Early warning method, device and equipment for ramp slip in ice and snow weather and storage medium

Abstract

The invention discloses an ice and snow weather ramp slip early warning method, device and equipment and a storage medium, and relates to the technical field of road early warning, and the method comprises the steps: determining the current position of a vehicle, and determining the current road weather information according to weather forecast information and road recognition information; when the road weather information is ice and snow weather, front road information is obtained according to high-precision map data and the current position of the vehicle, and the front road information comprises the road gradient; vehicle load information is determined, and a slip gradient threshold value is obtained according to the vehicle load information and the front road information; and when the slip gradient threshold value is larger than the road gradient, slip early warning information is generated, ramp slip early warning can be carried out in advance in the ice and snow weather, and the safety risk problem caused by vehicle slip in the ice and snow weather can be effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of road warning technology, and in particular to a method, device, equipment and storage medium for warning of slippage on slopes in icy and snowy weather. Background Art

[0002] In the icy and snowy weather of winter, vehicles are very likely to slip and get into traffic accidents. Some of these traffic accidents occur at the entrances and exits of urban elevated roads or other roads with steep slopes. Slipping on such slopes often leads to serious accidents involving multiple vehicles.

[0003] In actual situations, drivers can only judge subjectively whether the vehicle can pass through the ice and snow covered slope normally, which poses a great safety risk. At the same time, relying solely on the driver's subjective judgment, the vehicle is often very close to the ice and snow slope and cannot turn around and drive away in the opposite direction, resulting in the vehicle being trapped in place, which still poses a safety risk.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a method, device, equipment and storage medium for warning of slope slippage in icy and snowy weather, aiming to solve the technical problem of being unable to identify in advance the existence of road slippage on the navigation path ahead.

[0006] To achieve the above purpose, the present application proposes a method for early warning of slope slippage in icy and snowy weather, the method comprising:

[0007] Determine the current location of the vehicle and determine the current road weather information based on weather forecast information and road identification information;

[0008] When the road weather information is ice and snow weather, obtaining the road ahead information according to the high-precision map data and the current position of the vehicle, wherein the road ahead information includes the road slope;

[0009] Determining vehicle load information, and obtaining a slip gradient threshold value according to the vehicle load information and the road ahead information;

[0010] When the slip gradient threshold is greater than the road gradient, slip warning information is generated.

[0011] In one embodiment, the step of determining the current position of the vehicle and determining the current road weather information according to the weather forecast information and the road identification information includes:

[0012] Determine the current position of the vehicle, and determine the weather forecast information corresponding to the current position of the vehicle according to the current position of the vehicle;

[0013] Determine the current road surface grayscale according to the road identification information;

[0014] The current road information is determined according to the weather forecast information and the current road surface grayscale.

[0015] In one embodiment, when the road weather information is snowy weather, the step of obtaining the road ahead information according to the high-precision map data and the current position of the vehicle, wherein the road ahead information includes the road slope, comprises:

[0016] When the road weather is snowy, the current position of the vehicle is input into the map engine, and high-precision map data of the current navigation path is obtained based on the electronic horizon reconstructor module;

[0017] The road ahead information is obtained according to the high-precision map data, and the road ahead information includes a road slope.

[0018] In one embodiment, the step of determining the vehicle load information and obtaining the slip gradient threshold according to the vehicle load information and the road ahead information comprises:

[0019] Determine the front axle load information and the rear axle load information of the vehicle, determine the road adhesion coefficient and the rolling friction coefficient of the icy and snowy road surface;

[0020] The slippery slope threshold of the road ahead is obtained based on the gravity of the vehicle, the ground's support force on the vehicle's front axle, the ground's support force on the vehicle's rear axle, the rolling resistance, the driving force and the road adhesion coefficient of the icy and snowy road. The rolling resistance is obtained based on the gravity of the vehicle, the rolling friction coefficient of the icy and snowy road and the road slope.

[0021] In one embodiment, the step of obtaining the slippery slope threshold of the road ahead according to the gravity of the vehicle, the support force of the ground on the front axle of the vehicle, the support force of the ground on the rear axle of the vehicle, the rolling resistance, the driving force and the road adhesion coefficient of the icy and snowy road surface comprises:

[0022] Judging the road to obtain ramp information;

[0023] When the ramp information is uphill, an uphill force relationship is obtained according to the gravity of the vehicle, the rolling resistance, the ground support force on the front axle of the vehicle, the ground support force on the rear axle of the vehicle and the road slope, and a relationship between an uphill slip gradient threshold and a road adhesion coefficient and a rolling friction coefficient of an icy and snowy road surface is obtained according to the uphill force relationship, and an uphill slip gradient threshold is obtained according to a relationship between the uphill slip gradient threshold and the road adhesion coefficient and the rolling friction coefficient of an icy and snowy road surface;

[0024] When the ramp information is downhill, the braking force, the rolling friction force, the gravity of the vehicle, and the road slope are determined to obtain the downhill force relationship, and the relationship between the uphill slip slope threshold and the road adhesion coefficient of the icy and snowy road surface is obtained according to the uphill force relationship. The downhill slip slope threshold is obtained according to the relationship between the uphill slip slope threshold and the road adhesion coefficient of the icy and snowy road surface.

[0025] In one embodiment, before the step of obtaining the slippery slope threshold of the road ahead according to the gravity of the vehicle, the support force of the ground on the front axle of the vehicle, the support force of the ground on the rear axle of the vehicle, the rolling resistance, the driving force and the road adhesion coefficient of the icy and snowy road, the step further includes:

[0026] When the vehicle is on a flat road, the distance between the center of gravity of the vehicle and the front axle and the distance between the center of gravity of the vehicle and the rear axle are obtained according to the wheelbase, the front axle load information of the vehicle and the rear axle load information.

[0027] In one embodiment, after the step of generating skidding warning information when the skidding slope threshold is greater than the road slope, the step further includes:

[0028] Determine the destination of the vehicle, and obtain a navigation planning path based on the current position of the vehicle and the destination;

[0029] The road slopes of the current navigation planning paths are determined respectively, and the road slopes are compared with the slippery slope threshold, and the navigation planning paths whose road slopes are less than the slippery slope threshold are determined as the recommended navigation paths.

[0030] In addition, to achieve the above purpose, the present application also proposes a snowy weather slope slip warning device, the snowy weather slope slip warning device comprising:

[0031] The weather confirmation module is used to determine the current location of the vehicle and determine the current road weather information based on the weather forecast information and road identification information;

[0032] A road recognition module, used to obtain the road ahead information according to the high-precision map data and the current position of the vehicle when the road weather information is ice and snow weather, wherein the road ahead information includes the road slope;

[0033] A slope calculation module, used to determine vehicle load information, and obtain a slippery slope threshold according to the vehicle load information and the front road information;

[0034] The warning avoidance module is used to generate skidding warning information when the skidding slope threshold is greater than the road slope.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a slope slip warning device for icy and snowy weather, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the slope slip warning method for icy and snowy weather as described above.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the icy and snowy weather slope slip warning method as described above are implemented.

[0037] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the icy and snowy weather slope slip warning method as described above.

[0038] One or more technical solutions proposed in the present application have at least the following technical effects: determining the current position of the vehicle, determining the current road weather information based on weather forecast information and road identification information; when the road weather information is icy and snowy weather, obtaining the road ahead information based on high-precision map data and the current position of the vehicle, the road ahead information including the road slope; determining the vehicle load information, and obtaining a slip slope threshold based on the vehicle load information and the road ahead information; generating slip warning information when the slip slope threshold is greater than the road slope, so that in icy and snowy weather, a slope slip warning can be issued in advance, which can effectively avoid safety risks caused by vehicle slipping in icy and snowy weather. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A flowchart diagram of the first embodiment of the method for early warning of slipping on a slope in snowy weather provided by the present application;

[0042] Figure 2 A flowchart of the design scheme provided for an embodiment of the method for early warning of slippage on a slope in snowy weather of this application;

[0043] Figure 3 A vehicle uphill force diagram provided for an embodiment of the method for early warning of skidding on a slope in snowy weather of the present application;

[0044] Figure 4 A vehicle downhill force diagram provided for an embodiment of a method for early warning of skidding on a slope in snowy weather of the present application;

[0045] Figure 5 This is a schematic diagram of the module structure of the device for early warning of slipping on a slope in snowy weather according to an embodiment of the present application;

[0046] Figure 6 Schematic diagram of the equipment structure of the hardware operating environment involved in the method for early warning of slope slippage in icy and snowy weather in the embodiment of the present application.

[0047] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0049] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0050] The main solution of the embodiment of the present application is: determine the current position of the vehicle, determine the current road weather information based on the weather forecast information and the road identification information; when the road weather information is ice and snow weather, obtain the road ahead information based on the high-precision map data and the current position of the vehicle, and the road ahead information includes the road slope; determine the vehicle load information, and obtain the slip slope threshold based on the vehicle load information and the road ahead information; when the slip slope threshold is greater than the road slope, generate slip warning information.

[0051] In this embodiment, for ease of description, the following description is made by taking the device for identifying slippery slopes in icy and snowy weather as the execution subject.

[0052] In the existing technology, the actual speed of the wheels is used to determine the slipping situation during the actual driving process. Each wheel is equipped with its own speed sensor, and wheel slipping mainly refers to the situation that the speed of one or two wheels among the four wheels exceeds the speed of the other three or two wheels within a certain range, and it is determined that there is a slipping situation. However, this method cannot provide early warning of slope slipping. When the vehicle is found to be slipping, it is often in a dangerous situation of slipping, and it is impossible to plan a safe path in advance to avoid safety risks.

[0053] The present application provides a solution that can provide early warning of slope slippage in icy and snowy weather, can effectively avoid safety risks caused by vehicle slippage in icy and snowy weather, can re-plan a safer navigation route when there is a risk of slope slippage at a long distance ahead, and can effectively avoid vehicles being stuck on dangerous sections of the road where the road is slippery.

[0054] It can be seen from the above embodiments that the present application determines the current road weather information according to the weather forecast information and the road identification information by determining the current position of the vehicle; when the road weather information is icy and snowy weather, the road ahead information is obtained according to the high-precision map data and the current position of the vehicle, and the road ahead information includes the road slope; the vehicle load information is determined, and a slip slope threshold is obtained according to the vehicle load information and the road ahead information; when the slip slope threshold is greater than the road slope, a slip warning information is generated, and in icy and snowy weather, a slope slip warning can be issued in advance, which can effectively avoid the safety risks caused by vehicle slipping in icy and snowy weather.

[0055] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an early warning device for slipping on a slope in icy and snowy weather, etc. The following takes the early warning device for slipping on a slope in icy and snowy weather as an example to illustrate this embodiment and the following embodiments.

[0056] Based on this, the embodiment of the present application provides a method for early warning of slippage on a slope in icy and snowy weather, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the slope slip warning method in icy and snowy weather of the present application.

[0057] In this embodiment, the snowy weather slope slip warning method includes steps S10 to S40:

[0058] Step S10, determining the current position of the vehicle, and determining the current road weather information based on the weather forecast information and the road identification information.

[0059] It should be noted that the current position of the vehicle refers to the real-time position of the vehicle during driving. The real-time position can be determined through a positioning module such as a GPS positioning module or a Beidou positioning module. The weather forecast information refers to the meteorological information released by the meteorological station, including weather conditions, weather temperature and other information. The road identification information refers to the weather information of the current driving environment obtained through the vehicle sensor. The current road weather information is the current weather conditions in the current driving road environment.

[0060] In a specific implementation, when a vehicle is driving on a road according to navigation, it can determine the current location information in real time, and determine the weather forecast information of the area corresponding to the current location based on the current location information, and at the same time, determine the weather conditions of the current driving environment based on the road identification information to obtain the current road weather information. In other words, when determining the current road weather, the weather forecast information is combined with the road conditions identified by the vehicle perception camera to avoid misjudgment caused by a single judgment method.

[0061] In a feasible implementation manner, the step of determining the current position of the vehicle and determining the current road weather information according to the weather forecast information and the road identification information includes:

[0062] Determine the current position of the vehicle, and determine the weather forecast information corresponding to the current position of the vehicle according to the current position of the vehicle;

[0063] Determine the current road surface grayscale according to the road identification information;

[0064] The current road information is determined according to the weather forecast information and the current road surface grayscale.

[0065] In a specific implementation, the current position of the vehicle is determined, and the administrative area where the vehicle is located is determined based on the current position of the vehicle, and the weather forecast information of the administrative area is obtained from the network, and the weather conditions and weather temperature in the weather forecast are obtained. At the same time, the vehicle perception camera can be used to identify the road conditions, and the obtained road conditions can be detected. For example, to detect whether there is snow on the road, the grayscale value of the image can be detected. It can be known that when there is snow or ice on the road, its grayscale value is greatly different from the grayscale value of the road. Therefore, it is possible to determine whether there is snow by detecting the grayscale of the current road surface. Then the weather forecast information and the current road grayscale are used together to determine the current road information to determine whether there is snow on the current road.

[0066] Step S20, when the road weather information is snowy weather, obtain the road ahead information according to the high-precision map data and the current position of the vehicle, and the road ahead information includes the road slope.

[0067] It should be noted that the high-precision map data is the map data obtained by the EHR module parsing the navigation path broadcast by the map engine. The road slope refers to the inclination angle of the current road to the horizontal plane, and it can also determine whether it is uphill or downhill.

[0068] In a specific implementation, when the road weather information is ice and snow weather, the current position of the vehicle is input into the map engine, and high-precision map data of the current navigation path is obtained based on the electronic horizon reconstructor module; the road ahead information is obtained based on the high-precision map data, and the road ahead information includes the road slope θ.

[0069] map

[0070] Step S30, determining vehicle load information, and obtaining a slip gradient threshold value according to the vehicle load information and the front road information.

[0071] It should be noted that the vehicle load information includes the vehicle front axle load and the vehicle rear axle load. The vehicle front axle load is determined by the vehicle front axle suspension pressure sensor and the mass of the vehicle's front wheels and front axle. The vehicle rear axle load is determined by the vehicle rear axle suspension pressure sensor and the mass of the vehicle's rear wheels and front axle. The slip slope threshold is the maximum slope value that the current vehicle can travel under the current road conditions.

[0072] In a specific implementation, the front axle load information and the rear axle load information of the vehicle are determined, and the road adhesion coefficient and the rolling friction coefficient of the icy and snowy road surface are determined; the road is judged to obtain ramp information; when the ramp information is uphill, the uphill force relationship is obtained according to the gravity of the vehicle, the rolling resistance, the ground support force on the front axle of the vehicle, the ground support force on the rear axle of the vehicle and the road slope, and the relationship between the uphill slip gradient threshold and the road adhesion coefficient and the rolling friction coefficient of the icy and snowy road surface is obtained according to the uphill force relationship, and the uphill slip gradient threshold is obtained according to the relationship between the uphill slip gradient threshold and the road adhesion coefficient and the rolling friction coefficient of the icy and snowy road surface; when the ramp information is downhill, the braking force, the rolling friction force, the gravity of the vehicle and the road slope are determined to obtain the downhill force relationship, and the relationship between the uphill slip gradient threshold and the road adhesion coefficient of the icy and snowy road surface is obtained according to the uphill force relationship, and the downhill slip gradient threshold is obtained according to the relationship between the uphill slip gradient threshold and the road adhesion coefficient of the icy and snowy road surface. The rolling resistance is obtained according to the gravity exerted on the vehicle, the rolling friction coefficient of the icy and snowy road surface and the road slope.

[0073] Reference Figure 2 , Figure 2 The flow chart for the design scheme is shown below. When the vehicle is on a flat road, the pressure sensors of each suspension are used to obtain the front and rear axle loads of the vehicle and the front axle load F is calculated based on the weight of the vehicle's wheels and axles. 前 The vehicle rear axle load F 后 , and combined with the vehicle wheelbase L and other parameter information, calculate the vehicle's overall weight mg and the distance L between the vehicle's center of gravity and the front and rear axles f With L b .

[0074] mg=F 前 +F 后 (1)

[0075] L f =F 后 *L / mg (2)

[0076] L b =F 前 *L / mg (3)

[0077] The uphill skidding slope threshold θ on the icy and snowy road is calculated using the vehicle front and rear axle load information, the ice and snow road adhesion coefficient φ, and the ice and snow road rolling friction coefficient μ. 上 and downhill slip gradient threshold θ 下 When calculating the uphill skidding threshold, the vehicle is simplified in the uphill process as follows: Figure 3 As shown, F N前 F is the support force of the ground on the front axle of the vehicle; N后 is the support force of the ground on the rear axle of the vehicle; mg is the gravity of the vehicle; F f is the rolling resistance; F T As driving force.

[0078] F N前 =mgcosθ*L b / L (4)

[0079] F N后 =mgcosθ*L a / L (5)

[0080] F f = mgμcosθ (6)

[0081] Since vehicles usually do not drive very fast in snowy weather, it is basically impossible to achieve normal climbing by inertia alone. Normal driving force is required to climb the hill, which requires the following:

[0082] F T -F f -mgsinθ≥0 (7)

[0083] In ice and snow conditions, the driving force F of the driving wheel T It is impossible to exceed the maximum adhesion that the ground can provide. For front-wheel drive vehicles:

[0084] F T ≤F N前 *φ (8)

[0085] Combining (1)-(8) we get the uphill skidding slope threshold for front-wheel drive vehicles:

[0086]

[0087] Rear-wheel drive vehicles are:

[0088] F T ≤F N后 *φ (9)

[0089] Combining (1)-(7) and (9), we can get the uphill skidding slope threshold of rear-wheel drive vehicles:

[0090]

[0091] Four-wheel drive vehicles include:

[0092] F T ≤mgcosθ*φ (10)

[0093] Combining (1)-(7) and (10), we can get the uphill skidding slope threshold of a four-wheel drive vehicle:

[0094] θ 上 =arctan(φ-μ)

[0095] Downhill slip threshold θ 下 Calculation: The simplified force situation of the vehicle during downhill is as follows: Figure 4 As shown, F N前 F is the support force of the ground on the front axle of the vehicle; N后 is the support force of the ground on the rear axle of the vehicle; mg is the gravity of the vehicle; F f is the rolling resistance; F b For braking force.

[0096] When going downhill in snowy weather, if the vehicle is not braked, it is very easy to drive too fast, causing the road adhesion coefficient φ to decrease sharply, so a certain amount of braking force is required. However, the adhesion provided by the entire road surface is limited, that is, the sum of rolling resistance and braking force cannot exceed the maximum adhesion provided by the road surface:

[0097] F b +F f ≤mgcosθ*φ (11)

[0098] To ensure that the vehicle does not accelerate downhill:

[0099] mgsinθ-F b -F f ≤0 (12)

[0100] From (11)-(12), we can get the downhill slip gradient threshold as:

[0101] θ 下 =arctanφ

[0102] Step S40, generating skid warning information when the skid slope threshold is greater than the road slope.

[0103] It should be noted that the skid warning information refers to the prompt information used to remind that there is a risk of skidding on the road ahead, which will affect the driving safety of the vehicle.

[0104] In the specific implementation, the slope of the road ahead under the navigation path is compared θ map and the slip gradient threshold θ 上 With θ 下 When the threshold is exceeded, a skidding risk warning is issued and the dangerous section is marked. The dangerous section can be uploaded to the navigation platform so that other users can know that a certain intersection ahead is a skidding section.

[0105] In a feasible implementation manner, after the step of generating skidding warning information when the skidding slope threshold is greater than the road slope, the step further includes:

[0106] Determine the destination of the vehicle, and obtain a navigation planning path based on the current position of the vehicle and the destination;

[0107] The road slopes of the current navigation planning paths are determined respectively, and the road slopes are compared with the slippery slope threshold, and the navigation planning paths whose road slopes are less than the slippery slope threshold are determined as the recommended navigation paths.

[0108] In a specific implementation, after determining that there is a risk of slipping ahead, the road can be replanned based on the current position of the vehicle and the destination to be traveled to. At the same time, the road slope of the newly planned road can be determined, and the road slope is compared with the slipping slope threshold. The navigation planned path with a road slope less than the slipping slope threshold is determined as the recommended navigation path.

[0109] The present embodiment provides a method for warning of slope skidding in icy and snowy weather, which determines the current position of a vehicle, and determines the current road weather information based on weather forecast information and road identification information; when the road weather information is icy and snowy weather, obtains the road ahead information based on high-precision map data and the current position of the vehicle, and the road ahead information includes the road slope; determines the vehicle load information, and obtains a skidding slope threshold based on the vehicle load information and the road ahead information; generates skidding warning information when the skidding slope threshold is greater than the road slope, and can perform slope skidding warning in advance in icy and snowy weather, which can effectively avoid safety risks caused by vehicle skidding in icy and snowy weather.

[0110] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the slope slip warning method for icy and snowy weather of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0111] This application also provides a snowy weather slope slip warning device, please refer to Figure 5 The snowy weather slope slip warning device comprises:

[0112] The weather confirmation module 10 is used to determine the current position of the vehicle and determine the current road weather information based on the weather forecast information and the road identification information;

[0113] A road recognition module 20, configured to obtain the road ahead information according to the high-precision map data and the current position of the vehicle when the road weather information is ice and snow weather, wherein the road ahead information includes the road slope;

[0114] A slope calculation module 30 is used to determine vehicle load information and obtain a slippery slope threshold value according to the vehicle load information and the front road information;

[0115] The warning avoidance module 40 is used to generate skidding warning information when the skidding slope threshold is greater than the road slope.

[0116] In one embodiment, the weather confirmation module 10 is also used to determine the current position of the vehicle, determine the weather forecast information corresponding to the current position of the vehicle based on the current position of the vehicle; determine the current road surface grayscale based on the road identification information; and determine the current road information based on the weather forecast information and the current road surface grayscale.

[0117] In one embodiment, the road identification module 20 is also used to input the current position of the vehicle into the map engine when the road weather is icy or snowy, and obtain high-precision map data of the current navigation path based on the electronic horizon reconstructor module; and obtain the road ahead information based on the high-precision map data, and the road ahead information includes the road slope.

[0118] In one embodiment, the slope calculation module 30 is also used to determine the front axle load information and the rear axle load information of the vehicle, and to determine the road adhesion coefficient and the rolling friction coefficient of the icy and snowy road surface; the slippery slope threshold of the road ahead is obtained according to the gravity of the vehicle, the support force of the ground on the front axle of the vehicle, the support force of the ground on the rear axle of the vehicle, the rolling resistance, the driving force and the road adhesion coefficient of the icy and snowy road surface; the rolling resistance is obtained according to the gravity of the vehicle, the rolling friction coefficient of the icy and snowy road surface and the road slope.

[0119] In one embodiment, the slope calculation module 30 is also used to judge the road and obtain ramp information; when the ramp information is uphill, the uphill force relationship is obtained according to the gravity of the vehicle, the rolling resistance, the ground support force on the front axle of the vehicle, the ground support force on the rear axle of the vehicle and the road slope, and the relationship between the uphill slip slope threshold and the road adhesion coefficient of the icy and snowy road surface and the rolling friction coefficient of the icy and snowy road surface is obtained according to the uphill force relationship, and the uphill slip slope threshold is obtained according to the relationship between the uphill slip slope threshold and the road adhesion coefficient of the icy and snowy road surface and the rolling friction coefficient of the icy and snowy road surface; when the ramp information is downhill, the braking force, the rolling friction force, the gravity of the vehicle and the road slope are determined to obtain the downhill force relationship, and the relationship between the uphill slip slope threshold and the road adhesion coefficient of the icy and snowy road surface is obtained according to the uphill force relationship, and the downhill slip slope threshold is obtained according to the relationship between the uphill slip slope threshold and the road adhesion coefficient of the icy and snowy road surface.

[0120] In one embodiment, the slope calculation module 30 is also used to obtain the distance between the center of gravity of the vehicle and the front axle and the distance between the center of gravity and the rear axle according to the wheelbase, the front axle load information and the rear axle load information of the vehicle when the vehicle is in a flat road state.

[0121] In one embodiment, the warning avoidance module 40 is also used to determine the destination of the vehicle, and obtain a navigation planned path based on the current position of the vehicle and the destination; determine the road slope of the current navigation planned path respectively, and compare the road slope with the slippery slope threshold, and determine the navigation planned path with a road slope less than the slippery slope threshold as the recommended navigation path.

[0122] The icy and snowy weather slope skidding warning device provided by the present application adopts the icy and snowy weather slope skidding warning method in the above embodiment, which can solve the technical problem of being unable to identify in advance the existence of road skidding in the navigation path ahead. Compared with the prior art, the beneficial effects of the icy and snowy weather slope skidding warning device provided by the present application are the same as the beneficial effects of the icy and snowy weather slope skidding warning method provided by the above embodiment, and the other technical features of the icy and snowy weather slope skidding warning device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0123] The present application provides a slope slip warning device for icy and snowy weather, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the slope slip warning method for icy and snowy weather in the above-mentioned embodiment one.

[0124] Reference below Figure 6, which shows a schematic diagram of the structure of a snowy weather slope slip warning device suitable for implementing the embodiment of the present application. The snowy weather slope slip warning device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The slope slip warning device shown in icy and snowy weather is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0125] like Figure 6 As shown, the snowy weather slope slip warning device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the snowy weather slope slip warning device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the snowy weather slope slip warning device to communicate wirelessly or wired with other devices to exchange data. Although the snowy weather slope slip warning device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0126] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0127] The ice and snow weather slope skidding warning device provided by the present application adopts the ice and snow weather slope skidding warning method in the above embodiment, which can solve the technical problem of not being able to identify in advance the existence of road skidding in the navigation path ahead. Compared with the prior art, the beneficial effects of the ice and snow weather slope skidding warning device provided by the present application are the same as the beneficial effects of the ice and snow weather slope skidding warning method provided by the above embodiment, and the other technical features of the ice and snow weather slope skidding warning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0128] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0129] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0130] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the icy and snowy weather slope slip warning method in the above-mentioned embodiment.

[0131] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0132] The computer-readable storage medium may be included in the snowy weather slope skidding warning device; or it may exist independently without being assembled into the snowy weather slope skidding warning device.

[0133] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the snowy weather slope slip warning device, the snowy weather slope slip warning device:

[0134] Determine the current location of the vehicle and determine the current road weather information based on weather forecast information and road identification information;

[0135] When the road weather information is ice and snow weather, obtaining the road ahead information according to the high-precision map data and the current position of the vehicle, wherein the road ahead information includes the road slope;

[0136] Determining vehicle load information, and obtaining a slip gradient threshold value according to the vehicle load information and the road ahead information;

[0137] When the slip gradient threshold is greater than the road gradient, slip warning information is generated.

[0138] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0139] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0140] The modules involved in the embodiments of the present application may be implemented by software or hardware, wherein the name of the module does not limit the unit itself in some cases.

[0141] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned snowy weather slope slip warning method, and can solve the technical problem of being unable to identify in advance the existence of road slippage on the navigation path ahead. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the snowy weather slope slip warning method provided by the above-mentioned embodiment, and will not be repeated here.

[0142] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for early warning of slope slippage in icy and snowy weather.

[0143] The computer program product provided by the present application can solve the technical problem of being unable to identify in advance the existence of slippery roads in the navigation path ahead. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the early warning method for slippery roads on slopes in icy and snowy weather provided by the above-mentioned embodiment, which will not be elaborated here.

[0144] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for early warning of slope slippage in snowy weather, characterized in that: The snowy weather slope skidding warning method comprises: Determine the current location of the vehicle and determine the current road weather information based on weather forecast information and road identification information; When the road weather information is ice and snow weather, obtaining the road ahead information according to the high-precision map data and the current position of the vehicle, wherein the road ahead information includes the road slope; Determining vehicle load information, and obtaining a slip gradient threshold value according to the vehicle load information and the road ahead information; When the slip gradient threshold is greater than the road gradient, slip warning information is generated.

2. The method according to claim 1, characterized in that The step of determining the current position of the vehicle and determining the current road weather information according to the weather forecast information and the road identification information comprises: Determine the current position of the vehicle, and determine the weather forecast information corresponding to the current position of the vehicle according to the current position of the vehicle; Determine the current road surface grayscale according to the road identification information; The current road information is determined according to the weather forecast information and the current road surface grayscale.

3. The method according to claim 1, characterized in that When the road weather information is snowy weather, the step of obtaining the road ahead information according to the high-precision map data and the current position of the vehicle, wherein the road ahead information includes the road slope, comprises: When the road weather is snowy, the current position of the vehicle is input into the map engine, and high-precision map data of the current navigation path is obtained based on the electronic horizon reconstructor module; The road ahead information is obtained according to the high-precision map data, and the road ahead information includes a road slope.

4. The method according to claim 1, characterized in that The step of determining vehicle load information and obtaining a slip gradient threshold according to the vehicle load information and the road ahead information comprises: Determine the front axle load information and the rear axle load information of the vehicle, determine the road adhesion coefficient and the rolling friction coefficient of the icy and snowy road surface; The slippery slope threshold of the road ahead is obtained based on the gravity of the vehicle, the ground's support force on the vehicle's front axle, the ground's support force on the vehicle's rear axle, the rolling resistance, the driving force and the road adhesion coefficient of the icy and snowy road. The rolling resistance is obtained based on the gravity of the vehicle, the rolling friction coefficient of the icy and snowy road and the road slope.

5. The method according to claim 4, characterized in that The step of obtaining the slippery slope threshold of the road ahead according to the gravity of the vehicle, the support force of the ground on the front axle of the vehicle, the support force of the ground on the rear axle of the vehicle, the rolling resistance, the driving force and the road adhesion coefficient of the icy and snowy road surface comprises: Judging the road to obtain ramp information; When the ramp information is uphill, an uphill force relationship is obtained according to the gravity of the vehicle, the rolling resistance, the ground support force on the front axle of the vehicle, the ground support force on the rear axle of the vehicle and the road slope, and a relationship between an uphill slip gradient threshold and a road adhesion coefficient and a rolling friction coefficient of an icy and snowy road surface is obtained according to the uphill force relationship, and an uphill slip gradient threshold is obtained according to a relationship between the uphill slip gradient threshold and the road adhesion coefficient and the rolling friction coefficient of an icy and snowy road surface; When the ramp information is downhill, the braking force, the rolling friction force, the gravity of the vehicle, and the road slope are determined to obtain the downhill force relationship, and the relationship between the uphill slip slope threshold and the road adhesion coefficient of the icy and snowy road surface is obtained according to the uphill force relationship. The downhill slip slope threshold is obtained according to the relationship between the uphill slip slope threshold and the road adhesion coefficient of the icy and snowy road surface.

6. The method according to claim 4, characterized in that Before the step of obtaining the slippery slope threshold of the road ahead according to the gravity of the vehicle, the support force of the ground on the front axle of the vehicle, the support force of the ground on the rear axle of the vehicle, the rolling resistance, the driving force and the road adhesion coefficient of the icy and snowy road, the step also includes: When the vehicle is on a flat road, the distance between the center of gravity of the vehicle and the front axle and the distance between the center of gravity of the vehicle and the rear axle are obtained according to the wheelbase, the front axle load information of the vehicle and the rear axle load information.

7. The method according to any one of claims 1 to 6, characterized in that After the step of generating skidding warning information when the skidding slope threshold is greater than the road slope, the method further includes: Determine the destination of the vehicle, and obtain a navigation planning path based on the current position of the vehicle and the destination; The road slopes of the current navigation planning paths are determined respectively, and the road slopes are compared with the slippery slope threshold, and the navigation planning paths whose road slopes are less than the slippery slope threshold are determined as the recommended navigation paths.

8. A slope slip warning device in icy and snowy weather, characterized in that: The device comprises: The weather confirmation module is used to determine the current location of the vehicle and determine the current road weather information based on the weather forecast information and road identification information; A road recognition module, used to obtain the road ahead information according to the high-precision map data and the current position of the vehicle when the road weather information is ice and snow weather, wherein the road ahead information includes the road slope; A slope calculation module, used to determine vehicle load information, and obtain a slippery slope threshold according to the vehicle load information and the front road information; The warning avoidance module is used to generate skidding warning information when the skidding slope threshold is greater than the road slope.

9. A slope slip warning device in icy and snowy weather, characterized in that: The device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for early warning of slope slippage in icy and snowy weather as claimed in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the icy and snowy weather slope slip warning method as described in any one of claims 1 to 7 are implemented.

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