Method, system and device for measuring road gradient by vehicle

Abstract

The invention discloses a method, system and device for measuring the road gradient of a vehicle, and the method comprises the steps: obtaining a first height which is obtained through a first laser ranging radar, and the first laser ranging radar is disposed at the front end of the vehicle; a second height is obtained, the second height is obtained through a second laser ranging radar, and the second laser ranging radar is arranged at the rear end of the vehicle; an included angle between the vehicle and the horizontal plane is obtained, and a first angle is obtained and obtained through an angle sensor of the vehicle; acquiring an included angle between the vehicle and the road surface to obtain a second angle; and calculating a difference value between the first angle and the second angle to obtain the road gradient.

Description

Technical Field

[0001] The present application relates to the field of vehicle data processing, and in particular to a method, system and device for measuring road slope by a vehicle. Background Art

[0002] In daily life, whether it is planning roads, building houses or designing park trails, slope calculation is an indispensable part. The slope not only affects the safety and aesthetics of the building, but also directly affects people's quality of life.

[0003] In the prior art, the road slope is usually obtained through sensor measurement. However, during normal vehicle driving, due to the influence of the longitudinal acceleration of the vehicle body, suspension deformation and road bumps, the vehicle beam is not parallel to the ground, and the angle measured by the angle sensor does not match the slope of the ground, so the slope value measured by the angle sensor is not accurate. How to obtain the accurate value of the road slope is still a technical problem. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a method, system and device for measuring road slope by a vehicle.

[0005] The technical solution provided in this application is described below:

[0006] In a first aspect, the present application provides a method, system and device for measuring a road slope by a vehicle, the method comprising:

[0007] Acquire a first height, where the first height is acquired by a first laser ranging radar, and the first laser ranging radar is arranged at the front end of the vehicle;

[0008] Acquire a second height, where the second height is acquired by a second laser ranging radar, and the second laser ranging radar is arranged at the rear end of the vehicle;

[0009] Acquire an angle between the vehicle and a horizontal plane to obtain a first angle, wherein the first angle is acquired by an angle sensor of the vehicle;

[0010] Obtaining the angle between the vehicle and the road surface to obtain a second angle;

[0011] The difference between the first angle and the second angle is calculated to obtain the road slope.

[0012] Optionally, obtaining the angle between the vehicle and the road surface to obtain the second angle includes:

[0013] Calculating the difference between the first height and the second height to obtain height difference data;

[0014] Obtaining a setting distance between the first laser ranging radar and the second laser ranging radar;

[0015] A second angle is calculated based on the height difference data and the setting distance.

[0016] Optionally, the height difference data and the set distance are used to calculate the second angle, including:

[0017] The second angle is obtained by calculating the height difference data and the set distance through an inverse tangent function.

[0018] Optionally, the angle sensor is arranged between the first laser ranging radar and the second laser ranging radar.

[0019] Optionally, the emission angles of the first laser ranging radar and the second laser ranging radar are perpendicular to the vehicle.

[0020] A second aspect of the present application provides a system for measuring a road slope by a vehicle, the system comprising:

[0021] A first acquisition unit, used to acquire a first height, where the first height is acquired by a first laser ranging radar, and the first laser ranging radar is arranged at the front end of the vehicle;

[0022] A second acquisition unit, used for acquiring a second height, wherein the second height is acquired by a second laser ranging radar, and the second laser ranging radar is arranged at the rear end of the vehicle;

[0023] A third acquisition unit is used to acquire an angle between the vehicle and a horizontal plane to obtain a first angle, wherein the measured angle is acquired by an angle sensor of the vehicle;

[0024] A fourth acquisition unit, used to acquire an angle between the vehicle and the road surface to obtain a second angle;

[0025] A calculation unit is used to calculate the difference between the first angle and the second angle to obtain a road slope.

[0026] Optionally, the fourth acquiring unit includes:

[0027] A first calculation module: used for calculating the difference between the first height and the second height to obtain height difference data;

[0028] An acquisition module, used to acquire a setting distance between the first laser ranging radar and the second laser ranging radar;

[0029] The second calculation module calculates a second angle according to the height difference data and the set distance.

[0030] Optionally, the second calculation module is specifically used for:

[0031] The second angle is obtained by calculating the height difference data and the set distance through an inverse tangent function.

[0032] Optionally, the angle sensor is arranged between the first laser ranging radar and the second laser ranging radar.

[0033] Optionally, the emission angles of the first laser ranging radar and the second laser ranging radar are perpendicular to the vehicle.

[0034] A third aspect of the present application provides a device for measuring a road slope by a vehicle, the device comprising:

[0035] Processor, memory, input-output unit, and bus;

[0036] The processor is connected to the memory, the input and output unit, and the bus;

[0037] The memory stores a program, and the processor calls the program to execute the first aspect and any optional method for measuring the road slope of a vehicle in the first aspect.

[0038] The fourth aspect of the present application provides a computer-readable storage medium, on which a program is stored. When the program is executed on a computer, the method for measuring the slope of a road by a vehicle according to the first aspect and any optional method in the first aspect is executed.

[0039] It can be seen from the above technical solutions that this application has the following advantages:

[0040] The distances between the front end and the rear end of the vehicle and the road surface are respectively obtained by the first laser ranging radar and the second laser ranging radar to obtain a first height and a second height, and the difference between the first height and the second height is calculated to obtain height difference data; then the setting distance between the first laser ranging radar and the second laser ranging radar is obtained; the second angle is calculated by the inverse tangent function on the height difference data and the setting distance; finally, the road slope is obtained by calculating the difference between the first angle and the second angle.

[0041] Through this series of operating steps, the slope value can be obtained quickly and accurately, reducing the measurement cost and improving the reliability of slope measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solution in the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1A schematic flow chart of an embodiment of a method for measuring road slope by a vehicle provided in the present application;

[0044] Figure 2 A schematic diagram of height and angle in the method for measuring road slope by a vehicle provided in this application;

[0045] Figure 3 A schematic flow chart of another embodiment of the method for measuring road slope by a vehicle provided in the present application;

[0046] Figure 4 A schematic diagram of the structure of an embodiment of a system for measuring road slope of a vehicle provided in the present application;

[0047] Figure 5 A schematic diagram of the structure of an embodiment of a device for measuring road slope on a vehicle provided in the present application. DETAILED DESCRIPTION

[0049] It should be noted that the method, system and device for measuring the road slope of a vehicle provided in this application can be applied to a terminal, a system or a server. For example, the terminal can be a smart phone or a computer, a tablet computer, a smart TV, a smart watch, a portable computer terminal or a fixed terminal such as a desktop computer. For the convenience of explanation, this application uses the terminal as an example for explanation.

[0050] See also Figure 1 and Figure 2 , Figure 1 This is a flow chart of an embodiment of a method for measuring road slope by a vehicle provided in this application. Figure 2 A schematic diagram of height and angle in a method for measuring road slope by a vehicle provided in the present application, the method comprising:

[0051] S101, obtaining a first height, where the first height is obtained by a first laser ranging radar, and the first laser ranging radar is disposed at the front end of the vehicle;

[0052] Laser ranging radar is a device that uses laser technology to measure distance. It includes a laser transmitter, an optical receiver, a turntable and an information processing system. Compared with traditional radar, the radar wavelength in laser ranging radar is short and the frequency is high. It can accurately determine the measurement position during measurement, and can quickly and accurately measure and obtain data.

[0053] When a vehicle is traveling on a sloped road, the vehicle is not parallel to the road surface, and the distances between the front and rear ends of the vehicle and the road surface are different.

[0054] The first laser ranging radar is set at the front end of the vehicle. The first laser ranging radar calculates the distance between the front end of the vehicle and the road surface by emitting laser pulses and receiving reflected light signals, thereby obtaining the distance between the front end of the vehicle and the road surface, that is, the first height.

[0055] S102, obtaining a second height, where the second height is obtained by a second laser ranging radar, and the second laser ranging radar is disposed at the rear end of the vehicle;

[0056] The second laser ranging radar is set at the rear end of the vehicle. The second laser ranging radar calculates the distance between the rear end of the vehicle and the road surface by emitting laser pulses and receiving reflected light signals, thereby obtaining the distance between the rear end of the vehicle and the road surface, that is, the second height.

[0057] In actual situations, the laser ranging radar is mounted on the vehicle frame, and the rigidity of the vehicle frame itself is used to improve the stability of the distance value between the vehicle and the road surface obtained by the laser ranging radar. The data transmission method between the laser ranging radar and the vehicle controller can be wirelessly transmitted by setting a wireless signaling module, or directly electrically connected for transmission, which is not limited here.

[0058] S103, obtaining an angle between the vehicle and a horizontal plane to obtain a first angle, where the first angle is obtained by an angle sensor of the vehicle;

[0059] An angle sensor is a device that converts angle changes into measurable electrical signals. The angle sensor may specifically be a contactless angle sensor, an azimuth angle sensor, or various types of angle sensors, which are not specifically limited here.

[0060] In this embodiment, the angle sensor is arranged in the middle section of the vehicle, that is, between the first laser ranging radar and the second laser ranging radar. The angle sensor uses a sensitive element to sense the position change of the rotating bearing and uses the principles of capacitance, inductance Hall effect, photoelectric effect, etc. to measure. When the angle sensor rotates, the signal detected by the sensitive element also changes accordingly and is output in digital form, and finally the angle between the vehicle and the horizontal plane is obtained, that is, the first angle is obtained.

[0061] S104, obtaining an angle between the vehicle and the road surface to obtain a second angle;

[0062] The second angle is the angle between the vehicle and the road surface. Before obtaining the angle between the vehicle and the road surface, the difference between the first height and the second height is first calculated to obtain height difference data.

[0063] Then obtain the setting distance of the first laser ranging radar and the second laser ranging radar. Specifically, the data of the setting distance is preset in the vehicle terminal, and is directly measured and obtained when the laser ranging radar is assembled. The laser ranging radar measures the distance by emitting laser pulses and receiving the reflected signals. When the first laser ranging radar emits a laser pulse, the timer records the time of emission. When the second laser ranging radar receives the reflected laser pulse, its timer records the time of reception. The interval time between these two time points is the "flight time" of the laser. Since the speed of light c is a known constant, the distance between the two laser ranging radars is calculated using distance = speed × time to obtain the setting distance of the first laser ranging radar and the second laser ranging radar.

[0064] The second angle is obtained through calculation, and the second angle serves as a basis for calculating the road slope.

[0065] S105: Calculate the difference between the first angle and the second angle to obtain the road slope.

[0066] The first angle and the second angle are obtained through the above steps, and finally the road slope is obtained by calculating the difference between the first angle and the second angle.

[0067] According to the above description, the first angle is the angle between the vehicle and the horizontal plane, and the second angle is the angle between the vehicle and the road surface. When the vehicle tilts and is not parallel to the road, and there is a height difference between the front end and the rear end of the vehicle, the actual road slope is the difference between the first angle and the second angle. Therefore, the road slope = first angle - second angle.

[0068] By measuring and calculating the road slope, this process simplifies the steps and quickly calculates the road slope.

[0069] In this embodiment, first, the distances between the front end and the rear end of the vehicle and the road surface are respectively obtained by the first laser ranging radar and the second laser ranging radar to obtain the first height and the second height, and the difference between the first height and the second height is calculated to obtain height difference data; then the setting distance of the first laser ranging radar and the second laser ranging radar is obtained; the second angle is calculated by the inverse tangent function on the height difference data and the setting distance; finally, the road slope is obtained by calculating the difference between the first angle and the second angle.

[0070] Through measurement and calculation, the slope value can be obtained quickly and accurately, reducing the measurement cost and improving the reliability of slope measurement.

[0071] In the method of measuring the road slope by vehicle, the second angle needs to be obtained before obtaining the slope angle. Figure 2 and Figure 3 , Figure 3Another embodiment of the method for measuring a road slope by a vehicle provided by the present application comprises:

[0072] S301, obtaining a first height, where the first height is obtained by a first laser ranging radar, and the first laser ranging radar is disposed at the front end of the vehicle;

[0073] S302, obtaining a second height, where the second height is obtained by a second laser ranging radar, and the second laser ranging radar is disposed at the rear end of the vehicle;

[0074] S303, obtaining an angle between the vehicle and a horizontal plane to obtain a first angle, where the first angle is obtained by an angle sensor of the vehicle;

[0075] In this embodiment, steps S301 to S303 are similar to steps S101 to S103 in the above embodiment, and are not described again here.

[0076] S304, calculating the difference between the first height and the second height to obtain height difference data;

[0077] The first height is the distance between the front end of the vehicle and the road surface, and the second height is the distance between the rear end of the vehicle and the road surface. The height difference data is obtained by calculating the difference between the front end of the vehicle and the rear end of the vehicle and the road surface.

[0078] The first height is obtained by the first laser ranging radar, and the second height is obtained by the second laser ranging radar. The laser ranging radar detects the position of the target by emitting a laser beam. It first emits a detection signal to the target position, and then compares the signal reflected from the target position with the emitted signal to obtain relevant information about the target position, such as target distance, direction, height, speed, shape and other parameters. The data is obtained by the laser ranging radar, and then the difference between the first height and the second height is calculated to ensure the accuracy of the data.

[0079] S305, obtaining a setting distance between the first laser ranging radar and the second laser ranging radar;

[0080] The set distance refers to the straight-line distance between the first laser ranging radar and the second laser ranging radar when they are installed on the vehicle. In order to accurately calculate the road slope, in actual situations, the distance between the first laser ranging radar and the second laser ranging radar is determined when the vehicle is assembled. In order to facilitate the calculation of the road slope, the set distance will be directly set in the vehicle terminal, so that the vehicle can directly call the set distance to calculate the current slope of the vehicle when obtaining the road slope.

[0081] Generally, the first laser ranging radar and the second laser ranging radar are set on the vehicle frame, and the setting position is fixed. Therefore, the setting distance is related to the model of the vehicle frame in actual situations. When the data volume is sufficient, if the vehicle controller cannot directly obtain the setting distance, it will determine the vehicle type according to the actual model of the vehicle or the identity code of the vehicle itself, and then enable the vehicle controller to obtain the setting distance between the first laser ranging radar and the second laser ranging radar of the corresponding vehicle through the Internet of Vehicles.

[0082] S306: Calculate the second angle by using an inverse tangent function on the height difference data and the set distance.

[0083] The inverse tangent function is applicable to the conversion between angles, height differences, and horizontal distances in any right triangle. When the inverse tangent function is used to calculate an angle, the tangent of the angle is equal to the ratio of the height difference to the set distance.

[0084] The relationship between the height difference data and the set distance can be expressed by the inverse tangent function in trigonometric functions. When the data of the opposite side and the adjacent side of a right triangle are known, the inverse tangent function can be used to calculate the corresponding angle. For example, if the height of a slope is known, that is, the opposite side data, and the horizontal distance is known, that is, the adjacent side data, the inverse tangent function can be used to calculate the angle of the slope.

[0085] In a right triangle, the inverse tangent function is the ratio of the height difference data to the set distance calculation, and the corresponding angle is calculated. Through the relationship of trigonometric functions, the inverse tangent function becomes a direct relationship for calculating the angle, which can calculate the angle simply and intuitively.

[0086] S307: Calculate the difference between the first angle and the second angle to obtain the road slope.

[0087] In this embodiment, the implementation of step S307 is similar to that of step S105 in the above-mentioned embodiment, and will not be repeated here.

[0088] The second angle is the angle between the vehicle and the road surface calculated by the height difference between the first height and the second height. Therefore, when the vehicle is parallel to the road surface, there is no height difference between the first height and the second height, so the second angle is 0. When the second angle is not 0, it means that the vehicle itself is not parallel to the road surface. The second angle is established by establishing a right triangle based on the height difference between the front end and the rear end of the vehicle, and performing inverse tangent calculation based on known conditions. The inverse tangent function is a function that uses the ratio of the two right-angled sides of the right triangle, the opposite side and the adjacent side, to find the angle.

[0089] Specifically, the emission angle of the laser ranging radar is perpendicular to the vehicle itself. When there is a height difference between the front end and the rear end of the vehicle, it means that the vehicle is not parallel to the road surface. When the vehicle is not parallel to the road surface, an angle will inevitably be generated. At this time, the height difference between the front end and the rear end of the vehicle is used as the input. At the same time, the setting distance between the first laser ranging radar and the second laser ranging radar is a fixed value. The two data are calculated by inverse tangent to obtain the actual value of the second angle.

[0090] In an embodiment of the present application, when obtaining the current road slope, the vehicle terminal can judge the accuracy of the first angle based on the relative position of the vehicle and the road surface. When there is a height difference between the first height and the second height, the vehicle will calculate the second angle based on the height difference and correct the first angle through the second angle, thereby improving the accuracy of the vehicle's road slope measurement.

[0091] The following is a detailed description of the first system for measuring road slope by vehicle provided by the present application. Figure 4 , Figure 4 This is a schematic diagram of an embodiment of a system for measuring road slope by a vehicle provided in the present application, the system comprising:

[0092] A first acquisition unit 401 is used to acquire a first height, where the first height is acquired by a first laser ranging radar, and the first laser ranging radar is disposed at the front end of the vehicle;

[0093] A second acquisition unit 402 is used to acquire a second height, where the second height is acquired by a second laser ranging radar, and the second laser ranging radar is disposed at the rear end of the vehicle;

[0094] The third acquisition unit 403 is used to acquire the angle between the vehicle and the horizontal plane to obtain a first angle, where the measured angle is acquired by an angle sensor of the vehicle;

[0095] The fourth acquisition unit 404 is used to acquire the angle between the vehicle and the road surface to obtain a second angle;

[0096] The calculation unit 405 is used to calculate the difference between the first angle and the second angle to obtain the road slope.

[0097] Optionally, the fourth obtaining unit 404 includes:

[0098] The first calculation module 4041 is used to calculate the difference between the first height and the second height to obtain height difference data;

[0099] An acquisition module 4042 is used to acquire a setting distance between the first laser ranging radar and the second laser ranging radar;

[0100] The second calculation module 4043 calculates the second angle according to the height difference data and the set distance.

[0101] Optionally, the second calculation module 4043 is specifically used for:

[0102] The second angle is obtained by calculating the height difference data and the set distance through the inverse tangent function.

[0103] Optionally, the angle sensor is arranged between the first laser ranging radar and the second laser ranging radar.

[0104] Optionally, the emission angles of the first laser ranging radar and the second laser ranging radar are perpendicular to the vehicle.

[0105] This application also provides a device for measuring the slope of a road by a vehicle, see Figure 5 , Figure 5 This is a schematic diagram of an embodiment of a device for measuring road slope of a vehicle provided in the present application, the device comprising:

[0106] Processor 501, memory 502, input and output unit 503, bus 504;

[0107] The processor 501 is connected to the memory 502, the input and output unit 503 and the bus 504;

[0108] The memory 502 stores a program, and the processor 501 calls the program to execute any of the above methods for measuring the road slope of a vehicle.

[0109] The present application also relates to a computer-readable storage medium on which a program is stored, wherein when the program is run on a computer, the computer is caused to execute any of the above methods.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0111] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk, etc. Various media that can store program codes.

Claims

1. A method, system and device for measuring road slope by a vehicle, characterized in that: The method comprises: Acquire a first height, where the first height is acquired by a first laser ranging radar, and the first laser ranging radar is arranged at the front end of the vehicle; Acquire a second height, where the second height is acquired by a second laser ranging radar, and the second laser ranging radar is arranged at the rear end of the vehicle; Acquire an angle between the vehicle and a horizontal plane to obtain a first angle, wherein the first angle is acquired by an angle sensor of the vehicle; Obtaining the angle between the vehicle and the road surface to obtain a second angle; The difference between the first angle and the second angle is calculated to obtain the road slope.

2. The method for measuring road slope by vehicle according to claim 1, characterized in that: The step of obtaining the angle between the vehicle and the road surface to obtain the second angle includes: Calculating the difference between the first height and the second height to obtain height difference data; Obtaining a setting distance between the first laser ranging radar and the second laser ranging radar; A second angle is calculated based on the height difference data and the setting distance.

3. The method for measuring road slope by vehicle according to claim 2, characterized in that: The height difference data and the set distance are used to calculate a second angle, including: The second angle is obtained by calculating the height difference data and the set distance through an inverse tangent function.

4. The method for measuring road slope using a vehicle according to any one of claims 1 to 3, characterized in that: The angle sensor is arranged between the first laser ranging radar and the second laser ranging radar.

5. The method for measuring road slope using a vehicle according to any one of claims 1 to 3, characterized in that: The emission angles of the first laser ranging radar and the second laser ranging radar are perpendicular to the vehicle.

6. A system for measuring road slope by a vehicle, characterized in that: The system comprises: A first acquisition unit, used to acquire a first height, where the first height is acquired by a first laser ranging radar, and the first laser ranging radar is arranged at the front end of the vehicle; A second acquisition unit, used for acquiring a second height, wherein the second height is acquired by a second laser ranging radar, and the second laser ranging radar is arranged at the rear end of the vehicle; A third acquisition unit is used to acquire an angle between the vehicle and a horizontal plane to obtain a first angle, wherein the measured angle is acquired by an angle sensor of the vehicle; A fourth acquisition unit, used to acquire an angle between the vehicle and the road surface to obtain a second angle; A calculation unit is used to calculate the difference between the first angle and the second angle to obtain a road slope.

7. The system according to claim 6, characterized in that The fourth acquiring unit comprises: A first calculation module: used for calculating the difference between the first height and the second height to obtain height difference data; An acquisition module, used to acquire a setting distance between the first laser ranging radar and the second laser ranging radar; The second calculation module calculates a second angle according to the height difference data and the set distance.

8. The system according to claim 6, characterized in that The second calculation module is specifically used for: The second angle is obtained by calculating the height difference data and the set distance through an inverse tangent function.

9. A device for measuring road slope on a vehicle, characterized in that: The device comprises: Processor, memory, input-output unit, and bus; The processor is connected to the memory, the input and output unit, and the bus; The memory stores a program, and the processor calls the program to execute the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a program stored thereon, wherein the program, when executed on a computer, performs the method according to any one of claims 1 to 5.

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