speed information can be determined.

[0042] For example, the wheel speed information of the vehicle during driving can be obtained through the vehicle's ESP (electronic stability system), wherein the wheel speed information obtained by the ESP system carries a valid flag corresponding to the wheel speed information. That is to say, if the wheel speed information carries a valid flag, it can be determined that the wheel speed information is valid wheel information. Conversely, if the wheel speed information of the vehicle does not carry a valid flag, it can be determined that the wheel speed information is invalid wheel information.

[0043] It's important to note that ESP stands for Electronic Stability Program. It monitors the vehicle's driving state and prevents it from deviating from its desired trajectory when understeering or oversteering occurs during emergency obstacle avoidance or cornering. It integrates ABS (Anti-lock Braking System), BAS (Brake Assist System), and ASR (Acceleration Slip Control), offering even more powerful functionality.

[0044] In step S220 , the driving mode of the vehicle is determined based on the effective wheel speed information, and the vehicle speed acceleration is calculated based on the driving mode and the effective wheel speed information.

[0045] Following the embodiment of step S210 above, the driving mode of the vehicle can be determined based on the effective wheel speed information of the vehicle at the current moment. For example, if the left front wheel speed information and the right front wheel speed information in the vehicle's wheel speed information are valid, then the vehicle is determined to be in front-wheel drive mode; if the left rear wheel speed information and the right rear wheel speed information in the vehicle's wheel speed information are valid, then the vehicle is determined to be in rear-wheel drive mode; if the left front wheel speed information, the right front wheel speed information, the left rear wheel speed information and the right rear wheel speed information in the vehicle's wheel speed information are valid, then the vehicle is determined to be in four-wheel drive mode.

[0046] For example, if the vehicle's drive mode is determined based on the vehicle's effective wheel speed information, the vehicle's speed acceleration can be calculated based on the vehicle's effective wheel speed information according to the drive characteristics corresponding to the vehicle's drive mode. For example, if the vehicle is in front-wheel drive mode, the vehicle's current speed can be calculated based on the vehicle's left front wheel speed and right front wheel speed according to a preset calculation strategy, wherein the preset calculation strategy is related to the front-wheel drive mode. Similarly, if the vehicle is in rear-wheel drive mode, the vehicle's current speed can be calculated based on the vehicle's left rear wheel speed and right rear wheel speed according to a preset calculation strategy, wherein the preset calculation strategy is related to the rear-wheel drive mode; if the vehicle is in four-wheel drive mode, the vehicle's current speed can be calculated based on the vehicle's left rear wheel speed and right rear wheel speed, and the vehicle's left front wheel speed and right front wheel speed according to a preset calculation strategy, wherein the preset calculation strategy is related to the four-wheel drive mode.

[0047] Furthermore, based on the valid signs of the front and rear wheel speeds in the ESP system, it is determined whether the current vehicle is in front-wheel drive, rear-wheel drive or four-wheel drive mode. If the front and rear wheel speeds of the vehicle collected by the ESP system indicate that the vehicle is in four-wheel drive mode, the vehicle's entire speed at the current moment can be calculated based on the speed difference between the front and rear wheels of the garage, and the front and rear wheel speeds according to different proportions. If the front and rear wheel speeds of the vehicle collected by the ESP system indicate that the vehicle is in two-wheel drive mode, the valid state is determined based on the front or rear wheel speed of the vehicle, and the vehicle's entire speed is calculated. If the front and rear wheel speeds of the vehicle are both invalid, the motor speeds corresponding to the front and rear wheels are obtained to calculate the vehicle's entire speed based on the motor speed.

[0048] In some feasible embodiments, after determining the vehicle's full vehicle speed, the vehicle's actual speed can be calculated based on the ESP speed corresponding to the ESP system, the vehicle's full vehicle speed calculated above, and the validity status of the vehicle's vehicle speed. For example, if both the ESP speed and the full vehicle speed are valid, the vehicle's actual speed can be calculated based on a certain weighting between the ESP speed and the full vehicle speed, thereby further calculating the vehicle's actual speed. The weighting between the ESP speed and the normal speed can be determined based on information such as the vehicle's driving mode and the vehicle's operating conditions. If either the ESP speed or the full vehicle speed is valid, the valid speed can be used as the vehicle's actual speed. If both the ESP speed and the full vehicle speed are invalid, the vehicle's actual speed is defaulted to zero.

[0049] In addition, in one of the exemplary embodiments provided herein, after calculating the actual vehicle speed, the corresponding vehicle acceleration can be calculated by filtering the actual vehicle speed. When the vehicle speed is invalid, the speed acceleration defaults to 0. Because the vehicle speed itself fluctuates, the vehicle speed is first filtered by the mean value of multiple cycles, and the acceleration value is calculated by taking the derivative of the filtered vehicle speed. The acceleration value is then subjected to a first-order low-pass filter to obtain the vehicle speed acceleration value. The period length can be determined based on actual conditions.

[0050] Step S230 , obtaining the longitudinal acceleration of the vehicle, and calculating a reference slope value of the vehicle based on the longitudinal acceleration and the vehicle speed acceleration.

[0051] For example, in some feasible embodiments, the longitudinal acceleration collected by the vehicle's sensing system can be obtained, and the reference slope value of the vehicle can be calculated based on the vehicle's speed acceleration and longitudinal acceleration, wherein the reference slope value means that the slope value is not accurate, does not take into account the vehicle's current operating condition information, and the obtained slope value is not accurately calculated.

[0052] A vehicle's longitudinal acceleration is the acceleration along its axis, which can be caused by factors such as road friction and air resistance. When a vehicle starts or accelerates, the wheels rotate to propel it forward. At this point, the vehicle is subject to friction from the ground and air resistance. These forces act on the vehicle, gradually increasing its speed and generating longitudinal acceleration. When the vehicle decelerates or brakes, the wheels slow down or stop, and these forces gradually decrease its speed, generating longitudinal deceleration. Longitudinal acceleration sensors can measure these accelerations to help stabilize the vehicle and improve driving safety.

[0053] For example, the vehicle speed acceleration and the vehicle longitudinal acceleration may be input into a vehicle dynamics model to calculate a slope reference value of the vehicle using the vehicle dynamics model technology.

[0054] Step S240 , determining a target filtering strategy corresponding to the reference slope value based on the vehicle's operating condition information, and filtering the reference slope value based on the target filtering strategy to obtain an actual slope value of the vehicle based on the filtering result.

[0055] Since the vehicle's operating condition information has a great influence on the calculation of the vehicle's slope value, it is necessary to obtain the vehicle's operating condition information at the current moment, and then determine the target filtering strategy corresponding to the reference slope value based on the vehicle's operating condition information at the current moment. The vehicle's reference filtering value can be filtered using the target filtering strategy to finally obtain a more accurate actual slope value of the vehicle.

[0056] Vehicle operating condition information typically includes information about the vehicle's operating status, operating conditions, and environment. This information is crucial for evaluating vehicle performance, use, and maintenance. Some common vehicle operating condition information includes: Speed: Vehicle speed is a key factor in evaluating vehicle performance and safety; Acceleration: Vehicle acceleration is a key factor in evaluating vehicle dynamics; Braking status: Braking status, including brake operating status and brake pedal pressure, is a key factor in evaluating vehicle braking performance; Steering status: Steering status, including steering wheel angle and steering torque, is a key factor in evaluating vehicle steering performance; Road conditions: Road conditions, including road type, pavement quality, and traffic conditions, are key factors in evaluating vehicle stability and safety; Climate: Climate conditions, including temperature, humidity, air pressure, and wind speed, are key factors in evaluating vehicle adaptability and reliability; Vehicle load: Vehicle load, including vehicle weight and the weight of cargo or passengers, is a key factor in evaluating vehicle carrying capacity and distribution. This operating condition information can be monitored and recorded through sensors and control systems.

[0057] In other words, the vehicle operating condition information collected by the vehicle's sensor system or control system at the current moment can be used as an important factor in determining the target filtering strategy corresponding to the vehicle's reference slope value, so that the actual slope value of the vehicle after filtering by the target filtering strategy is more accurate and closer to the vehicle's current operating condition information, thereby improving the accuracy of the vehicle slope calculation results.

[0058] In this embodiment, the vehicle speed acceleration is calculated through the vehicle driving mode and the vehicle's effective wheel speed information, which avoids large fluctuations in the calculated slope value when the speed signal fails. Different filtering strategies are executed according to different working scenarios, thereby improving the accuracy of the calculated slope value, improving the robustness of the slope algorithm, and improving the accuracy of the calculated vehicle slope value.

[0059] Further, based on the above embodiment, please refer to Figure 3 In one of the exemplary embodiments provided in this application, the specific implementation process of the target filtering strategy for determining the reference slope value based on the vehicle operating condition information may further include steps S310 and S320, which are described in detail as follows:

[0060] Step S310 : If the operating condition information of the vehicle meets the conditions of the preset typical operating condition, the target filtering strategy corresponding to the reference slope value is determined to be the first filtering strategy.

[0061] Specifically, the vehicle's operating condition information at the current moment is obtained through the vehicle, and the operating condition information of the vehicle is identified to determine whether the current vehicle's operating condition information meets the conditions of the preset typical operating condition. If it is determined that the vehicle's operating condition information meets the conditions of the preset typical operating condition information, the target filtering strategy corresponding to the reference slope value in the above embodiment can be set as the first filtering strategy.

[0062] Typical operating conditions refer to the vehicle's slope value under these operating conditions. The vehicle's slope value is affected differently by the operating condition information. For example, during a vehicle's start or sudden braking, the calculated vehicle slope value must be filtered and restricted to prevent abnormal jumps. Therefore, when the vehicle's current operating condition information meets the conditions of a preset typical operating condition, the corresponding first filtering strategy can be used to filter the vehicle's reference filter value.

[0063] Step S320: If the vehicle operating condition information does not meet the preset typical operating condition, the target strategy corresponding to the reference slope value is determined to be the second filtering strategy, wherein the filtering period of the second filtering strategy is shorter than that of the first filtering strategy.

[0064] Following the above embodiment, by judging the operating condition information of the vehicle at the current moment collected by the vehicle's sensing system or control system, when it is determined that the operating condition information of the vehicle does not meet the conditions of the preset typical operating condition, the filtering strategy for the reference slope value of the vehicle is determined to be the second filtering strategy.

[0065] For example, by judging the operating condition information of the vehicle at the current moment, it is found that the operating condition information of the vehicle at the current moment does not meet the pre-set typical operating conditions. In order to calculate the actual slope value of the vehicle faster and more sensitively, a second filtering strategy with a faster cycle than the first filtering strategy can be used to filter the calculated reference slope value of the vehicle, thereby achieving efficient and quick acquisition of the actual slope value of the vehicle.

[0066] Exemplarily, the filtering period corresponding to the above-mentioned first filtering strategy is greater than the filtering period corresponding to the second filtering strategy. As mentioned in the above embodiment, if the operating condition information of the vehicle at the current moment meets the preset typical operating condition information, it indicates that the vehicle is in a special operating condition scenario at the current moment, for example, starting, emergency stop, skidding and other special operating conditions. In order to prevent abnormal jumps in filtering the reference slope value, it is necessary to adopt a first-order low-pass filter with a slower period to keep the slope value as balanced as possible; if the operating condition information of the vehicle at the current moment does not meet the preset typical operating condition information, it indicates that the vehicle is not in a special operating condition scenario at the current moment, then a first-order low-pass filter with a faster filtering period can be used to filter the reference slope value of the vehicle, so that the actual slope value obtained is more efficient and quick.

[0067] In this embodiment, by adopting different filtering strategies for vehicle operating condition information, the influence of the operating environment of the road vehicle on the calculation of the vehicle's slope value is fully considered, so that the calculated vehicle slope value is more accurate.

[0068] Further, based on the above embodiment, please refer to Figure 4 In one exemplary embodiment provided in this application, the operating condition information includes: throttle depth and a changing trend of the throttle depth per unit time. The specific implementation process of the vehicle slope calculation method may further include steps S410 to S430, which are described in detail as follows:

[0069] In step S410 , if the throttle depth of the vehicle reaches a preset throttle depth threshold and the vehicle speed reaches or exceeds a preset speed threshold, it is determined that the vehicle operating condition information meets the conditions of a preset typical operating condition.

[0070] Specifically, the vehicle's current operating condition information collected by the vehicle's sensing system includes the vehicle's throttle depth, the vehicle's speed, and the changing trend of the vehicle's depth per unit time. If it is detected that the throttle depth in the vehicle's current operating condition information reaches above a preset throttle depth threshold, it is determined whether the vehicle's current speed reaches above a preset speed threshold, and it is determined that the vehicle's current operating condition information meets the conditions of the preset typical operating condition.

[0071] For example, when it is detected that the throttle depth of the vehicle reaches above the throttle depth threshold corresponding to the preset starting condition, the starting condition identification is entered. By obtaining the vehicle speed at the current moment and judging whether the vehicle speed reaches above the preset first speed threshold, it can be determined that the vehicle is in the starting condition in the typical working condition. Moreover, until the vehicle speed does not reach above the second speed threshold or the throttle depth of the vehicle does not reach above the throttle depth threshold corresponding to the preset exit starting condition, it is determined that the vehicle has exited the starting condition in the preset typical working condition.

[0072] Step S420: If the change trend of the throttle depth of the vehicle within a unit time satisfies a preset throttle depth change condition, it is determined that the operating condition information of the vehicle satisfies a preset typical operating condition.

[0073] For example, the changing trend of the vehicle's throttle depth within unit time is also one of the conditions for determining whether the vehicle's operating condition information at the current moment meets the preset typical operating condition. That is to say, if the changing trend of the vehicle's throttle depth within unit time meets the preset throttle depth changing trend, it can be determined that the vehicle's operating condition information meets the conditions of the preset typical operating condition information.

[0074] For example, if it is detected that the changing trend of the throttle depth of the vehicle meets the throttle changing trend condition of the preset rapid acceleration condition within a unit time, it can be determined that the operating condition information of the vehicle at the current moment meets the rapid acceleration condition in the preset typical condition. For example, if the throttle depth of the vehicle increases from <20% to >80% within 0.2s, it can be determined that the operating condition information of the vehicle meets the rapid acceleration condition in the preset typical condition.

[0075] Step S430: If the change trend of the braking depth of the vehicle within a unit time satisfies the preset braking depth change condition, it is determined that the operating condition information of the vehicle satisfies the preset typical operating condition.

[0076] On the other hand, if the changing trend of the throttle depth of the vehicle meets the throttle changing trend condition of the preset rapid deceleration condition, it can be determined that the working condition information of the garage at the current moment meets the rapid deceleration condition in the preset typical working condition. For example, when it is detected that the braking depth of the vehicle increases from <10% to >60% within 0.2s, it can be determined that the vehicle is in the rapid deceleration condition in the preset typical working condition.

[0077] In this embodiment, by monitoring the vehicle's operating condition information such as the vehicle's throttle depth, the changing trend of the throttle depth per unit time, and the changing trend of the brake depth per unit time, the calculated vehicle slope value is made more accurate and effective.

[0078] Further, based on the above embodiment, please refer to Figure 5 In one of the exemplary embodiments provided in this application, the operating condition information includes: braking depth and motor speed. The specific implementation process of the vehicle slope calculation method may further include steps S510 and S520, which are described in detail as follows:

[0079] In step S510 , if the braking depth of the vehicle reaches or exceeds a preset braking depth threshold and the vehicle speed does not reach or exceed a preset speed threshold, it is determined that the vehicle operating condition information meets the conditions of a preset typical operating condition.

[0080] Specifically, the braking depth of the vehicle is obtained through the vehicle's sensing system or control system, where the braking depth is the depth to which the driver steps on the brakes, and a judgment is made as to whether the braking depth of the vehicle at the current moment is greater than a preset braking depth. If so, the vehicle speed at the current moment is obtained, and a judgment is made as to whether the vehicle speed at the current moment does not reach a preset speed threshold. If so, it is determined that the operating condition information of the vehicle at the current moment meets the conditions of the preset typical operating condition.

[0081] For example, if the current braking depth of the vehicle meets a preset braking depth threshold for the vehicle to enter a braking state, the vehicle braking state identification process may be initiated, the current vehicle speed may be obtained, and a determination may be made as to whether the vehicle speed has not reached or exceeded the preset speed threshold. If so, the vehicle is determined to be in a braking state. For example, if the braking depth of the vehicle is greater than 5%, the braking state identification process may be initiated. If the vehicle speed is determined to be ≤1 km / h, the vehicle is determined to be in a braking state. On the other hand, if the vehicle speed is greater than 1.5 km / h or the braking depth is less than 2%, the braking state may be exited.

[0082] Step S520: If the effective motor speed of the vehicle does not reach or exceed the preset speed, it is determined that the operating condition information of the vehicle meets the conditions of the preset typical operating condition.

[0083] Specifically, the vehicle's ESP system can be used to determine whether the vehicle's motor speed is valid. If the motor speed is valid, the front and rear speeds of the motor are obtained as a reference speed. If the motor speed meets or exceeds a preset speed threshold, it is determined that the vehicle's operating condition information meets the conditions of a preset typical operating condition.

[0084] For example, if the current speed of the vehicle's front or rear motor is valid, by referencing the speeds of the front and rear motors, if the speed between the front and rear motors does not exceed the preset speed requirement for the reversing condition, the vehicle can be confirmed to have entered the working condition. Further detection of the speed between the front and rear motors of the vehicle exceeding the preset speed requirement for the reversing condition confirms the exit of the garage from the reversing condition. For example, when the speed of the front or rear motor is valid, referencing the front and rear motor speeds, a reversing condition is confirmed when the speed is <-50r / min, and the reversing condition is exited after ≥50r / min or 10s.

[0085] Furthermore, in some feasible embodiments, if the speeds of the front and rear motors of the vehicle are invalid, the gear information of the vehicle is obtained, and the reversing condition can be entered in the reverse gear (R gear) until the direct drive gear (D gear) or the preset time is reached, and the reversing condition is automatically exited.

[0086] In this embodiment, by monitoring vehicle operating condition information such as the vehicle's braking depth and motor speed, the calculated vehicle slope value is made more accurate, avoiding large errors in the slope value calculated under special operating conditions, and effectively improving the reusability of the traditional slope algorithm.

[0087] Furthermore, based on the above embodiment, in one of the exemplary embodiments provided in this application, the above operating condition information further includes a wheel speed difference between wheels with the same function of the vehicle. The specific implementation process of the above vehicle slope calculation method may further include the following steps, which are described in detail as follows:

[0088] If the wheel speed difference between the left front wheel and the right front wheel of the vehicle is greater than the preset wheel speed difference threshold, and / or the wheel speed difference between the left rear wheel and the right rear wheel of the vehicle is greater than the preset wheel speed difference threshold, it is determined that the vehicle's operating condition information meets the conditions of the preset typical operating condition.

[0089] Specifically, following the above-mentioned embodiment, the vehicle speed corresponding to the wheel of the vehicle is collected by the ESP system, and the speed difference between the speeds of the wheels with the same function is calculated, that is, the wheel speed difference between the left front wheel and the right front wheel of the vehicle is calculated, or the wheel speed difference between the left rear wheel and the right rear wheel of the vehicle is calculated, and it is determined whether the wheel speed difference between the left front wheel and the right front wheel of the vehicle reaches above the preset wheel speed difference threshold. If so, it can be determined that the operating condition information of the vehicle meets the conditions of the slipping operating condition in the preset typical operating condition, or if the wheel speed difference between the left rear wheel and the right rear wheel of the vehicle reaches above the preset wheel speed difference threshold, it can be determined that the operating condition information of the vehicle meets the conditions of the slipping operating condition in the preset typical operating condition. Exemplarily, when the left front wheel and right front wheel of the vehicle are valid and the wheel speed difference is greater than a certain wheel speed difference threshold, it is identified as a front wheel slip condition; when the left rear wheel and right rear wheel are valid and the wheel speed difference is greater than a certain wheel speed difference threshold, it is identified as a rear wheel slip condition; when both the front and rear wheel speeds are valid and the front and rear wheel speed difference is greater than a certain threshold, it is identified as a front and rear wheel slip condition.

[0090] In this embodiment, by comparing the wheel speed difference between the vehicle's wheels with the same function and the wheel speed difference between the vehicle's left rear wheel and right rear wheel with the preset wheel speed difference, the impact of the slipping condition on the vehicle's slope value is taken into consideration, so that the calculated vehicle slope value is more accurate and more suitable for the current working condition scenario.

[0091] Further, based on the above embodiment, please refer to Figure 6 In one of the exemplary embodiments provided in this application, the specific implementation process of calculating the vehicle speed acceleration based on the driving mode and the effective wheel speed information may further include steps S610 and S620, which are described in detail as follows:

[0092] In step S610, if the vehicle is in four-wheel drive mode, the speed difference between the front wheel speed and the rear wheel speed of the vehicle is calculated, and the speed acceleration of the vehicle is calculated based on the actual speed based on the speed difference, the front wheel speed and the rear wheel speed.

[0093] Specifically, when both the front and rear wheel speeds are valid, the vehicle is identified as a four-wheel drive (AWD) system. A shaft speed distribution coefficient is then obtained from a table lookup based on the front and rear wheel speed difference. The vehicle's AWD speed is then calculated using the maximum and minimum front and rear wheel speeds and the shaft speed distribution coefficient. The vehicle's AWD speed can then be calculated based on the speed difference between the front and rear wheels in the garage, as well as the front and rear wheel speeds in different proportions. Once the vehicle's AWD speed is determined, the vehicle's actual speed can be calculated based on the ESP speed corresponding to the ESP system, the calculated AWD speed, and the vehicle's speed validity status. For example, if both the ESP speed and the vehicle speed are valid, the vehicle's actual speed can be calculated using the ESP speed and the vehicle speed in a certain proportion, thereby further calculating the vehicle's actual speed.

[0094] In step S620, if the vehicle is in two-wheel drive mode, the speed difference between the speeds of the driving wheels in different directions of the vehicle is calculated, and the actual speed of the vehicle is calculated based on the speed difference and the speeds of the driving wheels in different directions, so as to calculate the speed acceleration of the vehicle based on the actual speed.

[0095] Specifically, when either the front wheel speed or the rear wheel speed is valid, the vehicle is identified as a two-wheel drive mode. If the front wheel speed is valid, the front wheel speed is used as the vehicle speed; otherwise, the rear wheel speed is used as the vehicle speed. If the front and rear wheel speeds collected by the ESP system indicate that the vehicle is in a two-wheel drive mode, a validity status is determined based on the front or rear wheel speed of the vehicle, and the vehicle speed is calculated. After determining the vehicle speed, the actual speed of the vehicle can be calculated based on the ESP speed corresponding to the ESP system, the vehicle speed calculated above, and the validity status of the vehicle speed. For example, if both the ESP speed and the vehicle speed are valid, the actual speed of the vehicle can be calculated based on the ESP speed and the vehicle speed according to a certain ratio, thereby calculating the actual speed of the vehicle. Furthermore, the vehicle's speed acceleration can be calculated based on the vehicle's actual speed, wherein the vehicle's speed acceleration can be filtered according to the vehicle's actual speed to obtain the filtered actual speed, and the filtered actual speed can be differentiated to obtain the acceleration value, and then the acceleration value can be subjected to a first-order low-pass filter to obtain the speed acceleration value.

[0096] For example, when either the actual vehicle speed or the ESP vehicle speed is valid, the vehicle speed is considered valid. At this time, the vehicle speed acceleration is calculated based on the filtered vehicle speed, and then the vehicle speed acceleration is filtered.

[0097] In this embodiment, the corresponding actual vehicle speeds are calculated for vehicles in four-wheel drive mode and vehicles in two-wheel drive mode using different speed calculation methods, and the vehicle speed acceleration is further calculated based on the actual vehicle speed, so that the finally calculated vehicle slope value is more adapted to the driving mode of the wheels, making the calculated vehicle slope value more accurate and effective.

[0098] Furthermore, based on the above embodiment, in one of the exemplary embodiments provided in this application, the specific implementation process of the above vehicle slope calculation method may further include the following steps:

[0099] If the vehicle is in two-wheel drive mode and the wheel speed of the vehicle is invalid, the motor speed corresponding to the wheel is obtained to determine the actual speed of the wheel based on the motor speed.

[0100] Specifically, when both the front and rear wheel speeds are invalid, if the front motor speed is valid, the front motor speed is used to convert the vehicle speed; if the rear motor speed is valid, the rear motor speed is used to convert the vehicle speed; if both are invalid, the default speed is 0.

[0101] For example, when the speed of each wheel of the vehicle is invalid, the vehicle speed acceleration defaults to 0. Since the vehicle speed itself fluctuates, the vehicle speed is first filtered by the mean value of multiple cycles, the acceleration value is calculated by taking the derivative of the filtered vehicle speed, and then the acceleration value is filtered by a first-order low-pass filter to obtain the vehicle speed acceleration value.

[0102] In this embodiment, when the speeds of all the wheels of the vehicle are invalid, the actual speed of the vehicle can be driven by the effective motor speed corresponding to the vehicle, and the actual speed needs to be filtered for multiple cycles, and the corresponding speed acceleration is obtained by derivation of the filtered value, thereby avoiding inaccurate calculated vehicle slope value caused by large speed fluctuations.

[0103] Figure 7 This is a simplified flowchart of vehicle slope calculation in an exemplary application scenario. Figure 7In the illustrated application scenario, wheel speed information from the vehicle's ESP system is obtained at the current moment, and the vehicle's drive mode is determined based on the valid standards in the vehicle speed information. If the vehicle is in four-wheel drive mode, the speed difference between the front and rear wheel speeds is calculated. Based on the speed difference, the front and rear wheel speeds, and the actual vehicle speed, the vehicle's acceleration is calculated based on the actual vehicle speed. If the vehicle is in two-wheel drive mode, the speed difference between the speeds of the vehicle's drive wheels in different directions is calculated. Based on the speed difference and the speeds of the drive wheels in different directions, the actual vehicle speed is calculated, and the vehicle's acceleration is calculated based on the speed acceleration. Furthermore, the vehicle's longitudinal acceleration, as detected by the vehicle's sensor system, is obtained, and a reference slope value is calculated based on the longitudinal acceleration and the speed acceleration. Furthermore, considering that the vehicle's operating condition information may affect the calculated reference slope value of the vehicle, it is necessary to detect the vehicle's operating condition information to determine a target filtering strategy corresponding to the vehicle's reference slope value based on the vehicle's operating condition information. The reference slope value is then filtered according to the target filtering strategy, and the filtered result is used to obtain the vehicle's actual slope value. The detailed implementation process is described in the aforementioned embodiments and will not be further elaborated here.

[0104] Figure 8 This is a block diagram of a vehicle slope calculation device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The implementation environment shown in FIG. 1 is specifically configured in the server 110. The apparatus may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the apparatus is applicable.

[0105] like Figure 8 As shown, the exemplary vehicle slope calculation device includes: an acquisition module 810, used to obtain the wheel speed information of the vehicle at the current moment, and determine the effective wheel speed information in the wheel speed information; a drive determination module 820, used to determine the driving mode of the vehicle based on the effective wheel speed information, and calculate the vehicle speed acceleration based on the driving mode and the effective wheel speed information; a calculation module 830, used to obtain the longitudinal acceleration of the vehicle, and calculate the reference slope value of the vehicle based on the longitudinal acceleration and the speed acceleration; a filtering module 840, used to determine a target filtering strategy corresponding to the reference slope value based on the vehicle's working condition information, and filter the reference slope value based on the target filtering strategy to obtain the actual slope value of the vehicle based on the filtering result.

[0106] According to one aspect of an embodiment of the present application, the above-mentioned device also includes: a first filtering module, which is used to determine that the target filtering strategy corresponding to the reference slope value is a first filtering strategy if the vehicle's operating condition information meets the conditions of a preset typical operating condition; a second filtering module, which is used to determine that the target strategy corresponding to the reference slope value is a second filtering strategy if the vehicle's operating condition information does not meet the conditions of a preset typical operating condition, wherein the filtering period of the second filtering strategy is smaller than that of the first filtering strategy.

[0107] According to one aspect of an embodiment of the present application, the above-mentioned operating condition information includes throttle depth, the changing trend of throttle depth per unit time, and the changing trend of brake depth per unit time. The above-mentioned device also includes: a first determination module, which is used to determine that the vehicle's operating condition information meets the preset typical operating condition if the vehicle's throttle depth reaches a preset throttle depth threshold and the vehicle's speed reaches above the preset speed threshold; a second determination module, which is used to determine that the vehicle's operating condition information meets the preset typical operating condition if the changing trend of the vehicle's throttle depth per unit time meets the preset throttle depth change condition; a third determination module, which is used to determine that the vehicle's operating condition information meets the preset typical operating condition if the changing trend of the vehicle's brake depth per unit time meets the preset brake depth change condition.

[0108] According to one aspect of an embodiment of the present application, the above-mentioned operating condition information includes: braking depth and motor speed, and the above-mentioned device includes: a fourth determination module, which is used to determine that the vehicle's operating condition information meets the conditions of a preset typical operating condition if the vehicle's braking depth reaches above a preset braking depth threshold and the vehicle's speed does not reach above a preset speed threshold; a fifth determination module, which is used to determine that the vehicle's operating condition information meets the conditions of a preset typical operating condition if the vehicle's effective motor speed does not reach above a preset speed.

[0109] According to one aspect of an embodiment of the present application, the above-mentioned operating condition information also includes the wheel speed difference between the wheels with the same function of the vehicle, and the above-mentioned device also includes: a sixth determination module, which is used to determine that the operating condition information of the vehicle meets the conditions of the preset typical operating condition if the wheel speed difference between the left front wheel and the right front wheel of the vehicle is greater than the preset wheel speed difference threshold, and / or the wheel speed difference between the left rear wheel and the right rear wheel of the vehicle is greater than the preset wheel speed difference threshold.

[0110] According to one aspect of an embodiment of the present application, the above-mentioned drive determination module also includes: a first calculation unit, which is used to calculate the speed difference between the front wheel speed and the rear wheel speed of the vehicle if the vehicle is in a four-wheel drive mode, and calculate the vehicle speed acceleration based on the actual speed based on the speed difference, the front wheel speed and the rear wheel speed; a second calculation unit, which is used to calculate the speed difference between the speeds of the driving wheels in different directions of the vehicle if the vehicle is in a two-wheel drive mode, and calculate the actual speed of the vehicle based on the speed difference and the speeds of the driving wheels in different directions, and calculate the vehicle speed acceleration based on the actual speed.

[0111] According to one aspect of an embodiment of the present application, the above-mentioned device also includes: a vehicle speed determination module, which is used to obtain the motor speed corresponding to the wheel if the vehicle is in two-wheel drive mode and the wheel speed of the vehicle is invalid, so as to determine the actual speed of the wheel based on the motor speed.

[0112] It should be noted that the vehicle slope calculation device provided in the above-described embodiment and the vehicle slope calculation method provided in the above-described embodiment are based on the same concept. The specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here. In actual applications, the vehicle slope calculation device provided in the above-described embodiment can, as needed, allocate the above-described functions to different functional modules, i.e., divide the internal structure of the device into different functional modules to perform all or part of the functions described above, and this is not limited here.

[0113] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle slope calculation method provided in the above-mentioned embodiments.

[0114] Figure 9 The following is a schematic diagram showing the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application. Figure 9 The computer system 900 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] like Figure 9As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 902 or the program loaded from the storage part 908 into the random access memory (RAM) 903, such as the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM 903. The CPU 901, ROM 902 and RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0116] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, and the like; an output section 907 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. Removable media 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like, are installed in the drive 910 as needed, so that computer programs read therefrom can be installed into the storage section 908 as needed.

[0117] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 909, and / or installed from a removable medium 911. When the computer program is executed by the central processing unit (CPU) 901, the various functions defined in the system of the present application are executed.

[0118] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0119] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0121] Another aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle slope calculation method described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0122] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle slope calculation method provided in each of the above embodiments.

[0123] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. Ordinary technicians in this field can easily make corresponding changes or modifications based on the main ideas and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A vehicle slope calculation method, characterized in that: include: Acquire the wheel speed information of the vehicle at the current moment, and determine the effective wheel speed information in the wheel speed information; determining a driving mode of the vehicle based on the effective wheel speed information, and calculating a vehicle speed acceleration of the vehicle based on the driving mode and the effective wheel speed information; Acquiring the longitudinal acceleration of the vehicle, and calculating a reference slope value of the vehicle based on the longitudinal acceleration and the vehicle speed acceleration; If the throttle depth of the vehicle reaches a preset throttle depth threshold and the vehicle speed reaches or exceeds a preset vehicle speed threshold, or the throttle depth change trend of the vehicle within a unit time satisfies a preset throttle depth change condition, or the brake depth change trend of the vehicle within a unit time satisfies a preset brake depth change condition, it is determined that the operating condition information of the vehicle satisfies the preset typical operating condition; If the operating condition information of the vehicle meets the conditions of the preset typical operating condition, determining that the target filtering strategy corresponding to the reference slope value is the first filtering strategy; If the operating condition information of the vehicle does not meet the condition of the preset typical operating condition, determining that the target filtering strategy corresponding to the reference slope value is a second filtering strategy, wherein the filtering period of the second filtering strategy is smaller than that of the first filtering strategy; The reference slope value is filtered based on the target filtering strategy to obtain an actual slope value of the vehicle based on a filtering result.

2. The method according to claim 1, characterized in that The working condition information includes: braking depth and motor speed, and the method further includes: If the braking depth of the vehicle reaches or exceeds a preset braking depth threshold and the vehicle speed does not reach or exceed the preset vehicle speed threshold, determining that the operating condition information of the vehicle meets the conditions of a preset typical operating condition; If the effective motor speed of the vehicle does not reach or exceed the preset speed, it is determined that the operating condition information of the vehicle meets the conditions of the preset typical operating condition.

3. The method according to claim 2, characterized in that The operating condition information also includes a wheel speed difference between wheels with the same function of the vehicle, and the method further includes: If the wheel speed difference between the left front wheel and the right front wheel of the vehicle is greater than a preset wheel speed difference threshold, and / or the wheel speed difference between the left rear wheel and the right rear wheel of the vehicle is greater than the preset wheel speed difference threshold, it is determined that the operating condition information of the vehicle meets the conditions of the preset typical operating condition.

4. The method according to claim 1, characterized in that The calculating the vehicle speed acceleration of the vehicle based on the driving mode and the effective wheel speed information includes: If the vehicle is in four-wheel drive mode, a speed difference between a front wheel speed and a rear wheel speed of the vehicle is calculated, and a speed acceleration of the vehicle is calculated based on the actual speed based on the speed difference, the front wheel speed, and the rear wheel speed. If the vehicle is in two-wheel drive mode, the speed difference between the speeds of the driving wheels in different directions of the vehicle is calculated, and the actual speed of the vehicle is calculated based on the speed difference and the speeds of the driving wheels in different directions, so as to calculate the speed acceleration of the vehicle based on the actual speed.

5. The method according to claim 4, characterized in that The method further comprises: If the vehicle is in two-wheel drive mode and the wheel speed of the vehicle is invalid, the motor speed corresponding to the wheel is obtained to determine the actual speed of the wheel based on the motor speed.

6. A vehicle slope calculation device, characterized in that: The device comprises: An acquisition module, used for acquiring the wheel speed information of the vehicle at the current moment, and determining the effective wheel speed information in the wheel speed information; a driving determination module, configured to determine a driving mode of the vehicle based on the effective wheel speed information, and calculate a speed acceleration of the vehicle based on the driving mode and the effective wheel speed information; a calculation module, configured to obtain the longitudinal acceleration of the vehicle, and calculate a reference slope value of the vehicle based on the longitudinal acceleration and the vehicle speed acceleration; A filtering module, configured to determine that the operating condition information of the vehicle meets the preset typical operating condition if the throttle depth of the vehicle reaches a preset throttle depth threshold and the vehicle speed reaches or exceeds a preset vehicle speed threshold, or the changing trend of the throttle depth of the vehicle within a unit time satisfies a preset throttle depth change condition, or the changing trend of the brake depth of the vehicle within a unit time satisfies a preset brake depth change condition; The filtering module is further configured to determine that the target filtering strategy corresponding to the reference slope value is a first filtering strategy if the operating condition information of the vehicle meets the conditions of a preset typical operating condition; and to determine that the target filtering strategy corresponding to the reference slope value is a second filtering strategy if the operating condition information of the vehicle does not meet the conditions of the preset typical operating condition, wherein the filtering period of the second filtering strategy is less than that of the first filtering strategy; The filtering module is further used to filter the reference slope value based on the target filtering strategy to obtain the actual slope value of the vehicle based on the filtering result.

7. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the vehicle slope calculation method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the vehicle slope calculation method according to any one of claims 1 to 5.

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