Road surface slope determination method, electronic device and vehicle

Abstract

The present application relates to the field of data processing, and provides a method for determining the road slope, an electronic device, and a vehicle, wherein the vehicle speed is obtained, and the vehicle acceleration is obtained by performing differential processing on the vehicle speed; the inertial acceleration sensor value is obtained, and the inertial acceleration sensor value is corrected according to the vehicle acceleration to obtain the target acceleration; the target acceleration is converted to obtain the road slope to be processed; the current pitch angle of the vehicle is determined, and the road slope to be processed and the current pitch angle are subjected to differential processing to obtain the target road slope. The vehicle speed is taken into account in the process of determining the target road slope, that is, when the vehicle is in a driving state, the above method can also be used to calculate the accurate road slope, which solves the problem that the inertial acceleration sensor cannot accurately determine the slope when the vehicle is driving.

Description

Technical Field

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

[0002] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. When users use vehicles, they are often on a sloped road. In order to better realize the functions of the vehicle, it is very important to accurately measure the slope of the vehicle.

[0003] Currently, inertial acceleration sensors are usually used to determine the slope, but inertial acceleration sensors are only accurate when the vehicle is stationary or in a steady state. If the vehicle is in motion, it is impossible to accurately determine the slope of the road on which the vehicle is located. Summary of the invention

[0004] In view of this, the purpose of the present application is to propose a road slope determination method, electronic device and vehicle to solve the problem that the inertial acceleration sensor only takes accurate values ​​when the vehicle is stationary or in a steady state, and cannot accurately determine the slope of the road on which the vehicle is located if the vehicle is in motion.

[0005] Based on the above purpose, the first aspect of the present application provides a method for determining a road surface slope, the method comprising:

[0006] Acquire the vehicle speed, perform differentiation processing on the vehicle speed, and obtain the vehicle acceleration;

[0007] Acquire an inertial acceleration sensor value, and correct the inertial acceleration sensor value according to the vehicle acceleration to obtain a target acceleration;

[0008] Converting the target acceleration to obtain the slope of the road surface to be processed;

[0009] The current pitch angle of the vehicle is determined, and the slope of the road to be processed and the current pitch angle are subjected to difference processing to obtain the target road slope.

[0010] Based on the same inventive concept, the second aspect of the present application proposes a road slope determination device, the device comprising:

[0011] A speed acquisition module is configured to acquire a vehicle speed, perform differential processing on the vehicle speed, and obtain a vehicle acceleration;

[0012] an acceleration determination module, configured to obtain an inertial acceleration sensor value, and to correct the inertial acceleration sensor value according to the vehicle acceleration to obtain a target acceleration;

[0013] A conversion module is configured to convert the target acceleration to obtain a road surface slope to be processed;

[0014] The slope determination module is configured to determine the current pitch angle of the vehicle, perform difference processing on the slope of the road surface to be processed and the current pitch angle, and obtain the target road surface slope.

[0015] Based on the same inventive concept, the third aspect of the present application proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the road slope determination method as described above when executing the computer program.

[0016] Based on the same inventive concept, the fourth aspect of the present application proposes a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the road slope determination method as described above.

[0017] Based on the same inventive concept, the fifth aspect of the present application provides a vehicle, comprising the road slope determination device described in the second aspect or the electronic device described in the third aspect or the storage medium described in the fourth aspect.

[0018] As can be seen from the above, the present application proposes a road slope determination method, electronic device and vehicle, which obtains the vehicle speed, differentiates the vehicle speed, and obtains the vehicle acceleration, so as to determine the target acceleration according to the vehicle acceleration. The inertial acceleration sensor value is obtained, and the inertial acceleration sensor value is corrected according to the vehicle acceleration to obtain the target acceleration. The current vehicle speed and the inertial acceleration sensor value are comprehensively considered, and the inertial acceleration sensor value that may have inaccurate problems is corrected using the vehicle acceleration, so that the determined target acceleration is more accurate. The target acceleration is converted to obtain the road slope to be processed, and the current pitch angle of the vehicle is determined. The road slope to be processed and the current pitch angle are subtracted to obtain the target road slope. The target road slope is the slope value after eliminating the influence of the vehicle pitch angle, so as to avoid the influence of the vehicle pitch angle on the road slope determination. At the same time, the vehicle speed is taken into account in the process of calculating the target road slope. That is, when the vehicle is in a driving state, the above method can also be used to calculate the accurate road slope, which solves the problem that the inertial acceleration sensor cannot accurately determine the slope when the vehicle is driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A flow chart of a method for determining a road surface slope according to an embodiment of the present application;

[0021] Figure 2 This is a structural block diagram of a road surface slope determination device according to an embodiment of the present application;

[0022] Figure 3 A schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0024] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. When users use vehicles, they are often on a sloped road. In order to better realize the functions of the vehicle, it is very important to accurately measure the slope of the vehicle.

[0026] Currently, inertial acceleration sensors are usually used to determine the slope, but inertial acceleration sensors are only accurate when the vehicle is stationary or in a steady state. If the vehicle is in motion, it is impossible to accurately determine the slope of the road on which the vehicle is located.

[0027] Based on the above description, this embodiment proposes a method for determining the road slope, such as Figure 1 As shown, the method includes:

[0028] Step 101, obtaining the vehicle speed, performing differentiation processing on the vehicle speed, and obtaining the vehicle acceleration.

[0029] In a specific implementation, the vehicle includes a vehicle sensor, and the vehicle speed is acquired through the vehicle sensor. The acquired vehicle speed is differentiated to obtain the vehicle acceleration.

[0030] Specifically, the differential processing process includes:

[0031] The cycle of this differential processing is taken as the current cycle, and the first coefficient value corresponding to the previous cycle of the current cycle and the second coefficient value of the current cycle are obtained, wherein the previous cycle of the current cycle is the cycle of the previous differential processing of this differential processing. Then the differential processing process is expressed by the formula:

[0032]

[0033] in, is the vehicle acceleration, is the vehicle speed, is the first coefficient value corresponding to the previous period of the current period, is the second coefficient value of the current period. In this embodiment, the default value of the second coefficient value of the current period is 1.

[0034] Step 102: Acquire an inertial acceleration sensor value, and correct the inertial acceleration sensor value according to the vehicle acceleration to obtain a target acceleration.

[0035] In specific implementation, the sensor value of the inertial acceleration sensor is obtained. Since the inertial acceleration sensor has an inaccuracy problem, the inertial acceleration sensor value is corrected using the vehicle acceleration corresponding to the current speed of the vehicle, so that the obtained target acceleration is more accurate.

[0036] Specifically, the target acceleration may be determined based on both the vehicle acceleration and the inertial acceleration sensor value, or may be determined based on the vehicle acceleration alone, or may be determined based on the inertial acceleration sensor value alone.

[0037] Step 103: convert the target acceleration to obtain the slope of the road surface to be processed.

[0038] In a specific implementation, after the target acceleration is obtained, the target acceleration is converted, and the slope of the road surface to be processed is determined according to the target acceleration.

[0039] Exemplarily, the target acceleration may be subjected to an arc tangent conversion process, and the obtained conversion value is the slope of the road surface to be processed.

[0040] In another example, the slope estimation value can be obtained by extending the Kalman filter algorithm, dynamically adjusting the weighting factor, and using methods such as angular velocity to correct the target acceleration. The slope estimation value is the slope of the road surface to be processed.

[0041] In another example, the vehicle weight can be obtained to determine the vehicle longitudinal force, vehicle speed and target acceleration, and the slope can be estimated using the longitudinal dynamics formula to obtain a slope estimate value, which is the slope of the road surface to be processed.

[0042] The above example is only an illustrative description of how to obtain the slope of the road surface to be processed according to the target acceleration. This embodiment does not limit the specific method of how to obtain the slope of the road surface to be processed according to the target acceleration.

[0043] Step 104, determining the current pitch angle of the vehicle, performing a difference process on the slope of the road surface to be processed and the current pitch angle to obtain a target road surface slope.

[0044] In specific implementation, the current pitch angle of the vehicle is determined. The pitch angle is also called the longitudinal tilt angle, which refers to the angle between the front and rear axles of the vehicle, usually expressed in degrees. The slope of the road to be processed is subtracted from the current pitch angle, and the difference obtained is the target road slope.

[0045] Through the above scheme, the vehicle speed is obtained, and the vehicle speed is differentiated to obtain the vehicle acceleration, so as to determine the target acceleration according to the vehicle acceleration. The inertial acceleration sensor value is obtained, and the inertial acceleration sensor value is corrected according to the vehicle acceleration to obtain the target acceleration. The current vehicle speed and the inertial acceleration sensor value are comprehensively considered, and the inertial acceleration sensor value that may have inaccurate problems is corrected by using the vehicle acceleration, so that the determined target acceleration is more accurate. The target acceleration is converted to obtain the slope of the road surface to be processed, and the current pitch angle of the vehicle is determined. The slope of the road surface to be processed and the current pitch angle are subtracted to obtain the target road surface slope. The target road surface slope is the slope value after eliminating the influence of the vehicle pitch angle, avoiding the influence of the vehicle pitch angle on the determination of the road surface slope. At the same time, the vehicle speed is taken into account in the process of the target road surface slope, that is, when the vehicle is in a driving state, the above method can also be used to calculate the accurate road surface slope, which solves the problem that the inertial acceleration sensor cannot accurately determine the slope when the vehicle is driving.

[0046] In some embodiments, in order to ensure the calculation accuracy of the vehicle acceleration, the calculated vehicle acceleration may be monitored, and then the second coefficient value of the current cycle may be corrected. The monitoring and correction process specifically includes:

[0047] The vehicle speed is calculated back according to the calculated vehicle acceleration to obtain a first vehicle speed, wherein the first vehicle speed is expressed by the formula:

[0048]

[0049] in, is the first speed, is the vehicle speed, is the vehicle acceleration, is the first coefficient value corresponding to the previous period of the current period.

[0050] The vehicle speed is subtracted from the first vehicle speed to obtain a target difference value, and the target difference value is compared with a preset difference threshold value.

[0051] In response to the target difference being greater than the preset difference threshold, the second coefficient value of the current cycle is increased according to a first preset gradient. In response to the target difference being equal to the preset difference threshold, the second coefficient value of the current cycle does not need to be corrected. In response to the target difference being less than the preset difference threshold, the second coefficient value of the current cycle is decreased according to a second preset gradient.

[0052] Exemplarily, the preset difference threshold is 0, and if the target difference is greater than 0, the second coefficient value of the current cycle is increased according to the first preset gradient. If the target difference is equal to 0, there is no need to correct the second coefficient value of the current cycle. If the target difference is less than 0, the second coefficient value of the current cycle is reduced according to the second preset gradient.

[0053] Through the above scheme, the vehicle acceleration obtained by differential processing is monitored, and then the second coefficient required for differential processing is corrected, so that the accuracy of the vehicle acceleration obtained by differential processing is guaranteed, making the subsequent slope value more accurate.

[0054] In some embodiments, step 102 specifically includes:

[0055] Step 1021, obtaining the vehicle driving status.

[0056] Step 1022: In response to the vehicle driving state being the forward state, the vehicle acceleration is subtracted from the inertial acceleration sensor value to obtain a subtraction result. Or,

[0057] Step 1023, in response to the vehicle driving state being the reverse state, the vehicle acceleration is inverted to obtain an inverted acceleration, and the inverted acceleration is subtracted from the inertial acceleration sensor value to obtain a subtraction result.

[0058] Step 1024: Use the difference result as the target acceleration.

[0059] In a specific implementation, the vehicle running state is obtained, wherein the vehicle running state indicates whether the vehicle is currently stationary or driving. The vehicle running state can be determined based on the vehicle's four-wheel speed and gear information, specifically including:

[0060] Determine the minimum and maximum values ​​of the four-wheel speeds of the vehicle, and compare the minimum and maximum values ​​with the preset speed thresholds, respectively. If the minimum value is greater than the preset speed threshold, determine that the vehicle is in a driving state. If the maximum value is less than the preset speed threshold, determine that the vehicle is in a stationary state.

[0061] Furthermore, the vehicle driving state is obtained, and the vehicle driving state includes a forward state and a reverse state. By obtaining the vehicle gear information, it can be further determined whether the vehicle is in a forward state or a reverse state.

[0062] Specifically, in response to the vehicle gear information being the forward gear and the vehicle running state being the driving state, it can be further determined that the vehicle is in the forward state. In response to the vehicle gear information being the reverse gear and the vehicle running state being the driving state, it can be further determined that the vehicle is in the reverse state.

[0063] If the vehicle is in the driving state, the absolute value of the vehicle acceleration is determined, and the absolute value of the vehicle acceleration is subtracted from the inertial acceleration sensor value to obtain a target acceleration.

[0064] Specifically, if the vehicle is in a forward state, the vehicle acceleration is subtracted from the inertial acceleration sensor value to obtain the target acceleration, which is expressed by the formula:

[0065]

[0066] in, is the target acceleration, is the vehicle acceleration, is the inertial acceleration sensor value.

[0067] If the vehicle is in the backward state, the vehicle acceleration is inverted, which is equivalent to taking the absolute value of the vehicle acceleration. The absolute value of the vehicle acceleration is subtracted from the inertial acceleration sensor value to obtain the target acceleration, which is expressed by the formula:

[0068]

[0069] If the vehicle is in a stationary state, the inertial acceleration sensor value is inverted to obtain a target inertial acceleration sensor value, and the target inertial acceleration sensor value is used as the target acceleration, which is expressed by the formula:

[0070]

[0071] Through the above scheme, the target acceleration corresponding to the vehicle running state is determined according to the different running states of the vehicle, the determination of the target acceleration is more accurate, and thus the road slope determined subsequently is more accurate.

[0072] In some embodiments, step 1022 specifically includes:

[0073] Step 10221, performing a de-extreme value processing on the subtraction result according to the median method to obtain a de-extreme valued subtraction result;

[0074] Step 10222, performing denoising on the de-extreme valued difference result to obtain a denoised difference result;

[0075] Step 10223, filtering the denoised difference result to obtain the target acceleration.

[0076] In specific implementation, when the vehicle is in the driving state, denoising filtering can be performed when determining the target acceleration, that is, when the vehicle is in the forward state or the backward state, the initial acceleration is filtered. The specific process of denoising filtering includes:

[0077] The difference result is de-extended according to the median method to obtain a difference result after de-extending. The difference result after de-extending is denoised to obtain a denoised difference result, wherein the denoising method includes at least one of the following: median filtering denoising, mean filtering denoising, limit filtering denoising, recursive average filtering denoising, etc. The denoised difference result is filtered to obtain a target acceleration.

[0078] In this embodiment, the filtering process adopts a first-order filtering process to perform burr filtering.

[0079] Through the above scheme, when the vehicle is in a driving state, in order to avoid the influence of data glitches on the accuracy of subsequent slope determination, the vehicle acceleration and the inertial acceleration sensor value are subtracted to obtain the initial acceleration, and the initial acceleration is filtered out to improve the accuracy of the subsequently determined road slope.

[0080] In some embodiments, after step 103, the method further includes:

[0081] Step 10A: Compare the slope of the road surface to be processed with a preset maximum slope value and a preset minimum slope value respectively.

[0082] Step 10B: In response to the slope of the road surface to be processed being greater than the preset maximum slope, the preset maximum slope is used as the slope of the road surface to be processed.

[0083] Step 10C: in response to the slope of the road surface to be processed being less than the preset minimum slope value, taking the preset minimum slope value as the slope of the road surface to be processed.

[0084] During specific implementation, the preset maximum slope value and the preset minimum slope value are obtained, and the obtained road surface slope to be processed is compared with the preset maximum slope value and the preset minimum slope value, respectively, wherein the preset maximum slope value and the preset minimum slope value respectively represent the upper and lower limit slope values ​​that the physical slope can reach.

[0085] If the slope of the road to be processed is greater than the preset maximum slope value, it means that the currently determined slope of the road to be processed exceeds the maximum uphill slope value that the physical slope can reach, which does not conform to the actual situation. Therefore, the preset maximum slope value is used as the slope of the road to be processed, and the preset maximum slope value is subsequently used to calculate the target road slope.

[0086] If the slope of the road to be processed is less than the preset minimum slope value, it means that the currently determined slope of the road to be processed exceeds the maximum downhill slope value that the physical slope can reach, which does not conform to the actual situation. Therefore, the preset minimum slope value is used as the slope of the road to be processed, and the preset minimum slope value is subsequently used to calculate the target road slope.

[0087] Through the above scheme, by comparing the obtained road surface slope to be processed with the preset maximum slope value and the preset minimum slope value respectively, the upper and lower limits of the road surface slope to be processed are implemented to avoid the occurrence of road surface slope values ​​that do not conform to reality.

[0088] In some embodiments, after step 103, the method further includes:

[0089] Step 10a, obtaining a first historical slope value, and determining a slope change rate according to the first historical slope value and the slope of the road surface to be processed, wherein the first historical slope value is a slope value corresponding to a moment before the moment when the slope of the road surface to be processed is obtained.

[0090] Step 10b, determining a slope change rate threshold value, and in response to the slope change rate being greater than the slope change rate threshold value, determining a new road surface slope to be processed according to the slope change rate threshold value and the historical slope value.

[0091] In a specific implementation, a first historical slope value is obtained, wherein the first historical slope value is a slope value corresponding to the moment before the moment when the slope of the road surface to be processed is obtained, and a slope change rate is determined according to the first historical slope value and the slope of the road surface to be processed.

[0092] Determine a slope change rate threshold, wherein the slope change rate threshold is related to the vehicle speed and the vehicle wheelbase. The specific process of determining the slope change rate threshold may include:

[0093] The vehicle speed and the vehicle wheelbase are obtained, and a database is searched according to the vehicle speed and the vehicle wheelbase to obtain a slope change rate threshold value corresponding to the vehicle speed and the vehicle wheelbase, wherein the database pre-stores a correspondence between the vehicle speed and the vehicle wheelbase and the slope change rate threshold value. The correspondence relationship satisfies that the lower the vehicle speed, the lower the slope change rate threshold value, and the longer the vehicle wheelbase, the lower the slope change rate threshold value.

[0094] The slope change rate is compared with the slope change rate threshold. If the slope change rate is greater than the slope change rate threshold, a new road surface slope to be processed is calculated based on the slope change rate threshold and the historical slope value. Subsequently, the new road surface slope to be processed is subtracted from the current pitch angle to obtain the target road surface slope.

[0095] Through the above scheme, by calculating the slope change rate and comparing the slope change rate with the slope change rate threshold, the slope change rate is limited, avoiding the situation where the determined target road surface slope is distorted due to excessive slope change.

[0096] In some embodiments, determining the current pitch angle of the vehicle in step 104 specifically includes:

[0097] Step 1041, obtaining the vehicle weight and the vehicle center of mass height, and multiplying the vehicle weight, the vehicle center of mass height and the vehicle speed differential value to obtain a first product value.

[0098] Step 1042, obtaining the average stiffness of the vehicle suspension and the historical pitch angle of the vehicle, and multiplying the average stiffness of the vehicle suspension and the historical pitch angle of the vehicle to obtain a second product value.

[0099] Step 1043: Perform difference processing on the first product value and the second product value to obtain a first difference value.

[0100] Step 1044, obtaining the vehicle inertia, performing ratio processing on the vehicle inertia and the first difference, and obtaining the vehicle pitch angle change rate.

[0101] Step 1045, determining the current pitch angle of the vehicle according to the historical pitch angle and the pitch angle change rate of the vehicle.

[0102] During specific implementation, the vehicle weight and the height of the vehicle's center of mass are obtained, and the vehicle weight, the height of the vehicle's center of mass and the vehicle speed differential value are multiplied to obtain a first product value.

[0103] The average stiffness of the vehicle suspension and the historical pitch angle of the vehicle are obtained, and the average stiffness of the vehicle suspension and the historical pitch angle of the vehicle are multiplied to obtain a second product value.

[0104] The first product value and the second product value are subjected to difference processing to obtain a first difference, and the vehicle inertia is obtained. The vehicle inertia and the first difference are subjected to ratio processing to obtain a vehicle pitch angle change rate, wherein the vehicle pitch angle change rate is expressed by the formula:

[0105]

[0106] in, is the vehicle pitch angle change rate, is the first difference, is the first product value, is the vehicle weight, is the vehicle speed, is the height of the vehicle's center of mass, is the second product value, is the average stiffness of the vehicle suspension, is the historical pitch angle, is the vehicle inertia.

[0107] The current pitch angle of the vehicle is determined according to the historical pitch angle and the pitch angle change rate of the vehicle, wherein the current pitch angle of the vehicle is expressed by the formula:

[0108]

[0109] in, is the current pitch angle of the vehicle, is the historical pitch angle, is the vehicle pitch angle change rate.

[0110] In some embodiments, after step 103, the method further includes:

[0111] Step A, obtaining the expected change rate of the driving torque and the change rate of the braking torque.

[0112] Step B, in response to the driving torque expected value change rate being greater than a first change rate threshold, or the braking torque change rate being greater than a second change rate threshold at the target moment, obtaining a second historical slope value corresponding to a moment before the target moment.

[0113] Step C, determining a target duration, and using the second historical slope value as a road surface slope value within the target duration.

[0114] During specific implementation, the expected rate of change of the driving torque and the rate of change of the braking torque are obtained. If at the target moment the expected rate of change of the driving torque is greater than a first rate of change threshold, or the rate of change of the braking torque is greater than a second rate of change threshold, it indicates that the vehicle is in a large dynamic state. In order to avoid the influence of sudden acceleration or deceleration of the vehicle on the slope determination, the slope is frozen at this time.

[0115] The second historical slope value corresponding to the moment before the target moment is obtained, the target duration is determined, and the second historical slope value is used as the road slope value within the target duration, that is, the slope is frozen for the target duration.

[0116] Specifically, the process of determining the duration of the goal includes:

[0117] Step a, determining an initial duration according to the driving torque expected value change rate and the braking torque change rate;

[0118] Step b, obtaining a vehicle driving speed, and determining a target continuity factor corresponding to the vehicle driving speed according to the vehicle driving speed;

[0119] Step c: multiplying the target duration factor and the initial duration to obtain the target duration.

[0120] In specific implementation, the database pre-stores the corresponding relationship between the driving torque expected value change rate and the braking torque change rate and the initial duration, and the corresponding relationship satisfies that the larger the driving torque expected value change rate, the longer the initial duration, and the larger the braking torque change rate, the longer the initial duration. According to the driving torque expected value change rate and the braking torque change rate, the database is searched to obtain the initial duration.

[0121] The database pre-stores a corresponding relationship between the vehicle speed and the persistence factor, and the corresponding relationship satisfies that the smaller the vehicle speed, the larger the persistence factor. The vehicle speed is obtained, and a target persistence factor corresponding to the vehicle speed is determined according to the vehicle speed.

[0122] The target duration factor and the initial duration are multiplied to obtain the target duration.

[0123] Through the above scheme, when the vehicle is in a large dynamic state, that is, the expected rate of change of the driving torque is greater than the first rate of change threshold, or the rate of change of the braking torque is greater than the second rate of change threshold, the slope is frozen at this time to avoid the influence of rapid acceleration or deceleration of the vehicle on the slope determination.

[0124] In some embodiments, when the vehicle is in a large dynamic state, after the target duration of the slope freezing, the upper and lower limits and the slope change rate are again imposed on the road slope to be processed, and then the target road slope is obtained by subtracting the current pitch angle.

[0125] In some embodiments, after the target duration is frozen, the road surface slope to be processed that has passed the upper and lower limits and the slope change rate limit is compared with the historical slope value of the previous cycle to obtain a first change rate. If the first change rate is less than the preset change rate threshold, the historical slope value of the previous cycle is selected as the new road surface slope value to be processed, that is, the historical slope value of the previous cycle is subsequently used to perform a difference process with the current pitch angle to obtain the target road surface slope.

[0126] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0127] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0128] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a road slope determination device.

[0129] refer to Figure 2 , Figure 2 The road surface slope determination device of the embodiment includes:

[0130] The speed acquisition module 201 is configured to acquire the vehicle speed and perform differentiation processing on the vehicle speed to obtain the vehicle acceleration;

[0131] The acceleration determination module 202 is configured to obtain an inertial acceleration sensor value, and to modify the inertial acceleration sensor value according to the vehicle acceleration to obtain a target acceleration;

[0132] The conversion module 203 is configured to convert the target acceleration to obtain a road surface slope to be processed;

[0133] The slope determination module 204 is configured to determine the current pitch angle of the vehicle, perform a difference process on the slope of the road surface to be processed and the current pitch angle, and obtain a target road surface slope.

[0134] In some embodiments, the acceleration determination module 202 specifically includes:

[0135] A state acquisition unit, configured to acquire a driving state of the vehicle;

[0136] A first difference processing unit is configured to perform difference processing on the vehicle acceleration and the inertial acceleration sensor value in response to the vehicle driving state being a forward state to obtain a difference result; or

[0137] a second difference processing unit configured to, in response to the vehicle driving state being a reverse state, perform a negation process on the vehicle acceleration to obtain a negated acceleration, and perform a difference process on the negated acceleration and the inertial acceleration sensor value to obtain a difference result;

[0138] The target acceleration determination unit is configured to use the difference result as the target acceleration.

[0139] In some embodiments, the target acceleration determination unit is specifically configured to:

[0140] De-extreme value processing is performed on the subtraction result according to the median method to obtain a de-extreme valued subtraction result;

[0141] Performing denoising on the de-extreme valued difference result to obtain a denoised difference result;

[0142] The denoised difference result is filtered to obtain the target acceleration.

[0143] In some embodiments, the apparatus further includes a first comparison module, wherein the first comparison module is specifically configured to:

[0144] Compare the slope of the road surface to be processed with a preset maximum slope value and a preset minimum slope value respectively;

[0145] In response to the slope of the road surface to be processed being greater than the preset maximum slope value, taking the preset maximum slope value as the slope of the road surface to be processed; or,

[0146] In response to the slope of the road surface to be processed being less than the preset minimum slope value, the preset minimum slope value is used as the slope of the road surface to be processed.

[0147] In some embodiments, the apparatus further includes a second comparison module, wherein the second comparison module is specifically configured to:

[0148] Obtaining a first historical slope value, and determining a slope change rate according to the first historical slope value and the slope of the road surface to be processed, wherein the first historical slope value is a slope value corresponding to a moment before the moment when the slope of the road surface to be processed is obtained;

[0149] A slope change rate threshold is determined, and in response to the slope change rate being greater than the slope change rate threshold, a new road surface slope to be processed is determined according to the slope change rate threshold and the historical slope value.

[0150] In some embodiments, the slope determination module 204 is specifically configured to:

[0151] Obtaining a vehicle weight and a vehicle center of mass height, and multiplying the vehicle weight, the vehicle center of mass height, and the vehicle speed differential value to obtain a first product value;

[0152] Acquire an average stiffness of a vehicle suspension and a historical pitch angle of the vehicle, and perform product processing on the average stiffness of the vehicle suspension and the historical pitch angle of the vehicle to obtain a second product value;

[0153] Performing difference processing on the first product value and the second product value to obtain a first difference value;

[0154] Acquire vehicle inertia, perform ratio processing on the vehicle inertia and the first difference to obtain a vehicle pitch angle change rate;

[0155] The current pitch angle of the vehicle is determined according to the historical pitch angle and the pitch angle change rate of the vehicle.

[0156] In some embodiments, the device further includes a freezing module, and the freezing module is specifically configured to:

[0157] Obtaining the expected change rate of the driving torque and the change rate of the braking torque;

[0158] In response to the driving torque expected value change rate being greater than a first change rate threshold value, or the braking torque change rate being greater than a second change rate threshold value at the target moment, acquiring a second historical slope value corresponding to a moment before the target moment;

[0159] A target duration is determined, and the second historical gradient value is used as a road gradient value during the target duration.

[0160] In some embodiments, the freezing module is further configured to:

[0161] determining an initial duration according to the driving torque expected value change rate and the braking torque change rate;

[0162] Acquiring a vehicle driving speed, and determining a target continuity factor corresponding to the vehicle driving speed according to the vehicle driving speed;

[0163] The target duration factor and the initial duration are multiplied to obtain the target duration.

[0164] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0165] The device of the above embodiment is used to implement the corresponding road slope determination method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0166] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for determining the road slope described in any of the above embodiments is implemented.

[0167] Figure 3 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0168] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0169] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0170] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0171] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0172] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0173] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0174] The electronic device of the above embodiment is used to implement the corresponding road slope determination method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0175] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the road slope determination method described in any of the above embodiments.

[0176] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0177] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the road slope determination method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0178] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the road slope determination device in the above-mentioned embodiments, the electronic device in the above-mentioned embodiments, and the computer-readable storage medium in the above-mentioned embodiments, and the vehicle equipment implements the road slope determination method described in any of the above embodiments.

[0179] The vehicle of the above-mentioned embodiment is used to implement the road slope determination method described in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0180] It is understandable that before using the technical solutions of each embodiment of the present application, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0181] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to the electronic device, application, server, storage medium or other software or hardware that performs the operation of the technical solution of the present application according to the prompt message.

[0182] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0183] 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 method of this application. Other methods that meet relevant laws and regulations may also be applied to the implementation method of this application.

[0184] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0185] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power / ground connections to the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device may be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present application are to be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0186] Although the present application has been described in conjunction with specific embodiments of the present application, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the discussed embodiments.

[0187] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A method for determining a road surface slope, characterized in that: include: Acquire the vehicle speed, perform differentiation processing on the vehicle speed, and obtain the vehicle acceleration; Acquire an inertial acceleration sensor value, and correct the inertial acceleration sensor value according to the vehicle acceleration to obtain a target acceleration; Converting the target acceleration to obtain the slope of the road surface to be processed; Determine the current pitch angle of the vehicle, perform difference processing on the slope of the road surface to be processed and the current pitch angle to obtain a target road surface slope; The step of correcting the inertial acceleration sensor value according to the vehicle acceleration to obtain a target acceleration includes: Get the vehicle driving status; In response to the vehicle driving state being a forward state, performing a subtraction process on the vehicle acceleration and the inertial acceleration sensor value to obtain a subtraction result; or, In response to the vehicle driving state being a backward state, the vehicle acceleration is inverted to obtain an inverted acceleration, and the inverted acceleration is subtracted from the inertial acceleration sensor value to obtain a subtraction result; Using the difference result as the target acceleration; The step of taking the difference result as the target acceleration includes: De-extreme value processing is performed on the subtraction result according to the median method to obtain a de-extreme valued subtraction result; Performing denoising on the de-extreme valued difference result to obtain a denoised difference result; The denoised difference result is filtered to obtain the target acceleration.

2. The method according to claim 1, characterized in that After obtaining the slope of the road surface to be processed, it also includes: Compare the slope of the road surface to be processed with a preset maximum slope value and a preset minimum slope value respectively; In response to the slope of the road surface to be processed being greater than the preset maximum slope value, taking the preset maximum slope value as the slope of the road surface to be processed; or, In response to the slope of the road surface to be processed being less than the preset minimum slope value, the preset minimum slope value is used as the slope of the road surface to be processed.

3. The method according to claim 1, characterized in that After obtaining the slope of the road surface to be processed, it also includes: Obtaining a first historical slope value, and determining a slope change rate according to the first historical slope value and the slope of the road surface to be processed, wherein the first historical slope value is a slope value corresponding to a moment before the moment when the slope of the road surface to be processed is obtained; A slope change rate threshold is determined, and in response to the slope change rate being greater than the slope change rate threshold, a new road surface slope to be processed is determined according to the slope change rate threshold and the historical slope value.

4. The method according to claim 1, characterized in that: Determining the current pitch angle of the vehicle includes: Obtaining a vehicle weight and a vehicle center of mass height, and multiplying the vehicle weight, the vehicle center of mass height, and a vehicle speed differential value to obtain a first product value; Acquire an average stiffness of a vehicle suspension and a historical pitch angle of the vehicle, and perform product processing on the average stiffness of the vehicle suspension and the historical pitch angle of the vehicle to obtain a second product value; Performing difference processing on the first product value and the second product value to obtain a first difference value; Acquire vehicle inertia, perform ratio processing on the vehicle inertia and the first difference to obtain a vehicle pitch angle change rate; The current pitch angle of the vehicle is determined according to the historical pitch angle and the pitch angle change rate of the vehicle.

5. The method according to claim 1, characterized in that After obtaining the slope of the road surface to be processed, it also includes: Obtaining the expected change rate of the driving torque and the change rate of the braking torque; In response to the driving torque expected value change rate being greater than a first change rate threshold value, or the braking torque change rate being greater than a second change rate threshold value at the target moment, acquiring a second historical slope value corresponding to a moment before the target moment; A target duration is determined, and the second historical gradient value is used as a road gradient value during the target duration.

6. The method according to claim 5, characterized in that The determining of the target duration comprises: determining an initial duration according to the driving torque expected value change rate and the braking torque change rate; Acquiring a vehicle driving speed, and determining a target continuity factor corresponding to the vehicle driving speed according to the vehicle driving speed; The target duration factor and the initial duration are multiplied to obtain the target duration.

7. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

8. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 7.

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