Vehicle control method and device based on road gradient, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device based on road gradient, a vehicle and a computer readable storage medium. The method comprises the steps that a vehicle driving request of a target object is responded, and the current maximum driving force and driving resistance of a vehicle are obtained; wherein the vehicle driving request is used for controlling the vehicle to start driving from a starting position to a destination, and the driving resistance represents the sum of resistance borne by the vehicle in the driving process; according to the maximum driving force, the running resistance and the total weight of the vehicle, the load safety slope threshold value of the vehicle is determined; wherein the total weight is the sum of the weight of the vehicle and the load of the vehicle, and the load safety gradient threshold value is the maximum road gradient for safe driving of the vehicle; and according to the load safety gradient threshold, screening out a target driving path from the plurality of candidate driving paths, and controlling the vehicle to drive on the target driving path. According to the technical scheme, the climbing ability and the downhill ability of the vehicle can be accurately evaluated, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle control method, device, vehicle and computer-readable storage medium based on road slope. Background Art

[0002] During the driving process of a vehicle, the vehicle's load, climbing and descending capabilities have a great impact on the vehicle's driving safety. For example, a vehicle with a heavy load may need to drive in a relatively harsh driving environment with a large slope (such as mountains, forests, construction sites, etc.). In this case, the vehicle's climbing and descending capabilities will directly affect the vehicle's driving safety and work efficiency.

[0003] However, the current method for evaluating the climbing and descending ability of a vehicle mainly measures the vehicle's engine power, tire friction, braking ability and other parameters, and determines the climbing and descending ability of the vehicle based on the vehicle's maximum load to determine whether the vehicle can be driven safely. This method fails to fully consider the factors that affect the vehicle's safe climbing and descending ability, resulting in an inability to accurately evaluate the vehicle's climbing and descending ability; and when the vehicle is overweight, the driver's experience evaluation cannot ensure driving safety.

[0004] Therefore, how to accurately evaluate the vehicle's climbing and descending abilities to reduce the vehicle's driving risks is an issue that needs to be addressed urgently. Summary of the invention

[0005] In view of the above problems, the present application provides a vehicle control method, device, vehicle and computer-readable storage medium based on road slope, which are used to solve the problem in the prior art that the vehicle's climbing ability and descent ability cannot be accurately evaluated, resulting in low vehicle driving safety.

[0006] According to one aspect of an embodiment of the present application, a vehicle control method based on road slope is provided, the method comprising:

[0007] In response to a vehicle driving request of a target object, the vehicle's current maximum driving force and driving resistance are obtained; wherein the vehicle driving request is used to control the vehicle to start driving from a starting position to a destination, and the driving resistance represents the sum of the resistances encountered by the vehicle during driving; based on the maximum driving force and the driving resistance, as well as the total weight of the vehicle, a load safety slope threshold of the vehicle is determined; wherein the total weight is the sum of the weight of the vehicle and the load of the vehicle, and the load safety slope threshold is the maximum road slope for safe driving of the vehicle; based on the load safety slope threshold, a target driving path is screened out from a plurality of candidate driving paths, and the vehicle is controlled to drive on the target driving path.

[0008] In an exemplary embodiment, obtaining the current maximum driving force and driving resistance of the vehicle further includes:

[0009] The maximum driving force is obtained based on the maximum torque of the current gear of the vehicle and the effective radius of the wheel of the vehicle; and the running resistance is obtained based on the rolling resistance and air resistance of the vehicle; wherein the rolling resistance is determined based on the gross weight and the rolling resistance coefficient, and the air resistance is determined based on the drag coefficient, air density, and the frontal area and running speed of the vehicle.

[0010] In an exemplary embodiment, the rolling resistance coefficient is determined based on the tire type and tire pressure of the vehicle, the running speed, and the friction coefficient of the road surface on which the vehicle is located, and the friction coefficient is determined based on at least one road surface index.

[0011] In an exemplary embodiment, determining the load safety slope threshold of the vehicle according to the maximum driving force and the driving resistance, and the total weight of the vehicle further includes:

[0012] The theoretical safe slope threshold of the vehicle is determined based on the maximum driving force, the driving resistance and the total weight; the load safe slope threshold is determined based on the theoretical safe slope threshold and a safe slope adjustment coefficient associated with the current driving scenario of the vehicle; wherein the driving scenario is used to indicate the degree of dryness or wetness of the road surface on which the vehicle is located.

[0013] In an exemplary embodiment, the step of selecting a target driving path from a plurality of candidate driving paths according to the load safety slope threshold further includes:

[0014] At least one candidate driving path having a road slope less than or equal to the load safety slope threshold is screened out from the multiple candidate driving paths; a path recommendation interface is presented to the target object; the path recommendation interface is used to display the candidate driving paths corresponding to different driving requirements in the at least one candidate driving path; in response to the target object's path selection operation on the path recommendation interface, the candidate driving path corresponding to the path selection operation is used as the target driving path.

[0015] In an exemplary embodiment, after controlling the vehicle to travel on the target driving path, the method further includes:

[0016] Acquire the driving information of the vehicle, and when it is determined that the driving scenario of the vehicle has changed based on the driving information, determine the safety slope adjustment coefficient associated with the changed driving scenario; if the safety slope adjustment coefficient has changed and the duration of the change reaches a set duration threshold, redetermine the load safety slope threshold of the vehicle based on the changed safety slope adjustment coefficient.

[0017] In an exemplary embodiment, after controlling the vehicle to travel on the target driving path, the method further includes:

[0018] If the load of the vehicle changes, the changed total weight is obtained based on the changed load and the weight of the vehicle; the load safety slope threshold of the vehicle is re-determined based on the regained maximum driving force and driving resistance, and the changed total weight.

[0019] According to another aspect of an embodiment of the present application, a vehicle control device based on road slope is provided, the device comprising:

[0020] an acquisition module, configured to acquire the current maximum driving force and driving resistance of the vehicle in response to a vehicle driving request of a target object; wherein the vehicle driving request is used to control the vehicle to start driving from a starting position to a destination, and the driving resistance represents the sum of the resistances suffered by the vehicle during driving;

[0021] a determination module, configured to determine a load safety slope threshold of the vehicle according to the maximum driving force and the driving resistance, and the total weight of the vehicle; wherein the total weight is the sum of the weight of the vehicle and the load of the vehicle, and the load safety slope threshold is the maximum road slope for safe driving of the vehicle;

[0022] The control module is used to select a target driving path from multiple candidate driving paths according to the load safety slope threshold, and control the vehicle to travel on the target driving path.

[0023] According to another aspect of an embodiment of the present application, a vehicle is also provided, including: a controller; and a memory for storing one or more programs, which, when executed by the controller, execute the above-mentioned vehicle control method based on road slope.

[0024] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes at least one executable instruction, and when the executable instruction is run on a vehicle control device / vehicle based on road slope, the vehicle control device / vehicle based on road slope performs the operation of the vehicle control method based on road slope as described above.

[0025] Through the vehicle control method based on road slope provided in the embodiment of the present application, once the vehicle driving request of the target object is received, the current maximum driving force of the vehicle and the driving resistance of the vehicle during driving can be obtained, so as to accurately obtain the vehicle's load safety slope threshold value in combination with the total weight of the vehicle. In this way, after accurately evaluating the climbing and descending capabilities of the vehicle, the target driving path can be screened out from multiple candidate driving paths according to the load safety slope threshold value, and the vehicle can be controlled to drive on the target driving path, so as to solve the problem of low driving safety of the vehicle due to the inability to accurately evaluate the climbing and descending capabilities of the vehicle in the prior art, thereby improving driving safety.

[0026] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0028] Figure 1 A schematic diagram of an optional system architecture applicable to the present application is shown;

[0029] Figure 2 A schematic diagram of a process flow of a vehicle control method based on road slope provided by the present application is shown;

[0030] Figure 3 A logic diagram for determining a load safety slope threshold provided by the present application is shown;

[0031] Figure 4 A schematic diagram of a specific scenario for determining a target driving path provided by the present application is shown;

[0032] Figure 5 A schematic flow chart of another vehicle control method based on road slope provided by the present application is shown;

[0033] Figure 6 A schematic structural diagram of a vehicle control device based on road slope provided by the present application is shown;

[0034] Figure 7 A schematic structural diagram of a vehicle computer system provided by the present application is shown. DETAILED DESCRIPTION

[0035] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0036] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0037] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0038] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0039] Before introducing the embodiments of the present application, the relevant terms involved in the present application are first introduced and explained.

[0040] (1) Geographic Information System (GIS): Also known as "geographic information system", it is a specific and very important spatial information system. With the support of computer hardware and software systems, it is a technical system that collects, stores, manages, calculates, analyzes, displays and describes the geographical distribution data in the whole or part of the earth's surface (including the atmosphere) space.

[0041] (2) Cabin domain controller (CDC): It is an important component of the automotive electronics business and is mainly responsible for integrating and managing the intelligent cockpit system inside the vehicle. It is a complex system that integrates multiple functions and aims to provide passengers with a more comfortable, convenient and safe in-vehicle environment.

[0042] (3) Vehicle domain controller (VDC): It is a key component in the modern automotive electronic architecture and is responsible for integrating and managing multiple electronic control units (ECUs) to improve the intelligence and automation level of the vehicle.

[0043] (4) Around view monitor (AVM) system: This system uses multiple (usually four) ultra-wide-angle lenses (e.g., fisheye lenses) to capture images, and uses a special algorithm to correct distortion and stitch the captured images to form a panoramic image of the object. This system is mostly used in vehicles to achieve functions such as blind spot driving and panoramic parking, which helps safe driving.

[0044] (5) Digital video recorder (DVR): A device that records images, sounds and other related information while a vehicle is driving. After installing a driving recorder, it can record the video images and sounds of the entire driving process of the car, which can provide evidence for traffic accidents.

[0045] Further, based on the above-mentioned nouns and related terminology explanations, the design concept of the embodiments of the present application is briefly introduced below:

[0046] During the driving process of a vehicle (such as a truck, commercial vehicle, etc.), the climbing and descending ability of the vehicle will directly affect driving safety and work efficiency. Therefore, accurately evaluating or estimating the climbing and descending ability of the vehicle will be helpful to improve the driving safety and work efficiency of the vehicle.

[0047] At present, the evaluation method for the climbing and descending ability of a vehicle mainly evaluates the climbing and descending ability of the vehicle by measuring parameters such as the vehicle's engine power, tire friction, and braking ability. During the calculation, the maximum slope for the vehicle to safely drive is calculated based on the maximum load of the vehicle, and the climbing and descending ability of the vehicle is determined based on the corresponding relationship between the maximum slope and the climbing and descending ability.

[0048] However, the above-mentioned evaluation method will fail to fully consider the factors that affect the vehicle's safe climbing and descending, resulting in an inability to accurately evaluate the vehicle's climbing and descending capabilities. For example, the actual load of the vehicle, road conditions, weather conditions, etc., are not included in the impact on the vehicle's climbing and descending capabilities. In addition, if the vehicle is overweight, the driver's experience evaluation will not ensure the safety of driving. For example, trucks are usually overweight, so for inexperienced drivers, it is impossible to accurately evaluate the risks that may arise when dealing with various uphill and downhill situations.

[0049] In view of this, in order to accurately evaluate the climbing and descending abilities of a vehicle to reduce the driving risk of the vehicle, an embodiment of the present application proposes a vehicle control method based on road slope, the method comprising: in response to a vehicle driving request of a target object, obtaining the current maximum driving force and driving resistance of the vehicle; then, determining the load safety slope threshold of the vehicle according to the maximum driving force and driving resistance, as well as the total weight of the vehicle; finally, selecting a target driving path from multiple candidate driving paths according to the load safety slope threshold, and controlling the vehicle to drive on the target driving path. Among them, the aforementioned vehicle driving request can be used to control the vehicle to start driving from a starting position to a destination, the aforementioned driving resistance represents the sum of the resistances encountered by the vehicle during driving, the aforementioned total weight is the sum of the weight of the vehicle and the load of the vehicle, and the aforementioned load safety slope threshold is the maximum road slope for safe driving of the vehicle.

[0050] It can be seen that when determining the vehicle's load safety slope threshold, the factors affecting the vehicle's climbing and descending ability are fully considered, namely the sum of the resistance to which the vehicle is subjected during driving (i.e., driving resistance) and the actual weight of the vehicle (i.e., the sum of the vehicle's weight and the vehicle's load), so the vehicle's climbing and descending ability can be accurately evaluated, thereby improving the vehicle's driving safety. In other words, according to the vehicle's load weight, the optimization algorithm is used for simulation calculation to evaluate the slope of safe climbing or descending under the vehicle's current load, and the recommended route can be adjusted in combination with GIS data.

[0051] In particular, the preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application, and the embodiments of the present application and the features in the embodiments may be combined with each other if there is no conflict.

[0052] See also Figure 1 As shown, it is a schematic diagram of an optional system architecture applicable to an embodiment of the present application, and the system architecture may include: a server 110 and a vehicle 120. Information exchange can be carried out between the server 110 and the vehicle 120 through a communication network, wherein the communication mode adopted by the aforementioned communication network may include: a wireless communication mode and a wired communication mode. Exemplarily, the server 110 can access the network through cellular mobile communication technology to communicate with the vehicle 120, wherein the cellular mobile communication technology, for example, may include the fifth generation mobile communication (5th generation mobile networks, 5G) technology or the next generation mobile communication technology. Optionally, the server 110 can access the network through a short-range wireless communication mode to communicate with the vehicle 120, wherein the short-range wireless communication mode, for example, may include wireless fidelity (wireless fidelity, Wi-Fi) technology.

[0053] The embodiment of the present application does not impose any specific restrictions on the number of communication devices involved in the above system architecture. For example, more servers may be included, no servers may be included, or other network devices may be included, such as Figure 1 As shown, only the server 110 and the vehicle 120 are described as examples, and the above-mentioned devices and their respective functions are briefly introduced below.

[0054] The server 110 may be an independent physical server, or 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, content delivery networks (CDN), and big data and artificial intelligence platforms. It should also be noted that in the embodiment of the present application, the server 110 can be used to execute the vehicle control method based on road slope mentioned in the embodiment of the present application.

[0055] It should be noted that, in an embodiment of the present application, the server 110 can be used to respond to the vehicle driving request of the target object and obtain the current maximum driving force and driving resistance of the vehicle 120; wherein, the aforementioned vehicle driving request can be used to control the vehicle 120 to start driving from the starting position to the destination, and the aforementioned driving resistance can represent the sum of the resistances encountered by the vehicle 120 during the driving process; then, based on the aforementioned maximum driving force and the aforementioned driving resistance, as well as the total weight of the vehicle 120, the load safety slope threshold of the vehicle 120 is determined; wherein, the aforementioned total weight can be the sum of the weight of the vehicle 120 itself and the load of the vehicle 120, and the aforementioned load safety slope threshold can be the maximum road slope for safe driving of the vehicle; finally, based on the aforementioned load safety slope threshold, the target driving path is screened out from multiple candidate driving paths, and the vehicle 120 is controlled to drive on the target driving path.

[0056] The vehicle 120 may be any drivable vehicle having an intelligent driving mode and / or a driving mode adjustment function. Optionally, the vehicle 120 may include a variety of sensing devices and detection units. For example, a tire pressure gauge may be deployed on the vehicle 120 to measure the wheel pressure, and a vehicle-mounted weight detector may be deployed on the vehicle 120 to detect the load of the vehicle 120. For another example, the vehicle 120 may be equipped with one or more of GIS, CDC, VDC, AVM and DVR. In addition, the type of the vehicle 120 is not specifically limited in the embodiments of the present application. For example, it may be a commercial vehicle, a car or a large truck.

[0057] The following describes the road slope-based vehicle control method provided by the exemplary embodiment of the present application in combination with the above-mentioned system architecture and with reference to the accompanying drawings. It should be noted that the above-mentioned system architecture is only shown to facilitate understanding of the spirit and principles of the present application, and the implementation of the present application is not limited in this respect.

[0058] See also Figure 2 As shown, it is a flow chart of a vehicle control method based on road slope provided in an embodiment of the present application. In the following introduction, for the convenience of description and understanding, the vehicle control method based on road slope is applied to the following example. Figure 1 The server shown in the figure is used as an example. Figure 2 As shown, the specific implementation process of this method is as follows:

[0059] S210: In response to the vehicle driving request of the target object, obtaining the current maximum driving force and driving resistance of the vehicle.

[0060] The above-mentioned vehicle driving request is used to control the vehicle to start driving from the starting position (i.e., the current position of the vehicle) to the destination. For example, the above-mentioned vehicle driving request can be used to control the vehicle to drive from point A (i.e., the starting position) via point B (i.e., the waypoint) and finally to point C (i.e., the destination). Specifically, the target object can input the vehicle driving request on the large screen on the vehicle, and of course, the vehicle driving request can also be sent to the server through the terminal device, which is not specifically limited in the embodiment of the present application.

[0061] The above-mentioned maximum driving force may be the maximum driving force of the vehicle in a specific gear, and the maximum driving force corresponding to the peak power of the motor used by the vehicle. Optionally, the above-mentioned maximum driving force may be expressed as F t .

[0062] The above driving resistance can represent the sum of the resistances encountered by the vehicle during driving. For example, assuming that the vehicle is affected by wind speed and ground during driving, the above driving resistance can be the sum of the air resistance (i.e. wind resistance) and rolling resistance (i.e. ground resistance) of the vehicle during driving. Optionally, the calculation formula of the above driving resistance can be specifically expressed as the following formula (1):

[0063] F z =F f +F w

[0064] In formula (1), F z Indicates driving resistance, F f Indicates rolling resistance, F w Represents air resistance.

[0065] In an optional embodiment, when executing step S210, the server may obtain the current maximum driving force F of the vehicle in real time or according to a set time period (for example, 5 seconds). t and driving resistance F z . Maximum driving force F t It can be obtained based on the maximum torque of the current gear of the vehicle and the effective radius of the vehicle's wheels. t The calculation formula can be expressed as follows:

[0066] F t =τ / r

[0067] In formula (2), τ is the maximum torque of the current gear of the vehicle, in Newton-meters, abbreviated as Nm, and r is the effective radius of the wheel, in meters or m.

[0068] Optionally, the maximum torque τ of the current gear of the above-mentioned vehicle may be the maximum torque corresponding to the gear when the vehicle is factory set (ie, certified).

[0069] Driving resistance F z It can be obtained based on the rolling resistance and air resistance of the vehicle, that is, F z =F f +F w Optionally, the aforementioned rolling resistance may be determined based on the total weight of the vehicle and the rolling resistance coefficient. For example, the calculation formula of the rolling resistance may be specifically expressed as the following formula (3):

[0070] F f =C r ×G

[0071] In formula (3), F f Indicates rolling resistance, C r Represents the rolling resistance coefficient, G represents the gross weight of the vehicle (or the gross gravity of the vehicle), which is the sum of the vehicle's own weight and the vehicle's load.

[0072] The calculation formula of the total weight of the vehicle can be specifically expressed as follows (4):

[0073] G=G v +G z =(m v +m z )

[0074] In formula (4), G represents the total weight of the vehicle, in Newton, N; G v Indicates the weight of the vehicle itself; G z Indicates the vehicle's load; m vIndicates the mass of the vehicle itself, in kilograms, kg, which is calculated based on the default vehicle mass when the vehicle is manufactured; m z Indicates the mass of the cargo carried by the vehicle, which can be mainly provided by the vehicle-mounted weight detector; g indicates the acceleration of gravity, usually 9.81m / s 2 .

[0075] The above rolling resistance coefficient is a dimensionless value, which represents the proportional relationship between rolling resistance and vertical load (i.e., the total weight of the vehicle). The above rolling resistance coefficient can be determined based on the tire type, tire pressure, running speed, and friction coefficient of the road surface on which the vehicle is located. The friction coefficient can be determined based on at least one road surface (condition) index. The above road surface index can include road surface texture depth (or road surface variation), road surface temperature, road surface type, road surface condition score, road surface humidity, road surface material, etc. Optionally, the calculation formula of the rolling resistance coefficient can be specifically expressed as the following formula (5):

[0076] C r =C r0 ×[1+k p ×(P-P0)]×(1+k s ×S)×(1+k v ×ln(v))

[0077] In formula (5), C r0 is the rolling resistance coefficient under standard or reference conditions; k p is a coefficient related to air pressure, which is mainly determined by the tire pressure influencing factor; P is the current tire pressure, which can be read by a tire pressure gauge; P0 is the reference pressure, which refers to the standard tire pressure; k s is a coefficient related to road conditions, which is related to road roughness (i.e., road texture depth), road material, road humidity, road temperature, road type, and road condition score; S is a road friction coefficient or road condition index, which usually includes multiple factors such as road roughness (i.e., road texture depth), road material, road humidity, road temperature, road type, and road condition score; k v is a coefficient related to the vehicle's running speed v, determined through experiments, and can reflect the specific impact of changes in the vehicle's running speed on rolling resistance; ln(v) is the natural logarithm of the vehicle's running speed v. Because the relationship between rolling resistance and vehicle speed is often nonlinear, using the natural logarithm can help linearize this relationship, making it easier to handle in the mathematical model.

[0078] Optionally, the air resistance can be determined based on the drag coefficient, air density, and the frontal area and running speed of the vehicle. For example, the calculation formula of the air resistance can be specifically expressed as the following formula (6):

[0079]

[0080] In formula (6), F w represents air resistance, C D It represents the drag coefficient, which reflects the effect of the shape of an object on air flow. It is a dimensionless quantity. For example, a smooth sphere and an object of the same size but with a rough surface will have different drag coefficients. ρ represents the density of air, in kilograms per cubic meter, abbreviated as kg / m 3 . S D It indicates the projected area of ​​the vehicle in the direction of motion, i.e. the windward area, unit: square meter, abbreviated as m 2 . v represents the speed of the object, the unit is: meter per second, abbreviated as m / s.

[0081] It should be noted that the drag coefficient is an important factor affecting the fuel economy, driving stability and driving comfort of the car. The smaller the drag coefficient, the smaller the air resistance, the lower the fuel consumption of the car, the smoother the driving, and the higher the driving comfort. Generally speaking, the drag coefficient of a car is between 0.28 and 0.4, while the drag coefficient of a car with a better streamline, such as a sports car, can reach about 0.25.

[0082] Based on the above embodiments, the maximum safe slope angle of the vehicle can be accurately calculated, and the climbing and descending capabilities of the vehicle can be accurately evaluated.

[0083] S220: Determine a load safety slope threshold of the vehicle according to the maximum driving force and driving resistance, as well as the total weight of the vehicle.

[0084] The above-mentioned load safety gradient threshold may be the maximum road gradient that the vehicle can safely travel on. In other words, once the gradient on which the vehicle travels exceeds or is greater than the load safety gradient threshold, the driving safety of the vehicle will not be guaranteed and the safety risk will be greatly increased.

[0085] For example, the above-mentioned load safety slope threshold can be calculated by using an inverse trigonometric sine function, and the calculation formula can be specifically expressed as the following formula (7):

[0086]

[0087] In formula (7), α represents the load safety slope threshold, arcsin(*) represents the inverse trigonometric sine function operation, and F t Indicates the maximum driving force, F z represents the driving resistance, and G represents the gross weight of the vehicle.

[0088] Since the load safety slope threshold is related to the current driving scene of the vehicle (for example, the road conditions such as the degree of wetness of the ground), therefore, considering the safety of the vehicle's loaded driving, when determining the theoretical load safety slope threshold, the calculated theoretical load safety slope threshold is usually adjusted in combination with the vehicle's current driving scene to obtain the actual load safety slope threshold.

[0089] In an alternative embodiment, see Figure 3 As shown, the server determines the maximum driving force F t , driving resistance F z and the total weight of the vehicle G, the maximum driving force F t , driving resistance F z And the total weight G of the vehicle, determine the theoretical safe slope threshold of the vehicle (which can be denoted as: α0), and then determine the load safety slope threshold α based on the theoretical safe slope threshold α0 and the safety slope adjustment coefficient associated with the current driving scenario of the vehicle (which can be denoted as: k).

[0090] Based on the above embodiment, the calculation formula of the load safety slope threshold α can be specifically expressed as the following formula (8):

[0091]

[0092] In this way, the factors that affect the safe climbing and descending of the vehicle are fully considered, and the vehicle's climbing and descending capabilities can be accurately evaluated, thereby reducing the vehicle's driving risks.

[0093] Optionally, the above driving scenarios can be used to indicate the degree of dryness or wetness of the road surface on which the vehicle is currently located. Therefore, the vehicle scenarios may include but are not limited to dry roads, rainy roads, and high temperature scenarios. Generally, the drier the road surface, the larger the value of the safety slope adjustment coefficient, that is, the ideal load safety slope threshold and the actual load safety slope threshold are not much different. Exemplarily, the safety slope adjustment coefficients corresponding to the above three driving scenarios can be shown in Table 1:

[0094] Table 1 Examples of safety slope adjustment coefficients corresponding to different driving scenarios

[0095] Driving scene Safety slope adjustment factor k Dry road 1 Rainy road 0.7 High temperature scene 0.8

[0096] Based on the correspondence between the driving scene and the safety slope adjustment coefficient recorded in the above table, after determining the current driving scene of the vehicle, the server can determine the safety slope adjustment coefficient corresponding to the current driving scene according to the above correspondence. For example, assuming that the server determines that the current driving scene of the vehicle is a rainy road, the safety slope adjustment coefficient k=0.7 can be determined. For another example, assuming that the server determines that the current driving scene of the vehicle is a high temperature scene, the safety slope adjustment coefficient k=0.8 can be determined.

[0097] It should be noted that the safety slope adjustment coefficients corresponding to the above different driving scenarios can be determined based on experience or calculated based on multiple reference dimensions. In the embodiment of the present application, the specific determination method of the safety slope adjustment coefficient is not limited.

[0098] By adopting the above embodiment, the maximum safe slope angle of the vehicle under different loads and road conditions can be accurately calculated according to the maximum driving force, driving resistance and total weight of the vehicle, as well as the driving scenario of the vehicle, providing the driver with a clear safe operating range. This reduces the risk of vehicle loss of control due to overloading or poor road conditions, and significantly improves driving safety.

[0099] S230: Filtering a target driving path from a plurality of candidate driving paths according to a load safety slope threshold, and controlling the vehicle to drive on the target driving path.

[0100] Each candidate driving path is a path from the current position of the vehicle (i.e., the location) to the destination.

[0101] Exemplarily, when executing step S230, after determining the load safety slope threshold, the server can select at least one candidate driving path whose road slope is less than or equal to the load safety slope threshold from multiple candidate driving paths. Taking 5 candidate driving paths (such as Path.1, Path.2, Path.3, Path.4 and Path.5) as an example, assuming that the load safety slope threshold is α=35°, and the road slopes corresponding to the above 5 candidate driving paths are respectively: θ1=25°32', θ2=31°47', θ3=38°06', θ4=43°22' and θ5=12°15'. Then, from the above 5 candidate driving paths, candidate driving path Path.1, candidate driving path Path.2 and candidate driving path Path.5 whose road slopes are less than or equal to the load safety slope threshold α=35° can be selected. In other words, road sections that exceed the safe slope range (i.e., candidate driving paths) can be avoided and marked as avoided, and path recommendations that meet safety regulations can be given.

[0102] In order to improve the driving experience of the target object, the server can present a route recommendation interface to the target object after screening out at least one candidate driving route with a road slope less than or equal to the load safety slope threshold. The aforementioned route recommendation interface can be used to display the candidate driving routes corresponding to different driving requirements in at least one candidate driving route.

[0103] The above driving requirements may include but are not limited to: lowest cost (such as lowest toll or lowest energy consumption), shortest distance and fastest time, etc., and the embodiments of the present application do not make specific limitations on this.

[0104] Furthermore, the server may respond to the target object's route selection operation on the route recommendation interface, thereby taking the candidate driving route corresponding to the route selection operation as the target driving route.

[0105] For example, see Figure 4 As shown, taking 10 candidate driving paths as an example, if the server determines the load safety slope threshold, it will select 5 candidate driving paths with road slopes less than or equal to the load safety slope threshold from the 10 candidate driving paths. In order to facilitate the target object to select a candidate driving path, the server can present a path recommendation interface to the target object. The path recommendation interface will display the path recommendation strategy based on the fastest time, shortest distance and least toll, and select 3 candidate driving paths from the above 5 candidate driving paths, namely the candidate driving path with the fastest time, the candidate driving path with the shortest distance and the candidate driving path with the least toll. At this time, the target object can select a candidate driving path that meets the target object's driving needs from the above 3 candidate driving paths as the target driving path. For example, the target driving path is the candidate driving path with the fastest time.

[0106] Specifically, the server may present a time-saving driving mode icon, a short-distance driving mode icon, and a road-toll-saving driving mode icon through the vehicle's user interface (i.e., the route recommendation interface). The time-saving driving mode icon controls the time-saving mode in the driving mode, the short-distance driving mode icon controls the short-distance mode in the driving mode, and the road-toll-saving driving mode icon controls the road-toll-saving mode in the driving mode.

[0107] When the vehicle is running in the time-saving mode, the remaining energy of the vehicle can ensure that the time taken for the vehicle to reach the destination from the departure point is the shortest; when the vehicle is running in the short-distance mode, the remaining energy of the vehicle can ensure that the driving distance of the vehicle from the departure point to the destination before the specified time is the shortest; when the vehicle is running in the toll-saving mode, the remaining energy of the vehicle can ensure that the toll paid by the vehicle to reach the destination from the departure point before the specified time is the lowest.

[0108] Then, upon receiving the driving mode selection instruction of the target object, the target driving path can be selected from at least one candidate driving path for the vehicle to reach the destination from the departure point according to the driving mode selected by the driving mode selection instruction. Then, the vehicle can be controlled to drive according to the target driving path.

[0109] Based on the above embodiment, a variety of driving modes can be provided for the target object through a humanized user interface. After the target object selects the corresponding driving mode, a more suitable driving path can be selected for the target object based on the current remaining energy situation of the vehicle, so that the path planning can be carried out according to the actual situation of the vehicle, which can better meet the driving needs of the user.

[0110] In an optional embodiment, after controlling the vehicle to travel on the target driving path, the server may also obtain the vehicle's driving information in real time or according to a set time period, and when it is determined that the vehicle's driving scene has changed based on the driving information, determine the safety slope adjustment coefficient associated with the changed driving scene; if the safety slope adjustment coefficient changes and the change duration reaches a set duration threshold (such as 2 minutes, etc.), then the vehicle's load safety slope threshold is re-determined based on the changed safety slope adjustment coefficient. Conversely, if the safety slope adjustment coefficient has not changed, there is no need to re-determine the vehicle's load safety slope threshold. If the safety slope adjustment coefficient has changed, but the change duration does not reach the set duration threshold, there is no need to re-determine the vehicle's load safety slope threshold.

[0111] Based on the above embodiment, once the server determines that the driving scenario of the vehicle has changed based on the vehicle's driving information, and the safety slope adjustment coefficient associated with the driving scenario has changed, the vehicle's load safety slope threshold can be re-determined, thereby timely evaluating the vehicle's climbing ability and descent ability in different driving scenarios, thereby improving the vehicle's driving safety.

[0112] In an optional embodiment, after the server controls the vehicle to travel on the target driving path, if the vehicle's load changes, the server can obtain the changed total weight based on the changed load and the weight of the vehicle, and thus redetermine the vehicle's load safety slope threshold based on the regained maximum driving force and driving resistance, and the changed total weight.

[0113] In this way, since the unloading or loading of the vehicle will affect the total weight of the vehicle, and thus affect the load safety slope threshold, once the total weight (or load) of the vehicle changes, the load safety slope threshold of the vehicle can be re-determined, so as to timely evaluate the climbing and descending capabilities of the vehicle in different driving scenarios, thereby improving the driving safety of the vehicle.

[0114] Similarly, if the maximum driving force and driving resistance of the vehicle change, the vehicle's load safety slope threshold can be re-determined to improve the vehicle's driving safety.

[0115] Based on the vehicle control based on the road slope recorded in the above steps S210 to S230, taking the vehicle as a freight truck as an example, the server can be a freight navigation system. The freight navigation system is willing to preset the slope data of various levels of roads; when the user opens the navigation application, the freight navigation system can read the vehicle's cargo weight data and safety slope (i.e., load safety slope threshold) in real time, and display it in the freight navigation interface; then, when the user sets the navigation itinerary planning, it can combine the above-mentioned vehicle cargo safety slope data to avoid route sections with larger slopes, and recommend a driving path that meets the safety slope. For example, please refer to Figure 5 As shown, taking the freight navigation system as an example, the specific steps are as follows:

[0116] S510: Read the cargo weight data of the VDC from the CDC in real time, and calculate the safe driving slope of the freight vehicle.

[0117] Exemplarily, when executing step S510, the user (i.e., the target object) can input the departure place, waypoint, and destination on the freight navigation system, and the freight navigation system can then retrieve the cargo weight data recorded by the VDC from the CDC in real time, and calculate the safe driving slope of the freight vehicle based on the above calculation method.

[0118] S520: Based on the safe driving slope of the freight vehicle, calculate the road sections where the road slope exceeds the safe slope range and mark them for avoidance, and give a route recommendation that meets safety regulations.

[0119] The above-mentioned safe slope range is also the safe driving slope of the freight vehicle. Exemplarily, the route recommendation strategy can recommend three routes, for example, the fastest route as the first recommended route, the shortest route as the second recommended route, and the route with the lowest toll as the third recommended route.

[0120] S530: If the road surface condition information is obtained through the AVM system or DVR during driving, when it is recognized that the road surface condition k has changed, the safe driving slope is recalculated and displayed through the CDC.

[0121] Among them, the above-mentioned road surface state information, that is, the vehicle driving information, can determine the vehicle scene related to the safety slope adjustment coefficient, and the road surface condition k is also the safety slope adjustment coefficient.

[0122] S540: If the safe driving slope calculated by the CDC changes during driving and lasts longer than a set time, a new route is recommended based on the latest safe driving slope.

[0123] Exemplarily, the above-mentioned set time length can be 3 minutes, or can be other values, which can be obtained or set based on experience, and the embodiments of the present application do not specifically limit this.

[0124] S550: When unloading or loading cargo during operation, CDC updates the safe driving slope in real time.

[0125] It should be noted that there is no strict time sequence between S530 and S550. For example, S530 occurs before S550. Of course, S530 may also occur after S550, or occur at the same time as S550, which is not limited in the present embodiment.

[0126] Based on the method steps recorded in steps S510 to S550, the embodiment of the present application provides an evaluation model for comprehensive climbing ability and downhill ability, which not only takes into account the maximum driving force, rolling resistance and air resistance of the vehicle, but also combines the total gravity of the vehicle and the road conditions; secondly, the dynamic optimization algorithm adopted can respond to changes in vehicle load and external environment in real time, automatically adjust the calculation parameters (i.e., safe driving slope), and ensure the accuracy and timeliness of the evaluation results; furthermore, through integration with the vehicle's CDC and VDC, real-time acquisition and processing of load data and road conditions are achieved, providing the driver with immediate decision support. In addition, based on the evaluation results, it can intelligently recommend driving routes that meet safety standards, while considering multiple factors such as time, distance and cost, providing users with a variety of route options.

[0127] In summary, in the vehicle control method based on road slope provided in the embodiment of the present application, once the vehicle driving request of the target object is received, the current maximum driving force of the vehicle and the driving resistance of the vehicle during driving can be obtained, so as to accurately obtain the vehicle's load safety slope threshold value in combination with the total weight of the vehicle. In this way, after accurately evaluating the climbing and descending capabilities of the vehicle, the target driving path can be screened out from multiple candidate driving paths according to the load safety slope threshold value, and the vehicle can be controlled to drive on the target driving path, so as to solve the problem of low driving safety of the vehicle due to the inability to accurately evaluate the climbing and descending capabilities of the vehicle in the prior art.

[0128] Moreover, by accurately calculating the maximum safe driving slope of the vehicle under different loads and road conditions, it provides the driver with a clear safe operating range, greatly reducing the risk of vehicle loss of control due to overloading or poor road conditions, thereby significantly improving driving safety. In addition, it can dynamically recommend the optimal driving route based on real-time load data and road conditions, avoiding unnecessary detours or passing through difficult slopes, thereby saving transportation time and fuel consumption and improving overall transportation efficiency. For inexperienced drivers, it provides an auxiliary decision-making tool to reduce dependence on personal experience, and intelligently recommend driving routes, so that drivers can face complex road conditions more confidently and improve the driving experience. The ability to adjust the recommended route based on real-time weather changes and road conditions allows trucks to drive safely even in bad weather or special road conditions, enhancing the adaptability and reliability of the system. In addition, by avoiding the vehicle working under extreme conditions, it helps to reduce the wear of vehicle parts and extend the service life of the vehicle, thereby reducing long-term maintenance and repair costs.

[0129] Another aspect of the present application also provides a vehicle control device based on road slope, see Figure 6 As shown, it is a schematic diagram of the structure of a vehicle control device based on road slope provided in an embodiment of the present application. The vehicle control device based on road slope 600 includes:

[0130] The acquisition module 610 is used to obtain the current maximum driving force and driving resistance of the vehicle in response to the vehicle driving request of the target object; wherein the vehicle driving request is used to control the vehicle to start driving from a starting position to a destination, and the driving resistance represents the sum of the resistances encountered by the vehicle during the driving process;

[0131] The determination module 620 is used to determine the load safety slope threshold of the vehicle according to the maximum driving force and the driving resistance, as well as the total weight of the vehicle; wherein the total weight is the sum of the weight of the vehicle and the load of the vehicle, and the load safety slope threshold is the maximum road slope for safe driving of the vehicle;

[0132] The control module 630 is used to select a target driving path from multiple candidate driving paths according to the load safety slope threshold, and control the vehicle to travel on the target driving path.

[0133] In an optional manner, when obtaining the current maximum driving force and driving resistance of the vehicle, the acquisition module 610 is specifically used to: obtain the maximum driving force based on the maximum torque of the current gear of the vehicle and the effective radius of the vehicle's wheels; and obtain the driving resistance based on the rolling resistance and air resistance of the vehicle; wherein the rolling resistance is determined based on the total weight and the rolling resistance coefficient, and the air resistance is determined based on the drag coefficient, air density, and the vehicle's frontal area and running speed.

[0134] In an optional manner, when determining the load safety slope threshold of the vehicle based on the maximum driving force and driving resistance, as well as the total weight of the vehicle, the determination module 620 is specifically used to: determine the theoretical safety slope threshold of the vehicle based on the maximum driving force, driving resistance and total weight; determine the load safety slope threshold based on the theoretical safety slope threshold and a safety slope adjustment coefficient associated with the vehicle's current driving scenario; wherein the driving scenario is used to indicate the degree of dryness or wetness of the road on which the vehicle is located.

[0135] In an optional manner, when a target driving path is screened out from multiple candidate driving paths based on a load-safe slope threshold, the control module 630 is specifically used to: screen out at least one candidate driving path whose road slope is less than or equal to the load-safe slope threshold from the multiple candidate driving paths; present a path recommendation interface to the target object; the path recommendation interface is used to display the candidate driving paths corresponding to different driving requirements in at least one candidate driving path; and in response to the target object's path selection operation on the path recommendation interface, use the candidate driving path corresponding to the path selection operation as the target driving path.

[0136] In an optional manner, after controlling the vehicle to travel on the target driving path, the control module 630 is further used to: obtain the vehicle's driving information, and when it is determined based on the driving information that the vehicle's driving scene has changed, determine the safety slope adjustment coefficient associated with the changed driving scene; if the safety slope adjustment coefficient changes and the change duration reaches a set duration threshold, then re-determine the vehicle's load safety slope threshold based on the changed safety slope adjustment coefficient

[0137] In an optional manner, after controlling the vehicle to travel on the target driving path, the control module 630 is also used to: if the vehicle's load changes, obtain the changed total weight based on the changed load and the weight of the vehicle; and redetermine the vehicle's load safety slope threshold based on the regained maximum driving force and driving resistance, and the changed total weight.

[0138] It should be noted that the vehicle control device based on road slope provided in the above embodiment and the vehicle control method based on road slope provided in the above embodiment belong to the same concept, and the specific way in which each module performs operations has been described in detail in the method embodiment and will not be repeated here.

[0139] Another aspect of the present application also provides a vehicle. Figure 7 As shown, it shows a schematic diagram of the structure of a computer system of a vehicle suitable for implementing an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the vehicle.

[0140] See also Figure 7 As shown, the vehicle includes: a controller; a memory for storing one or more programs, when the one or more programs are executed by the controller, the above-mentioned vehicle control method based on road slope is executed. Figure 7 As shown, the computer system 700 of the vehicle includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage part 708 to the random access memory (RAM) 703, such as executing the method in the above embodiment. In the RAM 703, various programs and data required for system operation are also stored. The CPU 701, the ROM 702 and the RAM 703 are connected to each other through the bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0141] 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 through the communication part 709, and / or installed from a removable medium 711. When the computer program is executed by the CPU 701, various functions defined in the system of the present application are executed.

[0142] Another aspect of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the vehicle control method based on road slope as described above when the computer program is executed by a processor. The computer-readable storage medium may be included in the vehicle described in the above embodiment, or may exist independently without being assembled into the vehicle.

[0143] Another aspect of the present application also provides a computer program product or a computer program, which includes at least one executable instruction, and when the executable instruction is run on a vehicle control device based on road slope or a vehicle, the vehicle control device based on road slope or the vehicle executes the vehicle control method based on road slope as described above.

[0144] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may 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 may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, RAM, 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 storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable computer program is carried. This propagated data signal may 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, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0145] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order 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 a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0146] 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. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0147] According to one aspect of the embodiment of the present application, a computer system is also provided, including a CPU, which can perform various appropriate actions and processes according to the program stored in the ROM or the program loaded from the storage part into the random access memory RAM, such as executing the method in the above embodiment. Various programs and data required for system operation are also stored in the RAM. The CPU, ROM and RAM are connected to each other through a bus. The I / O interface is also connected to the bus.

[0148] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a local area network (LAN) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0149] 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. A person skilled in the art can easily make corresponding changes or modifications based on the main concept 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 control method based on road slope, It is characterized in that The method comprises: In response to a vehicle driving request of a target object, obtaining a current maximum driving force and driving resistance of the vehicle; wherein the vehicle driving request is used to control the vehicle to start driving from a starting position to a destination, and the driving resistance represents the sum of the resistances encountered by the vehicle during driving; Determine the load safety slope threshold of the vehicle according to the maximum driving force and the driving resistance, as well as the total weight of the vehicle; wherein the total weight is the sum of the weight of the vehicle and the load of the vehicle, and the load safety slope threshold is the maximum road slope for safe driving of the vehicle; According to the load safety slope threshold, a target driving path is screened out from a plurality of candidate driving paths, and the vehicle is controlled to travel on the target driving path.

2. The method according to claim 1, It is characterized in that The obtaining of the current maximum driving force and driving resistance of the vehicle further includes: Obtaining the maximum driving force according to the maximum torque of the current gear of the vehicle and the effective radius of the wheel of the vehicle; And, the driving resistance is obtained according to the rolling resistance and air resistance of the vehicle; wherein the rolling resistance is determined according to the total weight and the rolling resistance coefficient, and the air resistance is determined according to the drag coefficient, air density, and the frontal area and running speed of the vehicle.

3. The method according to claim 2, It is characterized in that The rolling resistance coefficient is determined according to the tire type and tire pressure of the vehicle, the running speed, and the friction coefficient of the road surface on which the vehicle is located, and the friction coefficient is determined according to at least one road surface index.

4. The method according to any one of claims 1 to 3, It is characterized in that The step of determining a load safety gradient threshold of the vehicle according to the maximum driving force, the driving resistance, and the total weight of the vehicle further comprises: determining a theoretical safe slope threshold of the vehicle according to the maximum driving force, the driving resistance and the total weight; The load safety slope threshold is determined based on the theoretical safety slope threshold and the safety slope adjustment coefficient associated with the current driving scenario of the vehicle; wherein the driving scenario is used to indicate the degree of dryness or wetness of the road surface on which the vehicle is located.

5. The method according to any one of claims 1 to 3, It is characterized in that The step of selecting a target driving path from a plurality of candidate driving paths according to the load safety slope threshold further includes: Filtering at least one candidate driving path having a road slope less than or equal to the load safety slope threshold from the multiple candidate driving paths; Presenting a route recommendation interface to the target object; the route recommendation interface is used to display candidate driving routes corresponding to different driving requirements in the at least one candidate driving route; In response to a route selection operation of the target object on the route recommendation interface, a candidate driving route corresponding to the route selection operation is used as the target driving route.

6. The method according to any one of claims 1 to 3, It is characterized in that After controlling the vehicle to travel on the target driving path, the method further includes: Acquiring driving information of the vehicle, and when it is determined according to the driving information that the driving scene of the vehicle has changed, determining a safety slope adjustment coefficient associated with the changed driving scene; If the safety slope adjustment coefficient changes, and the change duration reaches a set duration threshold, the load safety slope threshold of the vehicle is re-determined based on the changed safety slope adjustment coefficient.

7. The method according to any one of claims 1 to 3, It is characterized in that After controlling the vehicle to travel on the target driving path, the method further includes: If the load of the vehicle changes, the changed total weight is obtained according to the changed load and the weight of the vehicle; The load safety gradient threshold of the vehicle is re-determined based on the re-acquired maximum driving force and driving resistance and the changed total weight.

8. A vehicle control device based on road slope, It is characterized in that The device comprises: an acquisition module, configured to acquire the current maximum driving force and driving resistance of the vehicle in response to a vehicle driving request of a target object; wherein the vehicle driving request is used to control the vehicle to start driving from a starting position to a destination, and the driving resistance represents the sum of the resistances suffered by the vehicle during driving; a determination module, configured to determine a load safety slope threshold of the vehicle according to the maximum driving force and the driving resistance, and the total weight of the vehicle; wherein the total weight is the sum of the weight of the vehicle and the load of the vehicle, and the load safety slope threshold is the maximum road slope for safe driving of the vehicle; The control module is used to select a target driving path from multiple candidate driving paths according to the load safety slope threshold, and control the vehicle to travel on the target driving path.

9. A vehicle, It is characterized in that include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the vehicle control method based on road slope as described in any one of claims 1 to 7.

10. A computer-readable storage medium, It is characterized in that The storage medium stores a computer program, which includes at least one executable instruction. When the executable instruction is run on a vehicle control device / vehicle based on road slope, the vehicle control device / vehicle based on road slope performs the operation of the vehicle control method based on road slope as described in any one of claims 1 to 7.

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