A slope recognition method and system based on a frequency division fusion algorithm

Abstract

The present invention discloses a slope recognition method and system based on a frequency division fusion algorithm in the technical field of vehicle slope recognition, aiming to solve the problem in the prior art that the acceleration slope and the angular velocity slope are fused, and only weighted recombination is carried out without considering the dominant frequency bands of different slopes, which affects the reliability of slope recognition. The method includes the following steps: calculating the component of gravitational acceleration; calculating the acceleration slope value; obtaining the filtered value of the acceleration slope; obtaining the high-frequency value of the angular velocity slope; judging whether the vehicle condition is abnormal; if the vehicle condition is normal, then calculating the fusion angle according to the filtered value of the acceleration slope and the high-frequency value of the angular velocity slope. Through the frequency division fusion algorithm, the present invention fuses the middle and low-frequency parts of the obtained acceleration slope value and the high-frequency part of the angular velocity slope value, fuses the respective dominant intervals of the two and outputs the fusion angle, enhances the robustness of the slope signal, improves the accuracy of slope recognition, and ensures the reliability of slope recognition.

Description

Technical Field

[0001] The present invention relates to a slope recognition method based on a frequency division fusion algorithm, belonging to the technical field of vehicle slope recognition. Background Art

[0002] With the diversification and complexity of road conditions, the safe driving of vehicles increasingly depends on the accurate perception of the surrounding environment. As an important environmental parameter, the slope directly affects the driving stability of the vehicle and the driver's control decisions. Obtaining the actual slope of the vehicle can help the vehicle optimize the motor power output and adjust the working states of the suspension system and the braking system, thereby improving the vehicle's performance and reducing energy consumption. Chinese Patent Document No. CN115465280A proposes a method of recombining slopes with variable weighting coefficients, which combines the acceleration slope and the angular velocity slope. However, this method only performs weighted recombination and fails to consider the dominant frequency bands of different slopes; Chinese Patent Document No. CN117923337A proposes a method of installing angle sensors at the front and rear of the vehicle body to obtain the road slope. However, this method has a large assembly difficulty, and mechanical errors easily lead to inaccurate slope values.

[0003] As can be seen from the above, the existing slope recognition methods combine the acceleration slope and the angular velocity slope, only perform weighted recombination and fail to consider the dominant frequency bands of different slopes, which affects the reliability of slope recognition. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a slope recognition method and system based on a frequency division fusion algorithm. Through the frequency division fusion algorithm, the middle and low frequency parts of the acceleration slope value and the high frequency part of the angular velocity slope value are obtained, and the respective dominant intervals of the two are fused to output a fusion angle, which not only ensures the continuous dominance of the middle and low frequencies of the acceleration slope value but also ensures the instantaneous dominance of the angular velocity slope value at high frequencies, enhances the robustness of the slope signal, improves the accuracy of slope recognition, and ensures the reliability of slope recognition.

[0005] To solve the above technical problems, the present invention is implemented by adopting the following technical solutions:

[0006] In the first aspect, the present invention provides a slope recognition method based on a frequency division fusion algorithm, including the following steps:

[0007] Obtain the total acceleration value and torque acceleration of the vehicle, and calculate the gravitational acceleration component;

[0008] Calculate the acceleration slope value according to the gravitational acceleration component;

[0009] Retain the middle and low frequency parts of the acceleration slope value to obtain an acceleration slope filtered value;

[0010] Obtain the angular velocity in the pitch direction of the vehicle, and perform integral filtering on the angular velocity to obtain the angular velocity slope value;

[0011] Retain the high-frequency part of the angular velocity slope value to obtain the high-frequency angular velocity slope value;

[0012] Obtain the vehicle speed acceleration, and determine whether the vehicle condition is abnormal according to the torque acceleration, vehicle speed acceleration, total acceleration value and angular velocity slope value; if the vehicle condition is normal, calculate the fusion angle according to the acceleration slope filter value and the high-frequency angular velocity slope value to complete the slope identification.

[0013] Further, retaining the middle and low frequency parts of the acceleration slope value specifically includes: retaining the middle and low frequency parts of the acceleration slope value through a low-pass filter;

[0014] The expression of the low-pass filter is as follows:

[0015]

[0016] In the formula: is the acceleration slope filter value; is the acceleration slope value; a is the time coefficient; is the acceleration slope filter value of the previous cycle; k is the sampling time.

[0017] Further, retaining the high-frequency part of the angular velocity slope value specifically includes: retaining the high-frequency part of the angular velocity slope value through a high-pass filter;

[0018] The expression of the high-pass filter is as follows:

[0019]

[0020] In the formula: is the high-frequency angular velocity slope value; is the high-frequency angular velocity slope value of the previous cycle; is the angular velocity slope value; is the angular velocity slope value of the previous cycle.

[0021] Further, calculating the fusion angle according to the acceleration slope filter value and the high-frequency angular velocity slope value, the expression is as follows:

[0022]

[0023]

[0024] In the formula: is the fusion slope; is the fusion slope of the previous cycle.

[0025] Further, it also includes:

[0026] If the vehicle operating condition is abnormal, output a shutdown signal, an acceleration gradient value, or an angular velocity gradient value to complete gradient recognition.

[0027] Furthermore, the method for obtaining the vehicle speed acceleration and determining whether the vehicle operating condition is abnormal according to the torque acceleration, the vehicle speed acceleration, the total acceleration value, and the angular velocity gradient value specifically includes:

[0028] Obtain the vehicle speed acceleration, and determine whether the first result is normal according to the vehicle speed acceleration and the total acceleration value:

[0029] Determine whether the second result is normal according to the total acceleration value, the torque acceleration, and the angular velocity gradient value;

[0030] If both the first result and the second result are normal, it is determined that the vehicle operating condition is normal;

[0031] Otherwise, it is determined that the vehicle operating condition is abnormal.

[0032] Furthermore, the method for obtaining the vehicle speed acceleration and determining whether the first result is normal according to the vehicle speed acceleration and the total acceleration value specifically includes:

[0033] Obtain the vehicle speed acceleration. If the vehicle speed acceleration is greater than zero and the total acceleration value is greater than zero, it is determined that the first result is normal;

[0034] If the vehicle speed acceleration is greater than zero and the total acceleration value is not greater than zero, it is determined that the first result is abnormal;

[0035] If the vehicle speed acceleration is less than zero and the total acceleration value is less than zero, it is determined that the first result is normal;

[0036] If the vehicle speed acceleration is less than zero and the total acceleration value is not less than zero, it is determined that the first result is abnormal;

[0037] The method for determining whether the second result is normal according to the total acceleration value, the torque acceleration, and the angular velocity gradient value specifically includes:

[0038] If the angular velocity gradient value is greater than zero and the total acceleration value is less than the torque acceleration, it is determined that the second result is normal;

[0039] If the angular velocity gradient value is greater than zero and the total acceleration value is not less than the torque acceleration, it is determined that the second result is abnormal;

[0040] If the angular velocity gradient value is less than zero and the total acceleration value is greater than the torque acceleration, it is determined that the second result is normal;

[0041] If the angular velocity gradient value is less than zero and the total acceleration value is not greater than the torque acceleration, it is determined that the second result is abnormal.

[0042] Further, if the vehicle operating condition is abnormal, a shutdown signal, an acceleration slope value or an angular velocity slope value is output, specifically including:

[0043] If both the first result and the second result are abnormal, output a shutdown signal;

[0044] If the first result is normal and the second result is abnormal, output the acceleration slope value;

[0045] If the first result is abnormal and the second result is normal, output the angular velocity slope value.

[0046] In a second aspect, the present invention provides a slope recognition system based on a frequency division fusion algorithm, including:

[0047] Acceleration slope calculation module: Obtain the total acceleration value and torque acceleration of the vehicle, calculate the gravity acceleration component; Calculate the acceleration slope value according to the gravity acceleration component; Retain the middle and low frequency parts of the acceleration slope value to obtain the acceleration slope filtered value;

[0048] Angular velocity slope calculation module: Obtain the angular velocity in the pitching direction of the vehicle, perform integral filtering on the angular velocity to obtain the angular velocity slope value; Retain the high frequency part of the angular velocity slope value to obtain the angular velocity slope high frequency value;

[0049] Fault diagnosis module: Obtain the vehicle speed acceleration, and judge whether the vehicle operating condition is abnormal according to the torque acceleration, vehicle speed acceleration, total acceleration value and angular velocity slope value;

[0050] Analysis and fusion algorithm module: If the vehicle operating condition is not abnormal, calculate the fusion angle according to the acceleration slope filtered value and the angular velocity slope high frequency value to complete slope recognition.

[0051] In a third aspect, the present invention provides a terminal, including a processor and a storage medium;

[0052] The storage medium is used to store instructions;

[0053] The processor is used to operate according to the instructions to execute the steps of the method according to the first aspect.

[0054] In a fourth aspect, a computer-readable storage medium stores a computer program, and when the program is executed by a processor, the steps of the method according to the first aspect are implemented.

[0055] Compared with the prior art, the beneficial effects achieved by the present invention:

[0056] The slope recognition method based on the frequency division fusion algorithm obtains the mid-low frequency part of the acceleration slope value and the high frequency part of the angular velocity slope value through the frequency division fusion algorithm, fuses the respective advantageous intervals of the two and outputs the fused angle, which not only ensures the continuous advantage of the mid-low frequency of the acceleration slope value but also ensures the instantaneous advantage of the angular velocity slope value at high frequencies, enhances the robustness of the slope signal, improves the accuracy of slope recognition, and ensures the reliability of slope recognition. Description of the Drawings

[0057] Figure 1 is a schematic flow chart of a slope recognition method based on the frequency division fusion algorithm provided by an embodiment of the present invention;

[0058] Figure 2 is a schematic diagram of the specific steps of a slope recognition method based on the frequency division fusion algorithm provided by an embodiment of the present invention;

[0059] Figure 3 is a schematic three-dimensional structure diagram of a vehicle provided by an embodiment of the present invention;

[0060] Figure 4 is a schematic architecture diagram of a slope recognition system based on the frequency division fusion algorithm provided by an embodiment of the present invention. Detailed Embodiments

[0061] The technical solution of the present invention will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. Without conflict, the technical features in the embodiments of the present invention and the embodiments can be combined with each other.

[0062] In addition, the character " / ", generally indicates that the associated objects before and after are in an "or" relationship.

[0063] Embodiment 1:

[0064] As Figures 1 - 3 shown, the present invention provides a slope recognition method based on the frequency division fusion algorithm, including the following steps:

[0065] Obtain the total acceleration value and torque acceleration of the vehicle, and calculate the gravitational acceleration component;

[0066] Calculate the acceleration slope value according to the gravitational acceleration component;

[0067] Retain the mid-low frequency part of the acceleration slope value to obtain the acceleration slope filtered value;

[0068] Obtain the angular velocity in the pitching direction of the vehicle, and perform integral filtering on the angular velocity to obtain the angular velocity slope value;

[0069] Retain the high-frequency part of the angular velocity gradient value to obtain the high-frequency value of the angular velocity gradient;

[0070] Obtain the vehicle speed acceleration, and determine whether the vehicle condition is abnormal according to the torque acceleration, vehicle speed acceleration, total acceleration value, and angular velocity gradient value; if the vehicle condition is normal, calculate the fusion angle according to the acceleration gradient filter value and the high-frequency value of the angular velocity gradient to complete the slope identification.

[0071] Specifically, as Figure 3 shown, the present invention obtains the total acceleration value of the vehicle's X-axis and the angular velocity of the vehicle's pitch direction Y-axis through a six-axis sensor. Subtract the torque acceleration from the total acceleration value to obtain the gravitational acceleration component; the torque acceleration is the acceleration transmitted from the engine to the wheel side.

[0072] Among them, as Figure 2 shown, first obtain the forward axis acceleration (i.e., the total acceleration value) through a six-axis sensor, then obtain the torque acceleration, and calculate the acceleration vector (i.e., the gravitational acceleration component). After that, calculate the gravitational angle (i.e., the acceleration gradient value) according to the existing gravitational acceleration; then obtain the angular velocity of the vehicle's body side axis (i.e., the angular velocity of the vehicle's pitch direction) through a six-axis sensor, and perform integral filtering on it to obtain the cumulative rotation angle (i.e., the angular velocity gradient value).

[0073] In one embodiment, retaining the middle and low-frequency parts of the acceleration gradient value specifically includes: retaining the middle and low-frequency parts of the acceleration gradient value through a low-pass filter;

[0074] The expression of the low-pass filter is as follows:

[0075]

[0076] In the formula: is the acceleration gradient filter value; is the acceleration gradient value; a is the time coefficient; is the acceleration gradient filter value of the previous period; k is the sampling time.

[0077] Specifically, in the process of processing the original analog-to-digital sampling data, technical means such as mean filtering and low-pass filtering are used to ensure the continuity and stability of the acceleration gradient value, and at the same time ensure the followability of the acceleration gradient value; the slope obtained through force analysis can show the angle change trend, and has strong robustness and strong real-time performance in the long-term change. Therefore, a low-pass filter is used to retain the middle and low-frequency parts of the acceleration gradient value to obtain the acceleration gradient filter value; when the sampling time k is 1, that is, at the first sampling time, the acceleration gradient filter value of the previous period is zero.

[0078] An embodiment, specifically including retaining the high-frequency part of the angular velocity gradient value: retaining the high-frequency part of the angular velocity gradient value through a high-pass filter;

[0079] The expression of the high-pass filter is as follows:

[0080]

[0081] In the formula: is the high-frequency value of the angular velocity gradient; is the high-frequency value of the angular velocity gradient in the previous period; is the angular velocity gradient value; is the angular velocity gradient value in the previous period.

[0082] Specifically, since the change in angular velocity can better reflect the transient characteristics of the road condition, the high-frequency value of the angular velocity gradient is obtained through a high-pass filter. When the sampling time k is 1, that is, the first sampling time, the high-frequency value of the angular velocity gradient in the previous period and the angular velocity gradient value in the previous period are both zero.

[0083] An embodiment, calculating the fusion angle according to the acceleration gradient filter value and the high-frequency value of the angular velocity gradient, the expression is as follows:

[0084]

[0085]

[0086] In the formula: is the fusion gradient; is the fusion gradient in the previous period.

[0087] An embodiment, the judgment of whether the vehicle condition is abnormal further includes:

[0088] If the vehicle condition is abnormal, output a shutdown signal, the acceleration gradient value or the angular velocity gradient value to complete the gradient recognition.

[0089] An embodiment, obtaining the vehicle speed acceleration, and judging whether the vehicle condition is abnormal according to the torque acceleration, the vehicle speed acceleration, the total acceleration value and the angular velocity gradient value, specifically including:

[0090] Obtain the vehicle speed acceleration, and judge whether the first result is normal according to the vehicle speed acceleration and the total acceleration value:

[0091] Judge whether the second result is normal according to the total acceleration value, the torque acceleration and the angular velocity gradient value;

[0092] If both the first result and the second result are normal, it is judged that the vehicle condition is normal;

[0093] Otherwise, it is judged that the vehicle condition is abnormal.

[0094] Among them, obtaining the vehicle speed acceleration includes: obtaining the vehicle speed at this moment and the vehicle speed at the previous moment of the vehicle, and subtracting the vehicle speed at the previous moment of the vehicle from the vehicle speed at this moment to obtain the vehicle speed acceleration.

[0095] In one embodiment, for the obtaining of the vehicle speed acceleration, judging whether the first result is normal according to the vehicle speed acceleration and the total acceleration value specifically includes:

[0096] Obtain the vehicle speed acceleration. If the vehicle speed acceleration is greater than zero and the total acceleration value is greater than zero, then judge that the first result is normal;

[0097] If the vehicle speed acceleration is greater than zero and the total acceleration value is not greater than zero, then judge that the first result is abnormal;

[0098] If the vehicle speed acceleration is less than zero and the total acceleration value is less than zero, then judge that the first result is normal;

[0099] If the vehicle speed acceleration is less than zero and the total acceleration value is not less than zero, then judge that the first result is abnormal;

[0100] For judging whether the second result is normal according to the total acceleration value, the torque acceleration and the angular velocity gradient value, it specifically includes:

[0101] If the angular velocity gradient value is greater than zero and the total acceleration value is less than the torque acceleration, then judge that the second result is normal;

[0102] If the angular velocity gradient value is greater than zero and the total acceleration value is not less than the torque acceleration, then judge that the second result is abnormal;

[0103] If the angular velocity gradient value is less than zero and the total acceleration value is greater than the torque acceleration, then judge that the second result is normal;

[0104] If the angular velocity gradient value is less than zero and the total acceleration value is not greater than the torque acceleration, then judge that the second result is abnormal.

[0105] In one embodiment, if the vehicle condition is abnormal, then output a shutdown signal, an acceleration gradient value or an angular velocity gradient value, specifically including:

[0106] If both the first result and the second result are abnormal, then output a shutdown signal;

[0107] If the first result is normal and the second result is abnormal, then output the acceleration gradient value;

[0108] If the first result is abnormal and the second result is normal, then output the angular velocity gradient value.

[0109] Through the frequency division fusion algorithm, the present invention obtains the mid-low frequency part of the acceleration slope value and the high frequency part of the angular velocity slope value, fuses the respective advantageous intervals of the two and outputs the fusion angle, which not only ensures the continuous advantage of the mid-low frequency of the acceleration slope value but also ensures the instantaneous advantage of the angular velocity slope value at high frequencies, enhances the robustness of the slope signal, improves the accuracy of slope recognition, and ensures the reliability of slope recognition.

[0110] The present invention mainly relies on a six-axis sensor for data acquisition. When installed, the six-axis sensor has the characteristics of simple structure, low assembly difficulty and high flexibility. The slope obtained by the present invention by fusing physical quantities using the six-axis sensor not only has the stable trend of the acceleration value but also reflects the transient change of the angular velocity value, thus having a high degree of accuracy. Cooperating with the developed fault diagnosis module, the real-time calculation of the road slope can be accurately achieved.

[0111] Based on the fault calculation of the physical scenario, the present invention develops a fault diagnosis strategy applicable to this slope recognition method to ensure the reliability of the slope signal. A scalable modular fault diagnosis strategy is used, which reduces the difficulty of subsequent fault supplementation while ensuring the accurate identification and early warning of faults.

[0112] The slope recognition method of the present invention separately calculates the acceleration data and the angular velocity data and then outputs the fusion angle using the idea of frequency division recombination and fusion, which improves the accuracy of the slope. The slope value obtained by this method not only ensures the smooth change of the angle but also ensures the transient followability of the slope calculation. Through the distinction of frequency bands, the respective advantageous intervals of the acceleration calculation and the angular velocity calculation are also fused, improving the reliability of the slope; in addition, a fault diagnosis strategy based on acceleration decomposition is designed, and the early warning mechanism can be richly adapted in combination with the road conditions to ensure the accurate identification of slope faults and timely early warning; the environmental slope can be calculated in real time in a timely and effective manner; and this method ignores the influence of dynamic acceleration and has few restrictive factors.

[0113] Embodiment 2:

[0114] As Figure 4 shown, the present invention provides a slope recognition system based on a frequency division fusion algorithm, including:

[0115] Acceleration slope calculation module: Obtain the total acceleration value and torque acceleration of the vehicle, calculate the gravity acceleration component; Calculate the acceleration slope value according to the gravity acceleration component; Retain the mid-low frequency part of the acceleration slope value to obtain the acceleration slope filtered value;

[0116] Angular velocity slope calculation module: Obtain the angular velocity in the pitch direction of the vehicle, perform integral filtering on the angular velocity to obtain the angular velocity slope value; Retain the high frequency part of the angular velocity slope value to obtain the angular velocity slope high frequency value;

[0117] Fault diagnosis module: Obtain the vehicle speed acceleration, and determine whether the vehicle condition is abnormal according to the torque acceleration, vehicle speed acceleration, total acceleration value, and angular velocity gradient value;

[0118] Analysis and fusion algorithm module: If the vehicle condition is normal, calculate the fusion angle based on the acceleration gradient filter value and the high-frequency value of the angular velocity gradient to complete slope identification.

[0119] Specifically, the fault diagnosis module also has rich expandability, and can adapt the warning mechanism in combination with road conditions and special conditions, which is beneficial to the promotion of platformization.

[0120] Embodiment III:

[0121] The embodiment of the present invention also provides a terminal, including a processor and a storage medium;

[0122] The storage medium is used to store instructions;

[0123] The processor is used to operate according to the instructions to execute the steps of the method described in Embodiment I.

[0124] Embodiment IV:

[0125] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in Embodiment I are implemented.

[0126] Since the storage medium provided by the embodiment of the present invention can execute the method provided by the first embodiment of the present invention, it has the corresponding functional modules and beneficial effects of the execution method.

[0127] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or multiple blocks.

[0129] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or multiple blocks.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or multiple blocks.

[0131] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principles of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A slope recognition method based on frequency division fusion algorithm, characterized in that: The following steps are involved: Obtain the total acceleration value and torque acceleration of the vehicle, and calculate the gravity acceleration component; According to the gravity acceleration component, calculate the acceleration slope value; The mid- and low-frequency parts of the acceleration slope value are retained to obtain the acceleration slope filtering value; Acquire the angular velocity of the vehicle in the pitch direction, and perform integral filtering on the angular velocity to obtain an angular velocity slope value; Retain the high-frequency part of the angular velocity slope value and obtain the high-frequency value of the angular velocity slope; Obtaining the vehicle speed acceleration, and judging whether the vehicle operating condition is abnormal according to the torque acceleration, the vehicle speed acceleration, the total acceleration value and the angular velocity gradient value; If the vehicle is in normal working condition, the fusion angle is calculated according to the acceleration slope filter value and the angular velocity slope high-frequency value to complete the slope recognition; the total acceleration value is the acceleration of the vehicle's forward axis obtained by the six-axis sensor, and is the value of the torque acceleration plus the gravity acceleration component. The torque acceleration is the acceleration transmitted from the engine to the wheel side, and the vehicle speed acceleration is the value of the vehicle's speed at this moment minus the vehicle's speed at the previous moment; It also includes: if the vehicle operating condition is abnormal, outputting a stop signal, an acceleration slope value or an angular velocity slope value to complete slope identification; The obtaining of the vehicle speed acceleration and judging whether the vehicle operating condition is abnormal according to the torque acceleration, the vehicle speed acceleration, the total acceleration value and the angular velocity gradient value specifically include: Get the vehicle speed acceleration, and determine whether the first result is normal based on the vehicle speed acceleration and total acceleration value: Determining whether the second result is normal according to the total acceleration value, the torque acceleration and the angular velocity slope value; If both the first result and the second result are normal, it is determined that the vehicle operating condition is normal; Otherwise, it is judged that the vehicle operating condition is abnormal; The obtaining of the vehicle speed acceleration and judging whether the first result is normal according to the vehicle speed acceleration and the total acceleration value specifically include: Obtain the vehicle speed acceleration. If the vehicle speed acceleration is greater than zero and the total acceleration value is greater than zero, the first result is determined to be normal. If the vehicle speed acceleration is greater than zero and the total acceleration value is not greater than zero, the first result is judged to be abnormal; If the vehicle speed acceleration is less than zero and the total acceleration value is less than zero, the first result is judged to be normal; If the vehicle speed acceleration is less than zero and the total acceleration value is not less than zero, the first result is judged to be abnormal; The determining whether the second result is normal according to the total acceleration value, the torque acceleration and the angular velocity gradient value specifically includes: If the angular velocity slope value is greater than zero, and the total acceleration value is less than the torque acceleration, the second result is judged to be normal; If the angular velocity slope value is greater than zero, and the total acceleration value is not less than the torque acceleration, the second result is determined to be abnormal; If the angular velocity slope value is less than zero, and the total acceleration value is greater than the torque acceleration, the second result is judged to be normal; If the angular velocity slope value is less than zero and the total acceleration value is not greater than the torque acceleration, the second result is determined to be abnormal; If the vehicle operating condition is abnormal, a stop signal, an acceleration gradient value or an angular velocity gradient value is output, specifically including: If both the first result and the second result are abnormal, a shutdown signal is output; If the first result is normal and the second result is abnormal, the acceleration slope value is output; If the first result is abnormal and the second result is normal, the angular velocity slope value is output.

2. The slope recognition method based on the frequency division fusion algorithm according to claim 1 is characterized in that: The retaining of the low- and medium-frequency parts of the acceleration slope value specifically includes: retaining the low- and medium-frequency parts of the acceleration slope value through a low-pass filter; The expression of the low-pass filter is as follows: ； Where: is the acceleration slope filtering value; is the acceleration slope value; a is the time coefficient; is the acceleration slope filtering value of the previous cycle; k is the sampling time.

3. The slope recognition method based on the frequency division fusion algorithm according to claim 2 is characterized in that: The retaining of the high frequency part of the angular velocity slope value specifically includes: retaining the high frequency part of the angular velocity slope value through a high pass filter; The expression of the high-pass filter is as follows: ； Where: is the high frequency value of angular velocity slope; is the high frequency value of the angular velocity slope in the previous cycle; is the angular velocity slope value; is the angular velocity slope value of the previous cycle.

4. The slope recognition method based on the frequency division fusion algorithm according to claim 3 is characterized in that: The fusion angle is calculated according to the acceleration slope filter value and the angular velocity slope high frequency value. The expression is as follows: ； Where: is the fusion slope; is the fusion slope of the previous cycle.

5. A slope recognition system based on a frequency division fusion algorithm, based on the slope recognition method based on a frequency division fusion algorithm according to any one of claims 1 to 4, characterized in that: include: Acceleration slope calculation module: obtains the total acceleration value and torque acceleration of the vehicle, and calculates the gravity acceleration component; According to the gravity acceleration component, calculate the acceleration slope value; The mid- and low-frequency parts of the acceleration slope value are retained to obtain the acceleration slope filtering value; Angular velocity gradient calculation module: obtains the angular velocity of the vehicle in the pitch direction, performs integral filtering on the angular velocity to obtain the angular velocity gradient value; retains the high-frequency part of the angular velocity gradient value, and obtains the high-frequency value of the angular velocity gradient; Fault diagnosis module: obtaining vehicle speed acceleration, and judging whether the vehicle operating condition is abnormal according to the torque acceleration, vehicle speed acceleration, total acceleration value and angular velocity gradient value; Analysis and fusion algorithm module: If the vehicle operating condition is normal, the fusion angle is calculated based on the acceleration slope filter value and the angular velocity slope high-frequency value to complete the slope recognition.

6. A terminal, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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