Method and device for determining inclination of vehicle during driving

Abstract

The embodiment of the invention provides a method and device for determining the gradient of a vehicle in the driving process. The method includes: acquiring data of a vehicle, the data at least including inclination data and position information of the vehicle, the inclination data indicating a first inclination of the vehicle detected by a sensor of the vehicle; determining a road on which the vehicle travels based on the position information; determining a second gradient of the pavement of the road; and determining a reference measurement of the sensor for a reference inclination of the vehicle based on the first inclination and the second inclination. According to the embodiment of the invention, the gradient of the road surface can be used as a reference in the driving process of the vehicle, the reference measurement value of the sensor of the vehicle is determined, the production cost of the vehicle is reduced, and the accuracy of the retrieval result of the sensor can be maintained in the whole life cycle of the vehicle.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and more particularly, to methods, devices, vehicles, apparatuses, computer-readable storage media, and computer program products for determining an inclination of a vehicle during driving. Background Art

[0002] During the driving process, the vehicle usually needs to use sensors to detect the inclination of the vehicle. The vehicle can use the inclination to determine the remaining cruising range, and can also use the inclination to control the power distribution. The accuracy of the sensor's detection results will not only affect the accuracy of the remaining cruising range, but also affect the rationality of the vehicle's power distribution, which can improve the vehicle's cruising range to a certain extent. Therefore, it is of great significance to maintain the accuracy of the sensor's detection results throughout the life cycle of the vehicle. Summary of the invention

[0003] In a first aspect of the present disclosure, a method for determining the inclination of a vehicle during driving is provided. The method comprises: acquiring vehicle data, the data comprising at least inclination data and position information of the vehicle, the inclination data indicating a first inclination of the vehicle detected by a sensor of the vehicle; determining a road on which the vehicle is traveling based on the position information; determining a second inclination of a road surface; and determining a reference measurement value of a reference inclination of the vehicle by the sensor based on the first inclination and the second inclination.

[0004] In a second aspect of the present disclosure, a device for determining the inclination of a vehicle during driving is provided. The device comprises: a data acquisition module configured to acquire vehicle data, the data comprising at least inclination data and position information of the vehicle, the inclination data indicating a first inclination of the vehicle detected by a sensor of the vehicle; a road determination module configured to determine the road on which the vehicle is traveling based on the position information; an inclination determination module configured to determine a second inclination of a road surface; and a measurement value determination module configured to determine a reference measurement value of a reference inclination of the vehicle by the sensor based on the first inclination and the second inclination.

[0005] In a third aspect of the present disclosure, a vehicle is provided, comprising: a sensor configured to detect the inclination of the vehicle; a storage unit configured to store a computer program; and a control unit configured to cause the vehicle to perform the method of the first aspect when calling and executing the computer program from the storage unit.

[0006] In a fourth aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory, the at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit. When the instructions are executed by the at least one processing unit, the electronic device executes the method of the first aspect.

[0007] In a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein a computer program is stored on the medium, and when the computer program is executed by a processor, the method of the first aspect is implemented.

[0008] In a sixth aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0009] It should be understood that the content described in this section is not intended to limit the key features or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0011] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented;

[0012] Figure 2 A flow chart showing a process for determining the inclination of a vehicle during driving according to some embodiments of the present disclosure;

[0013] Figure 3 A schematic diagram showing a scenario for determining the inclination of a vehicle during driving according to some embodiments of the present disclosure;

[0014] Figure 4 A schematic diagram showing a scenario for determining the inclination of a vehicle during driving according to some embodiments of the present disclosure;

[0015] Figure 5 A schematic structural block diagram of an apparatus for determining the inclination of a vehicle during driving according to some embodiments of the present disclosure is shown;

[0016] Figure 6 A schematic diagram showing an example architecture of a vehicle according to some embodiments of the present disclosure; and

[0017] Figure 7A block diagram of an electronic device in which one or more embodiments of the present disclosure may be implemented is shown. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0019] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below.

[0020] Herein, unless explicitly stated, executing a step “in response to A” does not mean executing the step immediately after “A” but may include one or more intermediate steps.

[0021] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition, use, storage or deletion of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0022] It is understandable that before using the technical solutions disclosed in the various embodiments of the present disclosure, the types, scopes of use, usage scenarios, etc. of the information involved in the present disclosure should be informed to relevant users and their authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations. The relevant users may include any type of right holders, such as individuals, enterprises, and groups.

[0023] For example, in response to receiving an active request from a user, a prompt message is sent to the relevant user to clearly prompt the relevant user that the operation requested to be performed will require obtaining and using the information of the relevant user, so that the relevant user can independently choose whether to provide information to software or hardware such as an electronic device, application, server or storage medium that executes the operation of the technical solution of the present disclosure based on the prompt message.

[0024] As an optional but non-limiting implementation, in response to receiving an active request from a relevant user, a prompt message is sent to the relevant user, for example, in the form of a pop-up window, in which the prompt message may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to select "agree" or "disagree" to provide information to the electronic device.

[0025] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0026] As mentioned above, a sensor is usually required to detect the inclination of the vehicle during driving. The vehicle can use the inclination to determine the remaining cruising range, and can also use the inclination to control the power distribution. The accuracy of the sensor's detection results will not only affect the accuracy of the remaining cruising range determination, but also affect the rationality of the vehicle's power distribution, thereby improving the vehicle's cruising range to a certain extent.

[0027] The sensor actually detects the inclination of the sensor itself relative to the direction of gravity of the earth (or the horizontal direction, the direction of the earth's magnetic field, etc.), and the measurement value of the sensor will change as the inclination of the sensor itself relative to the direction of gravity changes. Due to the installation method and installation error of the sensor on the vehicle, the inclination of the sensor relative to the direction of gravity may be inconsistent with the inclination of the vehicle relative to the direction of gravity. In order to make the detection results of the sensor accurately indicate the inclination of the vehicle, traditional vehicle manufacturers usually calibrate the correspondence between the inclination of the vehicle and the measurement value of the sensor. For example, when the vehicle is calibrated to be at a reference inclination (such as a zero degree inclination relative to the horizontal direction), the reference measurement value (also called the reference value) of the sensor for the reference inclination of the vehicle.

[0028] However, this calibration method will not only increase the production cost of vehicle manufacturers. Moreover, as the vehicle mileage and service life increase, the mechanical structure of the vehicle is prone to aging and deformation, and the relative position relationship between the sensor and the vehicle is also prone to change, which will affect the correspondence between the sensor's measurement value and the vehicle's inclination, causing an error between the measured inclination and the actual inclination of the vehicle. Therefore, it is of great significance to maintain the accuracy of the inclination measurement results throughout the life cycle of the vehicle.

[0029] In view of this, an embodiment of the present disclosure provides an improved solution for determining the inclination of a vehicle during driving. In this solution, vehicle data is acquired, the data at least including inclination data and position information of the vehicle, and the inclination data indicates a first inclination of the vehicle detected by a sensor of the vehicle. Based on the position information, the road on which the vehicle is traveling is determined, and the second inclination of the road surface is determined. Based on the first inclination and the second inclination, a reference measurement value of the sensor for a reference inclination of the vehicle is determined.

[0030] According to the embodiments of the present disclosure, the inclination of the road surface can be used as a reference to determine the reference measurement value of the vehicle's sensor during vehicle driving, which is not only conducive to reducing the production cost of the vehicle, but also can maintain the accuracy of the reference measurement value throughout the life cycle of the vehicle, thereby maintaining the accuracy of the sensor's retrieval results.

[0031] Example Environment

[0032] Figure 1 1 is a schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented. Figure 1 As shown, environment 100 involves a server device 110 and a vehicle 130 .

[0033] In an embodiment of the present disclosure, the server device 110 may be deployed with a vehicle service platform 120. The vehicle service platform 120 may provide maintenance services, software update and upgrade services, remote diagnosis services, data analysis services, charging services, etc. to the vehicle 130. The vehicle service platform 120 may utilize the communication connection between the server device 110 and the vehicle 130 to receive data reported by the vehicle 130, and may also utilize the communication connection between the server device 110 and the vehicle 130 to send data to the vehicle 130.

[0034] The vehicle service platform 120 may be deployed at the server device 110 or at the vehicle 130. For example, the vehicle 130 may run a client of the vehicle service platform 120, and the client may support the vehicle 130 to interact with the vehicle service platform 120 provided by the server device 110. When the vehicle service platform 120 runs on the server device 110, the server device 110 may provide services to the client running in the vehicle 130 based on the communication connection with the vehicle 130.

[0035] In some embodiments, the server device 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 distribution networks, and big data and artificial intelligence platforms. The server device 110 may include, for example, a computing system / server, such as a mainframe, an edge computing node, a computing device in a cloud environment, and the like.

[0036] In some embodiments, vehicle 130 may include "car", "vehicle" and "entire vehicle" or other similar terms including general motor vehicles, such as sedans, SUVs, MPVs, buses, trucks and other cargo or passenger vehicles, including two-wheeled vehicles (such as electric two-wheeled vehicles), three-wheeled vehicles, four-wheeled vehicles, six-wheeled vehicles, etc., including hybrid vehicles, electric vehicles, fuel vehicles, plug-in hybrid vehicles, fuel cell vehicles and other alternative fuel vehicles, etc. Among them, hybrid vehicles refer to vehicles with two or more power sources, and electric vehicles include pure electric vehicles, extended-range electric vehicles, etc., which are not specifically limited in this application.

[0037] In some embodiments, the vehicle 130 is provided with a sensor 131, and the sensor 131 is used to detect the inclination of the vehicle 130. It is understood that the sensor 131 may include various sensors capable of detecting the inclination of the vehicle 130, such as a level sensor, an inclination sensor, an acceleration sensor, a gyroscope, a magnetometer, and the like.

[0038] It should be understood that the structure and function of the various elements in the environment 100 are described for exemplary purposes only and do not imply any limitation on the scope of the present disclosure.

[0039] Example Process

[0040] Some example embodiments of the present disclosure will be described in detail below with reference to examples of the accompanying drawings.

[0041] Figure 2 1 is a flowchart of a process 200 for determining the inclination of a vehicle during driving according to some embodiments of the present disclosure. In order to facilitate discussion, some embodiments of the present disclosure will be described from the perspective of the vehicle service platform 120, but this is only exemplary. Figure 1 Process 200 is described.

[0042] In box 210 of process 200, the vehicle service platform 120 obtains data of the vehicle 130. The data includes at least inclination data and position information of the vehicle 130. The inclination data indicates a first inclination of the vehicle 130 detected by a sensor 131 of the vehicle 130. Alternatively or additionally, the first inclination may include a pitch angle relative to the horizontal direction. Of course, the first inclination may also include an inclination angle relative to the direction of gravity or the direction of the earth's magnetic field. The embodiments of the present disclosure do not limit the reference direction of the inclination of the vehicle 130.

[0043] In some embodiments, the inclination data may include a measurement value for a first inclination generated by the sensor 131 and a conversion factor of the sensor 131. The conversion factor indicates the conversion relationship between the measurement value of the inclination of the vehicle 130 by the sensor 131 and the inclination. Exemplarily, for every 1° change in the inclination of the vehicle 130, the numerical value of the measurement value of the sensor 131 changes by 30, and the conversion factor F=30. After obtaining the measurement value and the conversion factor, the vehicle service platform 120 may determine the inclination of the vehicle 130 based on the measurement value and the conversion factor.

[0044] Alternatively or additionally, the measurement value may include a detection value of one or more specific physical quantities of the sensor 131 itself. In the case where the working principle of the sensor 131 is different, the specific physical quantity may be different. For example, in the case where the sensor 131 is a resistive tilt sensor, the specific physical quantity may include resistance. For another example, in the case where the sensor 131 is a capacitive tilt sensor, the specific physical quantity may include capacitance.

[0045] Alternatively or additionally, the measurement value may also include an intermediate variable formed by converting the detection value of one or more specific physical quantities of the sensor 131, and the inclination of the vehicle 130 is indicated by the intermediate variable. Specifically, after determining the detection value of the specific physical quantity, the sensor 131 may determine a corresponding measurement value based on the conversion relationship between the detection value and the measurement value as the intermediate variable, and the inclination is indicated by the measurement value.

[0046] Alternatively or additionally, the measured value may also indicate the inclination of the sensor 131 relative to the gravity direction, the horizontal direction, or the earth's magnetic field direction. For example, the sensor 131 may determine the inclination of the sensor 131 itself relative to the gravity direction, the horizontal direction, or the earth's magnetic field direction based on the detection value of one or more specific physical quantities.

[0047] In some embodiments, the vehicle 130 may have a reference inclination, and the sensor 131 may have a reference measurement value for the reference inclination of the vehicle 130. When the vehicle is at the reference inclination, the measurement value of the sensor 131 should be exactly the reference measurement value. Alternatively or additionally, the reference inclination may include the pitch angle of the vehicle 130 relative to the horizontal direction, and may also include the inclination angle of the vehicle 130 relative to the gravity direction. For example, the reference inclination angle may be a pitch angle of zero degrees for the vehicle 130 relative to the horizontal direction, and correspondingly, the reference measurement value is the measurement value of the sensor 131 when the pitch angle of the vehicle 130 is zero degrees. Of course, the reference inclination may also be other angles, and the embodiments of the present disclosure are not limited in this regard.

[0048] To illustrate the relationship between the measured value and the vehicle's inclination, the following will combine Figure 3 An exemplary description is given. Figure 3 FIG. 3 is a schematic diagram showing a scenario 300 for determining the inclination of a vehicle during driving according to some embodiments of the present disclosure. Figure 3 As shown, the reference inclination of the vehicle 130 may be A°, and the reference measurement value of the sensor 131 may be V b , the conversion factor may be F. When the vehicle 130 is in the posture 310 in the scene 300, the inclination of the vehicle 130 is exactly A°, and the measurement value of the sensor 131 is V b When the vehicle 130 is in posture 320, the inclination of the vehicle 130 is (A+B)°. Relative to posture 310, the vehicle 130 is tilted up by B°, and the measurement value of the sensor 131 can be V b +B*F. When the vehicle 130 is in the posture 330, the inclination of the vehicle 130 is (AC)°. Relative to the posture 310, the vehicle 130 tilts down C°, and the measurement value of the sensor 131 can be V b -C*F.

[0049] In some embodiments, the sensor 131 measurement value and conversion factor of the vehicle 130 can be obtained to form the inclination data. The location information (such as longitude and latitude, etc.) of the vehicle 130 can also be obtained through the positioning unit of the vehicle 130. The data of the vehicle 130 can be formed based on the inclination data and the location information. Exemplarily, the data of the vehicle 130 may include the data content shown in the following table.

[0050] Table 1

[0051]

[0052] When the vehicle service platform 120 is deployed on the vehicle 130, the vehicle service platform 120 can obtain the inclination data and location information locally from the vehicle 130. When the vehicle service platform 120 is deployed on the server device 110, the vehicle service platform can receive the data of the vehicle 130 based on the communication connection between the server device 110 and the vehicle 130.

[0053] In block 220 of process 200, the vehicle service platform 120 determines the road on which the vehicle 130 is traveling based on the location information. In some embodiments, the vehicle 130 may be deployed with a positioning unit, and the vehicle 130 may determine the longitude and latitude of the vehicle 130 through the positioning unit. The vehicle service platform 120 may determine the road on which the vehicle 130 is traveling based on the longitude and latitude of the vehicle 130.

[0054] It is understandable that in the actual use of the vehicle 130, there may be some use states in which the reference measurement value of the sensor 131 cannot be calibrated. For example, the vehicle 130 may be in a non-driving state such as consignment. For example, the vehicle 130 may be in a bumpy state or an unstable driving state with frequent changes of direction, etc. In order to save the computing power of the vehicle service platform 120 when the vehicle 130 is in these use states in which the reference measurement value of the sensor 131 cannot be calibrated. In some embodiments, the data of the vehicle 130 can be configured to also include the driving data of the vehicle 130. The driving data may include data that can indicate the driving state of the vehicle 130, such as driving speed, driving direction, etc. After acquiring the data of the vehicle 130, the vehicle service platform 120 may determine whether the driving data meets the conditions for triggering the determination of the reference measurement value. If it is determined that the driving data meets the condition, the vehicle service platform 120 may determine the road on which the vehicle 130 is traveling based on the location information. If it is determined that the driving data does not meet the condition, the vehicle service platform 120 may abandon the subsequent steps of the embodiments of the present disclosure.

[0055] In some embodiments, the vehicle service platform 120 may determine whether the driving speed of the vehicle 130 exceeds a predetermined threshold. If it is determined that the driving speed of the vehicle 130 exceeds the threshold, it may be determined that the vehicle 130 is in a driving state, and further, it may be determined that the driving data satisfies the conditions for triggering the determination of the reference measurement value. If it is determined that the driving speed of the vehicle 130 does not exceed the threshold, it may be determined that the vehicle 130 is in a non-driving state, and further, it may be determined that the driving data does not satisfy the conditions for triggering the determination of the reference measurement value. Exemplarily, the threshold may be 6 km / h. The vehicle service platform 120 may determine whether the speed S in the data of the vehicle 130 is greater than 6 km / h. If S>6 km / h, the road on which the vehicle 130 is traveling is determined based on the location information. If S≤6 km / h, the vehicle service platform 120 may abandon the execution of subsequent steps.

[0056] It should be understood that the above conditions are only exemplary, and in actual application, any appropriate conditions may be selected according to the calibration requirements of the sensor 131. The embodiments of the present disclosure are not limited in this regard.

[0057] In block 230 of process 200, the vehicle service platform 120 determines a second inclination of the road surface of the road. Alternatively or additionally, the second inclination may include a pitch angle relative to the horizontal direction. Of course, the second inclination may also include an inclination relative to the plumb bob direction (i.e., the gravity direction) or other directions. The embodiments of the present disclosure do not limit the reference direction of the inclination of the road surface.

[0058] In some embodiments, the inclination of the road surface of the predetermined road can be predetermined. For example, the inclination of the road surface of some predetermined roads in the city can be determined by public data. For example, the inclination of the road surface of some predetermined roads in the city can also be measured. The vehicle service platform 120 can save the inclination and position information of the road surface of these predetermined roads in a database. The vehicle service platform 120 can determine whether the vehicle 130 is located on the predetermined road based on the position information of the vehicle 130. If it is determined that the vehicle 130 is located on the predetermined road, the vehicle service platform 120 obtains the inclination of the predetermined road as the second inclination. If it is determined that the vehicle 130 is located on a non-scheduled road, the vehicle service platform 120 can give up executing subsequent steps. In this way, the calibration requirements and service costs of the sensor 131 can be taken into account.

[0059] In some embodiments, the database may store road information of a predetermined road, and the road information may include the road name, address information, boundary information, and inclination of the predetermined road. The address information may include the country, province, city, region, etc. where the predetermined road is located. The boundary information may include the coordinates of multiple boundary points of the predetermined road. The vehicle service platform 120 may obtain the coordinates of multiple boundary points of each predetermined road in at least one predetermined road from the database. Based on the location information of the vehicle 130, it is determined whether the vehicle 130 is located within the range surrounded by the coordinates of multiple boundary points of a predetermined road in at least one predetermined road. If it is determined that the vehicle 130 is located within the range surrounded by the coordinates of multiple boundary points of a predetermined road, it is determined that the vehicle 130 is located on a predetermined road.

[0060] For example, Figure 4 FIG. 4 is a schematic diagram showing a scenario 400 for determining the inclination of a vehicle during driving according to some embodiments of the present disclosure. Figure 4As shown, a road 410 is shown in scene 400, and the boundary information of road 410 may include coordinates (X1, Y1), (X2, Y2), (X3, Y3) and (X4, Y4) of boundary points 401, 402, 403 and 404. Boundary points 401, 402, 403 and 404 may enclose a quadrilateral area. The vehicle service platform 120 may determine whether the longitude and latitude coordinates (Xn, Yn) of the vehicle 130 are located within the quadrilateral area. If it is determined that the coordinates (Xn, Yn) are located within the quadrilateral area enclosed by the coordinates (X1, Y1), (X2, Y2), (X3, Y3) and (X4, Y4), the vehicle service platform 120 may determine that the vehicle 130 is traveling on a predetermined road, and the inclination of the road 410 may be obtained.

[0061] In some embodiments, the data of the vehicle 130 also includes direction information indicating the driving direction of the vehicle 130. The vehicle service platform 120 can obtain a predetermined inclination of a predetermined road. Based on the direction information and the predetermined inclination, the inclination of the predetermined road with respect to the driving direction of the vehicle is determined as the second inclination. Exemplarily, the predetermined inclination of the predetermined road in the predetermined direction may be stored in the database. For example, the pitch angle of the predetermined road in the uphill direction may be stored. The direction information of the vehicle 130 may include an azimuth relative to, for example, the due north direction. Specifically, the azimuth of the due north direction is defined as 0 degrees (i.e., 360 degrees), and the value is rotated in a clockwise direction. The due east direction is 90 degrees, the due south direction is 180 degrees, and the due west direction is 270 degrees. The vehicle service platform 120 can determine whether the vehicle 130 is in an uphill direction or a downhill direction on the predetermined road based on the azimuth. If it is determined that the vehicle 130 is traveling in an uphill direction, the vehicle service platform 120 can determine the pitch angle of the predetermined road in the uphill direction as the second inclination. If it is determined that the vehicle 130 is traveling in a downhill direction, the vehicle service platform 120 may determine a negative value of a pitch angle of the predetermined road in an uphill direction as the second inclination.

[0062] In some embodiments, the vehicle service platform 120 may be deployed on the server device 110. On this basis, the vehicle service platform 120 may retrieve the road information of the predetermined road from the database based on the location information of the vehicle 130. The vehicle service platform 120 may also be deployed on the vehicle 130. At this time, the vehicle service platform 120 may send a request to the server device 110 based on the location information of the vehicle 130. The server device 110 receives the road information of the predetermined road fed back based on the request.

[0063] At block 240 of process 200, the vehicle service platform 120 determines a reference measurement value of the sensor for a reference inclination of the vehicle 130 based on the first inclination and the second inclination. In some embodiments, the vehicle service platform 120 may determine a reference measurement value of the sensor for the reference inclination based on the measurement value for the first inclination, the conversion factor, and the second inclination of the road. Exemplarily, the vehicle service platform 120 may determine the reference measurement value for the reference inclination based on a formula as shown below.

[0064] V b =V1-P2*F (1)

[0065] Among them, V b represents a reference measurement value, V1 represents a measurement value for a first inclination, P2 represents a second inclination, and F represents a conversion factor.

[0066] It is to be understood that the above formula is only exemplary, and any appropriate formula may be selected according to actual needs to determine the reference measurement value for the reference inclination, and the embodiments of the present disclosure are not limited in this regard. For example, the vehicle service platform 120 may also determine the angular change between the second inclination and the reference inclination. The measurement value change may be determined based on the angular change and the conversion factor. The measurement value change is actually the measurement value change caused by the inclination change between the first inclination of the vehicle 130 and the reference inclination. The vehicle service platform 120 may determine the measurement value of the sensor 131 when the vehicle 130 is at the reference inclination based on the measurement value for the first inclination and the measurement value change, as the reference measurement value for the reference inclination.

[0067] In some embodiments, the vehicle service platform 120 may be deployed on the server device 110. On this basis, the vehicle service platform 120 may send the determined reference measurement value to the vehicle 130 based on the communication connection between the server device 110 and the vehicle 130 to instruct the vehicle 130 to update the reference measurement value of the sensor 131 for the reference inclination.

[0068] In some embodiments, the vehicle service platform 120 may also be deployed in the vehicle 130. The vehicle 130 may update the reference measurement value of the sensor 131 for the reference inclination based on the reference measurement value determined by the vehicle service platform 120. For example, the vehicle 130 may update the reference measurement value in the cache space of the sensor 131.

[0069] In some embodiments, after updating the reference measurement value of the sensor 131 for the reference inclination, the vehicle 130 may also detect the inclination of the vehicle 130 during driving based on the updated reference measurement value using the sensor 131. For example, the vehicle 130 may determine the inclination of the vehicle 130 during driving based on the following formula.

[0070] P rt =(V rt -V b ) / F (2)

[0071] Among them, P rt V represents the inclination of the vehicle 130 during driving; rt V represents the real-time measurement value of the sensor 131 during the driving process of the vehicle 130; b represents the updated reference measurement value; F represents the conversion factor.

[0072] To summarize, according to the embodiments of the present disclosure, the inclination of the road surface can be used as a reference to determine the reference measurement value of the vehicle's sensor during vehicle driving, which is not only conducive to reducing the production cost of the vehicle, but also can maintain the accuracy of the reference measurement value throughout the life cycle of the vehicle, thereby maintaining the accuracy of the sensor's retrieval results.

[0073] Example devices, vehicles and equipment

[0074] The embodiments of the present disclosure also provide corresponding devices for implementing the above methods or processes. Figure 5 A schematic structural block diagram of an apparatus 500 for determining the inclination of a vehicle during driving according to some embodiments of the present disclosure is shown. The apparatus 500 may be implemented in or included in a server device 110 or a vehicle 130. Each module / component in the apparatus 500 may be implemented by hardware, software, firmware, or any combination thereof.

[0075] like Figure 5 As shown, the device 500 includes a data acquisition module 510, a road determination module 520, an inclination determination module 530 and a measurement value determination module 540. The data acquisition module 510 is configured to acquire data of the vehicle, the data at least including inclination data and position information of the vehicle, the inclination data indicating a first inclination of the vehicle detected by a sensor of the vehicle. The road determination module 520 is configured to determine the road on which the vehicle is traveling based on the position information. The inclination determination module 530 is configured to determine a second inclination of a road surface of the road. The measurement value determination module 540 is configured to determine a reference measurement value of the sensor for a reference inclination of the vehicle based on the first inclination and the second inclination.

[0076] In some embodiments, at least one of the first inclination and the second inclination comprises a pitch angle relative to a horizontal direction.

[0077] In some embodiments, the data of the vehicle also includes driving data of the vehicle; the road determination module 520 is further configured to: determine whether the driving data satisfies the conditions for triggering the determination of the reference measurement value, and based on determining that the driving data satisfies the conditions, determine the road on which the vehicle is traveling based on the position information; the inclination determination module 530 is further configured to: determine the inclination of the predetermined road as the second inclination based on determining that the vehicle is located on a predetermined road.

[0078] In some embodiments, the driving data includes a driving speed of the vehicle; and the road determination module 520 is further configured to determine that the driving data satisfies the condition based on determining that the driving speed of the vehicle exceeds a threshold.

[0079] In some embodiments, the data of the vehicle also includes direction information indicating the driving direction of the vehicle; the inclination determination module 530 is further configured to: obtain a predetermined inclination of the predetermined road; and based on the direction information and the predetermined inclination, determine the inclination of the predetermined road with respect to the driving direction of the vehicle as the second inclination.

[0080] In some embodiments, the inclination determination module 530 is further configured to: obtain the coordinates of multiple boundary points of each predetermined road in at least one predetermined road from a database; determine whether the vehicle is located within the range enclosed by the coordinates of the multiple boundary points of a predetermined road in the at least one predetermined road based on the position information; and determine that the vehicle is located on the one predetermined road based on determining that the vehicle is located within the range enclosed by the coordinates of the multiple boundary points of the one predetermined road.

[0081] In some embodiments, the inclination data of the vehicle includes a measurement value for the first inclination generated by the sensor and a conversion factor of the sensor, wherein the conversion factor indicates a conversion relationship between the measurement value of the sensor for the inclination of the vehicle and the inclination; the measurement value determination module 540 is further configured to determine the reference measurement value of the sensor for the reference inclination based on the measurement value for the first inclination, the conversion factor and the second inclination of the road.

[0082] In some embodiments, the apparatus 500 is implemented in the server device 110, and the apparatus 500 further includes: a sending module configured to send the determined reference measurement value to the vehicle to instruct the vehicle to update the reference measurement value of the sensor for the reference inclination.

[0083] The units and / or modules included in the device 500 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units and / or modules can be implemented using software and / or firmware, such as machine executable instructions stored on a storage medium. In addition to or as an alternative to machine executable instructions, some or all of the units and / or modules in the device 500 can be implemented at least in part by one or more hardware logic components. As an example and not limitation, exemplary types of hardware logic components that can be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0084] Figure 6 Schematic diagram of an example architecture 600 of a vehicle 130 according to some embodiments of the present disclosure is shown. It should be understood that Figure 6 The example architecture 600 of the vehicle 130 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. Figure 6 The illustrated vehicle 130 may include or be implemented as Figure 1 Vehicle 130 or Figure 5 Device 500.

[0085] like Figure 6 As shown, the vehicle 130 includes a sensor 131, a storage unit 610, and a control unit 620. The sensor 131 is configured to detect the inclination of the vehicle 130. The storage unit 610 is configured to store a computer program. The control unit 620 is configured to call and execute the computer program from the storage unit, so that the vehicle performs various methods or actions of various embodiments of the present disclosure.

[0086] In some embodiments, the sensor 131, the control unit 620 and the storage unit 610 may be connected via a bus 630. The bus 303 may include but is not limited to a Serial Peripheral Interface (SPI) bus, a Controller Area Network (CAN) bus, and the like.

[0087] In some embodiments, the vehicle 130 may further include a communication unit 640, and the vehicle 130 may wirelessly communicate with the server device 110 or other terminal devices through the communication unit 640. The wireless communication here may include but is not limited to Bluetooth, WIFI, Zigbee, Z-Wave, GSM (Global System for Mobile Communications), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), 5G (Fifth Generation), etc.

[0088] In some embodiments, the vehicle 130 may further include a positioning unit 650, and the vehicle 130 may obtain the location information of the vehicle 130 itself through the positioning unit 650. The positioning unit 650 here may include but is not limited to a satellite-based navigation positioning unit, a wireless communication network-based positioning unit, an inertial navigation-based positioning unit, etc. For example, a global satellite navigation positioning unit, a cellular network navigation positioning unit, an inertial measurement unit, etc.

[0089] Figure 7 1 shows a block diagram of an electronic device 700 in which one or more embodiments of the present disclosure may be implemented. It should be understood that Figure 7 The electronic device 700 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Figure 7 The electronic device 700 shown may include or be implemented as Figure 1 The server device 110 or the vehicle 130, or is implemented as Figure 5 Device 500.

[0090] like Figure 7 As shown, the electronic device 700 is in the form of a general electronic device. The components of the electronic device 700 may include, but are not limited to, one or more processors or processing units 710, a memory 720, a storage device 730, one or more communication units 740, one or more input devices 750, and one or more output devices 760. The processing unit 710 may be an actual or virtual processor and is capable of performing various processes according to a program stored in the memory 720. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to improve the parallel processing capability of the electronic device 700.

[0091] The electronic device 700 typically includes a plurality of computer storage media. Such media may be any accessible media that is accessible to the electronic device 700, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 720 may be a volatile memory (e.g., registers, caches, random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 730 may be a removable or non-removable medium, and may include a machine-readable medium, such as a flash drive, a disk, or any other medium, which may be capable of being used to store information and / or data and may be accessed within the electronic device 700.

[0092] The electronic device 700 may further include additional removable / non-removable, volatile / non-volatile storage media. Figure 7 As shown in , a disk drive for reading or writing from a removable, non-volatile disk (e.g., a "floppy disk") and an optical drive for reading or writing from a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to the bus (not shown) by one or more data media interfaces. The memory 720 may include a computer program product 725 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.

[0093] The communication unit 740 implements communication with other electronic devices through a communication medium. Additionally, the functions of the components of the electronic device 700 can be implemented with a single computing cluster or multiple computing machines that can communicate through a communication connection. Therefore, the electronic device 700 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.

[0094] The input device 750 may be one or more input devices, such as a mouse, a keyboard, a tracking ball, etc. The output device 760 may be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device 700 may also communicate with one or more external devices (not shown) through the communication unit 740 as needed, such as a storage device, a display device, etc., communicate with one or more devices that allow a user to interact with the electronic device 700, or communicate with any device that allows the electronic device 700 to communicate with one or more other electronic devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface (not shown).

[0095] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method described above.

[0096] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices, equipment, and computer program products implemented according to the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0097] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0098] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0099] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple implementations of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

[0100] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the various implementations disclosed herein.

Claims

1. A method for determining the inclination of a vehicle during driving, comprising: Acquire data of the vehicle, the data comprising at least inclination data and position information of the vehicle, the inclination data indicating a first inclination of the vehicle detected by a sensor of the vehicle; Based on the position information, determining the road on which the vehicle is traveling; determining a second slope of a road surface of the road; as well as Based on the first inclination and the second inclination, a reference measurement value of the sensor for a reference inclination of the vehicle is determined. 2 . The method of claim 1 , wherein at least one of the first inclination and the second inclination comprises a pitch angle relative to a horizontal direction.

3. The method according to claim 1, wherein the data of the vehicle further includes driving data of the vehicle; Determining the road on which the vehicle is traveling includes: determining whether the driving data meets a condition for triggering the determination of the reference measured value, and determining the road on which the vehicle is traveling based on the position information based on determining that the driving data satisfies the condition; and Determining the second inclination includes: Based on determining that the vehicle is located on a predetermined road, an inclination of the predetermined road is determined as the second inclination.

4. The method according to claim 3, wherein the driving data comprises a driving speed of the vehicle; and determining whether the driving data satisfies the condition comprises: The driving data is determined to satisfy the condition based on a determination that a driving speed of the vehicle exceeds a threshold value.

5. The method of claim 3, wherein the data of the vehicle further includes direction information indicating a driving direction of the vehicle; and determining the inclination of the predetermined road comprises: Acquiring a predetermined inclination of the predetermined road; as well as Based on the direction information and the predetermined inclination, the inclination of the predetermined road with respect to the traveling direction of the vehicle is determined as the second inclination.

6. The method according to claim 3, further comprising determining that the vehicle is located on the predetermined road by: Acquire coordinates of a plurality of boundary points of each predetermined road in at least one predetermined road from a database; determining whether the vehicle is located within a range surrounded by the coordinates of the plurality of boundary points of one of the at least one predetermined road based on the position information; and Based on determining that the vehicle is located within a range surrounded by the coordinates of the plurality of boundary points of the one predetermined road, it is determined that the vehicle is located on the one predetermined road.

7. The method according to claim 1, wherein the inclination data of the vehicle comprises a measurement value for the first inclination generated by the sensor and a conversion factor of the sensor, the conversion factor indicating a conversion relationship between the measurement value of the inclination of the vehicle by the sensor and the inclination; and Determining the reference measurement value comprises: The reference measurement value of the sensor for the reference inclination is determined based on the measurement value for the first inclination, the conversion factor and the second inclination of the road.

8. The method according to claim 1, wherein the method is applied to a server device, and the method further comprises: The determined reference measurement value is sent to the vehicle to instruct the vehicle to update a reference measurement value of the sensor for the reference inclination.

9. A device for determining the inclination of a vehicle during driving, comprising: a data acquisition module configured to acquire data of the vehicle, the data comprising at least inclination data and position information of the vehicle, the inclination data indicating a first inclination of the vehicle detected by a sensor of the vehicle; a road determination module, configured to determine the road on which the vehicle is traveling based on the location information; an inclination determination module, configured to determine a second inclination of a road surface of the road; as well as The measurement value determination module is configured to determine a reference measurement value of the sensor for a reference inclination of the vehicle based on the first inclination and the second inclination.

10. A vehicle comprising: a sensor configured to detect an inclination of the vehicle; a storage unit configured to store a computer program; as well as A control unit is configured to cause the vehicle to perform the method according to any one of claims 1 to 7 when calling and executing the computer program from the storage unit.

11. An electronic device, comprising: at least one processing unit; as well as At least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 8 when executed by the at least one processing unit.

12. A computer-readable storage medium having a computer program stored thereon, wherein the computer program can be executed by a processor to implement the method according to any one of claims 1 to 8.

13. A computer program product, comprising a computer program, wherein the computer program implements the method according to any one of claims 1 to 8 when executed by a processor.

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