Vehicle climbing alarm method and related equipment

Abstract

The invention relates to a vehicle climbing alarm method and related equipment, and the method comprises the steps: obtaining the operation parameters of a vehicle when the vehicle runs on a ramp, and obtaining the environment parameters of an area where the ramp is located; determining a slope angle threshold value of the vehicle based on the hardware parameters, the operation parameters and the environment parameters of the vehicle; detecting the actual slope angle of the ramp; based on the actual slope angle and the slope angle threshold value, the vehicle is controlled to conduct climbing alarm. The problems that in the prior art, an alarm is given based on a fixed slope threshold value, the situation that an alarm is not given when the slope of vehicle climbing exceeds a real alarm threshold value is likely to occur, the probability of overturning in the vehicle climbing process is increased, and the vehicle climbing safety is reduced are solved.

Description

Background Art

[0002] Conventional cleaning vehicles do not have slope detection sensors and alarm systems when going up and down ramps. When a cleaning vehicle is driving on a steep uphill slope, if the center of gravity of the vehicle is backward, the conventional cleaning vehicle cannot detect the slope on the ramp, which can easily lead to the risk of overturning. Therefore, it is necessary to detect the slope of the cleaning vehicle to avoid the risk of overturning.

[0003] In the prior art, the detected slope of the cleaning vehicle climbing is often compared with a preset fixed slope threshold to determine whether the cleaning vehicle is at risk of overturning, and an alarm is issued when there is a risk of overturning. However, when vehicles are climbing in different environments, due to differences in load capacity, climbing ability, chassis height and driving mode of different vehicles, the maximum values ​​of the slopes that different vehicles can climb are different. Therefore, the prior art method of issuing an alarm based on a fixed slope threshold is prone to the situation where the slope of the vehicle climbing exceeds the actual alarm threshold but no alarm is issued, increasing the probability of the vehicle overturning during climbing and reducing the safety of the vehicle climbing. Summary of the invention

[0004] In order to overcome the problem that the existing technology of alarming based on a fixed slope threshold is prone to the situation that the slope of the vehicle climbing exceeds the actual alarm threshold but the alarm is not issued, which increases the probability of the vehicle overturning during climbing and reduces the safety of the vehicle climbing, the present application provides a vehicle climbing alarm method and related equipment.

[0005] In the first aspect, in order to solve the above technical problems, the present application provides a vehicle climbing alarm method, comprising:

[0006] Obtaining the operating parameters of the vehicle when it is driving on the ramp, and obtaining the environmental parameters of the area where the ramp is located;

[0007] Determining a slope angle threshold of the vehicle based on hardware parameters, operating parameters, and environmental parameters of the vehicle;

[0008] Detect the actual slope angle of the ramp;

[0009] Based on the actual slope angle and the slope angle threshold, the vehicle is controlled to issue a climbing alarm.

[0010] In a second aspect, the present application also provides a vehicle hill climbing alarm device, which includes a sensor group, a processor and an alarm arranged on the vehicle, and is used to implement a vehicle hill climbing alarm method.

[0011] In a third aspect, the present application also provides a vehicle climbing alarm system, comprising:

[0012] An acquisition module is used to acquire the operating parameters of the vehicle when it is driving on the ramp, and to acquire the environmental parameters of the area where the ramp is located;

[0013] A determination module, for determining a slope angle threshold of the vehicle based on hardware parameters, operating parameters and environmental parameters of the vehicle;

[0014] A detection module, used for detecting the actual slope angle of the ramp;

[0015] The alarm module is used to control the vehicle to perform a climbing alarm based on the actual slope angle and the slope angle threshold.

[0016] In a fourth aspect, the present application also provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, the steps of a vehicle hill climbing alarm method provided in the present application are implemented.

[0017] In a fifth aspect, the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle climbing alarm method.

[0018] The beneficial effect of the present application is: the current slope angle threshold of the vehicle is determined in real time by the operating parameters of the vehicle when it is traveling on the ramp, the environmental parameters of the area where the ramp is located, and the hardware parameters of the vehicle. Based on the actual slope angle of the current ramp and the slope angle threshold, it is possible to understand whether the vehicle can currently pass the ramp safely, so that a climbing alarm is issued when it is determined that it cannot pass safely at present. In this way, the vehicle issues an alarm based on the real-time slope angle threshold when climbing, avoiding the situation where the slope of the vehicle climbing exceeds the real-time slope angle threshold and no alarm is issued, reducing the probability of the vehicle overturning during the climbing process, thereby improving the climbing safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic flow chart of a vehicle hill climbing alarm method shown as an exemplary embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of force analysis of a vehicle wheel in an exemplary embodiment of the present application;

[0021] Figure 3 A schematic diagram of a three-dimensional coordinate system of a vehicle constructed by a three-axis acceleration sensor in an exemplary embodiment of the present application;

[0022] Figure 4 This is a flowchart of a vehicle hill climbing alarm method provided by an application in an exemplary embodiment of the present application;

[0023] Figure 5 This is a structural schematic diagram of a vehicle hill climbing alarm device used in a vehicle hill climbing alarm method in an exemplary embodiment of the present application;

[0024] Figure 6 The present invention is a schematic structural diagram of a vehicle hill climbing alarm system according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0025] The following examples are provided to further explain and supplement the present application and do not constitute any limitation to the present application.

[0026] A vehicle hill climbing alarm method and related equipment according to an embodiment of the present application are described below in conjunction with the accompanying drawings.

[0027] A vehicle climbing alarm method in an embodiment of the present application is applied to a terminal device. In the present application scheme, the terminal device is used as the execution subject to illustrate the present application scheme. The terminal device is used to execute the steps of a vehicle climbing alarm method.

[0028] See also Figure 1 , Figure 1 A vehicle climbing alarm method is shown as an exemplary embodiment of the present application, such as Figure 1 As shown, the present application provides a vehicle climbing alarm method, comprising:

[0029] Step S11, obtaining the operating parameters of the vehicle when it is traveling on the ramp, and obtaining the environmental parameters of the area where the ramp is located;

[0030] Step S12, determining a slope angle threshold of the vehicle based on hardware parameters, operating parameters and environmental parameters of the vehicle;

[0031] Step S13, detecting the actual slope angle of the ramp;

[0032] Step S14, based on the actual slope angle and the slope angle threshold, the vehicle is controlled to issue a climbing alarm.

[0033] A vehicle climbing alarm method of this embodiment determines the current slope angle threshold of the vehicle in real time through the operating parameters of the vehicle when driving on the ramp, the environmental parameters of the area where the ramp is located, and the hardware parameters of the vehicle. And based on the actual slope angle of the current ramp and the slope angle threshold, it can be understood whether the vehicle can currently pass the ramp safely, so that a climbing alarm is issued when it is determined that it cannot pass safely at present. In this way, the vehicle alarms based on the real-time slope angle threshold when climbing, avoiding the situation where the slope of the vehicle climbing exceeds the real-time slope angle threshold and no alarm is issued, reducing the probability of the vehicle overturning during the climbing process, thereby improving the climbing safety of the vehicle. Among them, the slope angle threshold represents the critical angle at which the vehicle overturns under the current driving parameters, hardware parameters and environmental parameters.

[0034] Optionally, the environmental parameter includes a current wind speed; and determining a slope angle threshold of the vehicle based on hardware parameters, operating parameters and environmental parameters of the vehicle includes:

[0035] Obtain the resistance equation relationship between the vehicle's climbing resistance threshold and hardware parameters, operating parameters and current wind speed;

[0036] Obtaining a driving equation relationship between a vehicle's driving force, a vehicle's hardware parameters, and an operating parameter;

[0037] The driving equation relationship is as follows:

[0038]

[0039] Among them, T tq represents the torque output by the vehicle's drive system, p represents the rated power of the vehicle's motor, n represents the rated speed of the vehicle's motor, and F t represents the driving force of the vehicle, i represents the transmission ratio, η represents the transmission efficiency, and r represents the wheel radius of the vehicle, in meters;

[0040] Based on the resistance equation relationship, the driving equation relationship, the hardware parameters and the operating parameters, the slope angle threshold of the vehicle is obtained, and there is a corresponding relationship between the climbing resistance threshold and the slope angle threshold.

[0041] In this embodiment, when the slope of the ramp on which the vehicle is traveling reaches the slope angle threshold, the resultant force during the driving process is equal to the difference between the driving force of the vehicle and the climbing resistance threshold, that is, F t -F limit =m*a, where F t Indicates the driving force of the vehicle, F limit represents the current climbing resistance threshold of the vehicle, m represents the weight of the vehicle, and a represents the acceleration of the vehicle. Since there is a corresponding relationship between the climbing resistance threshold and the slope angle threshold, the slope angle threshold can be brought into the resistance equation relationship between the climbing resistance threshold of the vehicle and the hardware parameters, operating parameters and current wind speed, so that the resistance equation relationship and the slope angle threshold have a corresponding relationship. Then, based on the resistance equation relationship, and, the driving force of the vehicle, the driving equation relationship between the hardware parameters and the operating parameters of the vehicle, and, the weight included in the hardware parameters of the vehicle, and, the acceleration included in the operating parameters of the vehicle, it is possible to derive an equation relationship that only includes the slope angle threshold of the vehicle, the hardware parameters, the operating parameters and the current wind speed through the corresponding relationship between the resistance equation relationship and the slope angle threshold, so that under the condition of known hardware parameters, operating parameters and current wind speed, the current slope angle threshold is calculated in real time based on the equation relationship, so that the vehicle can alarm based on the real-time slope angle threshold and the slope of the current slope, improve the accuracy of the alarm, and thus improve the climbing safety of the vehicle.

[0042] Optionally, obtaining a resistance equation relationship between a climbing resistance threshold of the vehicle and hardware parameters, operating parameters, and current wind speed includes:

[0043] Obtaining a first equation relationship between the vehicle's current air resistance and the current wind speed, hardware parameters, and operating parameters;

[0044] The first equality relationship is as follows:

[0045]

[0046] Among them, F w represents the current air resistance of the vehicle, C D Indicates the air resistance coefficient; A indicates the frontal area of ​​the vehicle, in m 2 , ρ represents the air density, ρ=1.2258Ns 2 m -4 ,u r Indicates the relative speed between the vehicle and the wind, in m / s;

[0047] Obtaining a second equation relationship between a rolling resistance threshold of a vehicle and a hardware parameter;

[0048] The second equality relationship is as follows:

[0049] F f =m*g*f*cosα limit ;

[0050] Among them, F f represents the rolling resistance threshold of the vehicle, m represents the weight of the vehicle, in kg, g represents the acceleration of gravity, f represents the rolling resistance coefficient, α limit represents the slope angle threshold;

[0051] Obtaining a third equation relationship between the acceleration resistance of the vehicle and the hardware parameters and the operating parameters;

[0052] The third equation relationship is as follows:

[0053]

[0054] Among them, F j represents the acceleration resistance of the vehicle, δ represents the rotational inertia coefficient, and m represents the weight of the vehicle in kg. is the vehicle's acceleration, in m / s 2 ;

[0055] Obtaining a fourth equation relationship between a slope resistance threshold of a vehicle and a hardware parameter;

[0056] The fourth equation relationship is as follows:

[0057] F i =m*g*sinα limit ;

[0058] Among them, F i represents the vehicle's slope resistance threshold, m represents the vehicle's weight in kg, g represents the acceleration of gravity, α limit represents the slope angle threshold;

[0059] Based on the first equation relationship, the second equation relationship, the third equation relationship and the fourth equation relationship, the resistance equation relationship between the vehicle's climbing resistance threshold and the hardware parameters, operating parameters and current wind speed is obtained; wherein the vehicle's climbing resistance threshold is equal to the sum of the current air resistance, rolling resistance threshold, acceleration resistance and slope resistance threshold.

[0060] In this embodiment, since the climbing resistance threshold of the vehicle is equal to the sum of the current air resistance, rolling resistance threshold, acceleration resistance and slope resistance threshold: F limit =F w +F f +F j +F i , where F limit represents the current climbing resistance threshold of the vehicle. Based on the first equation relationship, the second equation relationship, the third equation relationship and the fourth equation relationship, the resistance equation relationship is obtained as follows: In this way, the current slope angle threshold can be derived by only knowing the equation relationship between the vehicle's current air resistance, rolling resistance threshold, acceleration resistance and slope resistance threshold, so that the vehicle can issue an alarm based on the real-time slope angle threshold and the slope of the current slope being climbed, thereby improving the accuracy of the alarm and further improving the vehicle's climbing safety.

[0061] In some embodiments, when the vehicle is traveling at a constant speed while climbing a slope, F j = 0, and the vehicle is moving slowly uphill, so the air resistance can be ignored, that is, F w = 0. Then the resistance equation at this time is F limit =F f +F i At the same time, when the slope of the slope on which the vehicle is traveling reaches the slope angle threshold, the resultant force during the driving process is equal to the difference between the vehicle's driving force and the climbing resistance threshold, that is, F t -F limit =m*a, then the target equation relationship among the resistance equation relationship, drive equation relationship, hardware parameters, operating parameters and slope angle threshold is derived:

[0062]

[0063] Among them, f = 0.015, η = 0.85, g = 9.8N / kg. According to the target equation relationship, the critical slope angle threshold α for the vehicle to overturn when the vehicle is currently driving on a slope can be obtained: limit .

[0064] See also Figure 2 , Figure 2 FIG. 1 is a schematic diagram of force analysis of a vehicle wheel in an exemplary embodiment of the present application, as shown in FIG. Figure 2 As shown, the speed of the vehicle is V a When the radius is r and the driving torque is T t The driving force F on the wheel t , ground pressure on the wheel F z And the resistance F0 during driving. In this application, F0 = F limit .

[0065] Optionally, based on the current wind speed, hardware parameters and operating parameters, the current air resistance is obtained, including:

[0066] Determine the relative speed between the current wind speed and the vehicle speed in the operating parameters;

[0067] Based on the relative speed and the frontal area included in the hardware parameters, the current air resistance of the vehicle is obtained.

[0068] In this embodiment, during the driving process, the vehicle will be affected by the wind resistance formed by the air flow, generating the current air resistance. The current air resistance of the vehicle can be obtained according to the relative speed between the current wind speed formed by the air flow and the vehicle speed in the operating parameters and the frontal area of ​​the vehicle between the current air and the wind. The current air resistance facilitates the subsequent calculation of the slope angle threshold, so that the vehicle can alarm based on the real-time slope angle threshold and the slope of the current slope, thereby improving the accuracy of the alarm and further improving the climbing safety of the vehicle.

[0069] Optionally, detecting the actual slope angle of the ramp includes:

[0070] Detect the three-axis acceleration vector of the vehicle when it is driving on a slope;

[0071] Based on the three-axis acceleration vector, the actual slope angle of the ramp is obtained.

[0072] In this embodiment, when the vehicle moves, a bending stress is generated inside the chip, so that the chip can output an electrical signal according to the deformation of the metal material. The vehicle can detect the electrical signal using a three-axis acceleration sensor and convert the electrical signal into a three-axis acceleration vector: the X-axis acceleration vector of the X-axis, the Y-axis acceleration vector of the Y-axis, and the Z-axis acceleration vector of the Z-axis in the three-dimensional coordinate system of the vehicle constructed by the three-axis acceleration sensor. In this way, the actual slope angle can be directly calculated by detecting the data through the three-axis acceleration sensor, without the need to manually measure the slope of the ramp, thereby improving the detection efficiency of the slope angle.

[0073] The schematic diagram of the three-dimensional coordinate system of the vehicle constructed by the three-axis acceleration sensor is as follows Figure 3 As shown, Figure 3 In the 3D coordinate system, the geometric center of the vehicle is the origin, the vehicle's forward direction is the X-axis, the vertical direction is the Z-axis, and the vehicle's left direction is the Y-axis. The three-axis acceleration sensor detects the three-axis acceleration vector: the X-axis acceleration vector a of the X-axis in the 3D coordinate system x , the Y-axis acceleration vector a y , the Z-axis acceleration vector a z , the three-axis acceleration vector can be used to calculate the three-axis acceleration vector sum, the absolute value of the three-axis acceleration vector sum is the acceleration of the vehicle, the vector direction of the three-axis acceleration vector sum is the acceleration direction and the driving direction of the vehicle, and the angle between the acceleration direction and the horizontal direction is the actual slope angle of the ramp climbed by the vehicle. The acceleration direction in this embodiment can also be expressed as the direction obtained by rotating the acceleration around the X-axis, Y-axis and Z-axis on the three-dimensional coordinate system. Among them, the angle formed by rotating around the X-axis in the three-dimensional coordinate system is ROLL (roll angle), the angle formed by rotating around the Y-axis is PITCH (pitch angle), and the angle formed by rotating around the Z-axis is YAW (yaw angle).

[0074] This application takes into account that the three-axis acceleration sensor should be installed in different ways for different cleaning vehicles, so the corresponding parameter settings are modified according to the coordinate coupling method between the vehicle coordinate system and the coordinate system of the three-axis acceleration sensor. There may be a slight angle difference between the three-axis acceleration sensor and the vehicle during installation, so before performing a ramp test on the vehicle, it is necessary to drive the vehicle to a flat road with an angle difference of ±1° from the horizontal ground for calibration.

[0075] The derivation process of the formula for calculating the actual slope angle of the ramp using the three-axis acceleration vector is as follows:

[0076]

[0077] That is, a x , G, The three vectors form a right triangle, and the trigonometric relationship of the right triangle can be obtained:

[0078]

[0079] Among them, G represents the sum of the three-axis acceleration vector, a x represents the X-axis acceleration vector, a y represents the Y-axis acceleration vector, a z represents the Z-axis acceleration vector, and α represents the pitch angle formed by the rotation of the vehicle around the XY plane in the three-dimensional coordinate system, that is, the actual slope angle of the ramp climbed by the vehicle.

[0080] In some embodiments, when the value of α is within the range of (-15°, +15°), the value of α can be approximately equivalent to a positive proportional function straight line. In order to simplify the program operation process, Simplified to The simplified calculation result of α has little effect on the angle detection accuracy, and the amount of calculation is reduced, which can improve the calculation efficiency.

[0081] Optionally, based on the actual slope angle and the slope angle threshold, the vehicle is controlled to perform a hill climbing alarm, including:

[0082] Obtain the magnitude relationship between the actual slope angle and the slope angle threshold;

[0083] When the actual slope angle is greater than or equal to the slope angle threshold, the vehicle is controlled to give an audible and visual prompt so that the vehicle issues a climbing alarm.

[0084] In this embodiment, when the actual slope angle is greater than or equal to the slope angle threshold, it means that the vehicle is very likely to overturn when driving on the slope corresponding to the actual slope angle. At this time, the vehicle is controlled to perform sound and light prompts to make the vehicle perform a climbing alarm, which can promptly remind the driver that the slope of the current slope is too large. The vehicle is very likely to overturn when passing through the slope and cannot go uphill safely, which is convenient for the driver to take timely response measures, such as changing the route, thereby improving the driving safety of the vehicle.

[0085] In this embodiment, the vehicle's hill climbing alarm can be manually or automatically released. Manual release means that after the alarm is triggered, the driver determines that the current slope is safe to pass and manually turns off the sound and light prompts to turn off the hill climbing alarm. Automatic release means that the vehicle automatically turns off after detecting that the current slope is less than the ramp alarm threshold.

[0086] See also Figure 4 , Figure 4 This is a flow chart of a vehicle climbing alarm method provided by the application in an exemplary embodiment of the present application, such as Figure 4As shown, firstly, the parameters are initialized to obtain the operating parameters of the vehicle when driving on the slope, the environmental parameters of the area where the slope is located, and the hardware parameters of the vehicle, and the slope angle threshold α of the vehicle is determined based on the operating parameters, environmental parameters, and hardware parameters. limit , then use the three-dimensional acceleration sensor to detect and process the data to get the vehicle's pitch angle α, which is the actual slope angle of the slope the vehicle is climbing. Check whether the vehicle's climbing alarm function is normal. If the function is normal, calculate α and α limit The size relationship is, when α≥α limit When α<α limit When the function is abnormal, turn off the vehicle's climbing alarm.

[0087] The present application discloses a vehicle climbing alarm method. The vehicle combines a three-axis acceleration sensor and an alarm processing strategy. The vehicle obtains the actual slope angle of the current slope by using the acceleration and acceleration direction of the vehicle collected by the three-axis acceleration sensor. The current slope angle threshold is obtained based on the current operating parameters of the vehicle, the environmental parameters of the area where the slope is located, and the hardware parameters of the vehicle. Then, based on the size relationship between the actual slope angle and the slope angle threshold, it is judged whether the vehicle is prone to overturning when driving on the slope. When overturning is likely to occur, the vehicle is controlled to give an audible and visual prompt so that the vehicle performs a climbing alarm, thereby prompting the operator to avoid the risk in time. In this way, the risk of overturning caused by the cleaning vehicle when climbing a slope can be prevented to a certain extent. When the slope is too large and exceeds the allowed slope angle threshold, an alarm can be given to prompt the driver to avoid the overturning risk.

[0088] See also Figure 5 , Figure 5 FIG. 1 is a schematic structural diagram of a vehicle climbing alarm device used in a vehicle climbing alarm method in an exemplary embodiment of the present application, such as Figure 5 As shown, a vehicle climbing alarm device includes a sensor group, a processor and an alarm arranged on a vehicle, and is used to implement a vehicle climbing alarm method provided by the present application. The processor includes a slope detection system and a slope alarm system, and the alarm includes an audible and visual prompter and an alarm processor. The audible and visual prompter is used to perform audible and visual prompts, and the alarm processor is used to control the audible and visual prompter to perform sound reminders and / or light reminders.

[0089] See also Figure 6 , Figure 6 A vehicle hill climbing alarm system is shown as an exemplary embodiment of the present application. Figure 6 As shown, the present application provides a vehicle climbing alarm system, comprising:

[0090] An acquisition module is used to acquire the operating parameters of the vehicle when it is driving on the ramp, and to acquire the environmental parameters of the area where the ramp is located;

[0091] A determination module, for determining a slope angle threshold of the vehicle based on hardware parameters, operating parameters and environmental parameters of the vehicle;

[0092] A detection module, used for detecting the actual slope angle of the ramp;

[0093] The alarm module is used to control the vehicle to perform a climbing alarm based on the actual slope angle and the slope angle threshold.

[0094] In this embodiment, the current slope angle threshold of the vehicle is determined in real time by using the operating parameters of the vehicle when driving on the ramp obtained by the acquisition module, the environmental parameters of the area where the ramp is located, and the hardware parameters of the vehicle obtained by the acquisition module. Based on the actual slope angle of the current ramp detected by the detection module and the slope angle threshold, it is possible to understand whether the vehicle can currently pass the ramp safely, so that the alarm module is used to perform a climbing alarm when it is determined that it cannot pass safely at present. In this way, the vehicle alarms based on the real-time slope angle threshold when climbing, avoiding the situation where the slope of the vehicle climbing exceeds the real-time slope angle threshold and the alarm is not issued, reducing the probability of the vehicle overturning during the climbing process, thereby improving the climbing safety of the vehicle.

[0095] Optionally, the environmental parameter includes a current wind speed; the determination module is specifically configured to:

[0096] Obtain the resistance equation relationship between the vehicle's climbing resistance threshold and hardware parameters, operating parameters and current wind speed;

[0097] Obtaining a driving equation relationship between a vehicle's driving force, a vehicle's hardware parameters, and an operating parameter;

[0098] Based on the resistance equation relationship, the driving equation relationship, the hardware parameters and the operating parameters, the slope angle threshold of the vehicle is obtained, and there is a corresponding relationship between the climbing resistance threshold and the slope angle threshold.

[0099] Optionally, a module is determined, specifically for:

[0100] Obtaining a first equation relationship between the vehicle's current air resistance and the current wind speed, hardware parameters, and operating parameters;

[0101] Obtaining a second equation relationship between a rolling resistance threshold of a vehicle and a hardware parameter;

[0102] Obtaining a third equation relationship between the acceleration resistance of the vehicle and the hardware parameters and the operating parameters;

[0103] Obtaining a fourth equation relationship between a slope resistance threshold of a vehicle and a hardware parameter;

[0104] Based on the first equation relationship, the second equation relationship, the third equation relationship and the fourth equation relationship, the resistance equation relationship between the vehicle's climbing resistance threshold and the hardware parameters, operating parameters and current wind speed is obtained; wherein the vehicle's climbing resistance threshold is equal to the sum of the current air resistance, rolling resistance threshold, acceleration resistance and slope resistance threshold.

[0105] Optionally, a module is determined, specifically for:

[0106] Determine the relative speed between the current wind speed and the vehicle speed in the operating parameters;

[0107] Based on the relative speed and the frontal area included in the hardware parameters, the current air resistance of the vehicle is obtained.

[0108] Optionally, the detection module is specifically used to:

[0109] Detect the three-axis acceleration vector of the vehicle when it is driving on a slope;

[0110] Based on the three-axis acceleration vector, the actual slope angle of the ramp is obtained.

[0111] Optionally, the alarm module is specifically used for:

[0112] Obtain the magnitude relationship between the actual slope angle and the slope angle threshold;

[0113] When the actual slope angle is greater than or equal to the slope angle threshold, the vehicle is controlled to give an audible and visual prompt so that the vehicle issues a climbing alarm.

[0114] A computing device according to an embodiment of the present application includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of a vehicle hill climbing alarm method provided in the present application are implemented.

[0115] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present application can refer to the parameters and steps in an embodiment of a vehicle climbing alarm method above, and will not be repeated here.

[0116] In an embodiment of the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of a vehicle climbing alarm method provided by the present application are executed.

[0117] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0118] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient computer-readable storage medium.

[0119] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] Those skilled in the art know that the present application can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "module" or "system" herein. In addition, in some embodiments, the present application can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0121] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0122] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle climbing alarm method, characterized in that: include: Acquiring operating parameters of the vehicle when it is traveling on a ramp, and acquiring environmental parameters of an area where the ramp is located; Determining a slope angle threshold of the vehicle based on the hardware parameters of the vehicle, the operating parameters, and the environmental parameters; detecting an actual slope angle of the ramp; Based on the actual slope angle and the slope angle threshold, the vehicle is controlled to issue a hill climbing alarm.

2. The method according to claim 1, characterized in that The environmental parameter includes a current wind speed; and determining the slope angle threshold of the vehicle based on the hardware parameter of the vehicle, the operating parameter and the environmental parameter includes: Obtaining a resistance equation relationship between a climbing resistance threshold of the vehicle and the hardware parameter, the operating parameter and the current wind speed; Acquiring a driving equation relationship between the driving force of the vehicle, the hardware parameters of the vehicle and the operating parameters; Based on the resistance equation relationship, the driving equation relationship, the hardware parameters and the operating parameters, a slope angle threshold of the vehicle is obtained, and there is a corresponding relationship between the climbing resistance threshold and the slope angle threshold.

3. The method according to claim 2, characterized in that The step of obtaining a resistance equation relationship between the climbing resistance threshold of the vehicle and the hardware parameter, the operating parameter, and the current wind speed includes: Obtaining a first equation relationship between the current air resistance of the vehicle and the current wind speed, the hardware parameter, and the operating parameter; Obtaining a second equation relationship between a rolling resistance threshold of the vehicle and the hardware parameter; Obtaining a third equation relationship between the acceleration resistance of the vehicle and the hardware parameter and the operating parameter; Obtaining a fourth equation relationship between the slope resistance threshold of the vehicle and the hardware parameter; Based on the first equation relationship, the second equation relationship, the third equation relationship and the fourth equation relationship, a resistance equation relationship between the vehicle's climbing resistance threshold and the hardware parameters, the operating parameters and the current wind speed is obtained; wherein the vehicle's climbing resistance threshold is equal to the sum of the current air resistance, the rolling resistance threshold, the acceleration resistance and the slope resistance threshold.

4. The method according to claim 3, characterized in that The obtaining the current air resistance based on the current wind speed, the hardware parameters and the operating parameters includes: Determine the relative speed between the current wind speed and the vehicle speed in the operating parameter; Based on the relative speed and the frontal area included in the hardware parameters, the current air resistance of the vehicle is obtained.

5. The method according to any one of claims 1 to 4, characterized in that: The detecting the actual slope angle of the ramp comprises: detecting a three-axis acceleration vector of the vehicle when it is traveling on a slope; Based on the three-axis acceleration vector, the actual slope angle of the ramp is obtained.

6. The method according to any one of claims 1 to 4, characterized in that: The step of controlling the vehicle to perform a hill climbing alarm based on the actual slope angle and the slope angle threshold comprises: Obtaining a magnitude relationship between the actual slope angle and the slope angle threshold; When the magnitude relationship is that the actual slope angle is greater than or equal to the slope angle threshold, the vehicle is controlled to perform sound and light prompts so that the vehicle performs a climbing alarm.

7. A vehicle climbing alarm device, characterized in that: The vehicle hill climbing alarm device comprises a sensor group, a processor and an alarm arranged on the vehicle, and is used to implement a vehicle hill climbing alarm method as described in any one of claims 1 to 6.

8. A vehicle climbing alarm system, characterized in that: include: An acquisition module, used to acquire operating parameters of a vehicle when it is traveling on a ramp, and to acquire environmental parameters of an area where the ramp is located; A determination module, configured to determine a slope angle threshold of the vehicle based on a hardware parameter of the vehicle, the operating parameter, and the environmental parameter; A detection module, used for detecting an actual slope angle of the ramp; An alarm module is used to control the vehicle to perform a hill climbing alarm based on the actual slope angle and the slope angle threshold.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of a vehicle hill climbing alarm method as described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle hill climbing alarm method as described in any one of claims 1 to 6.

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