Road slope warning method, device, equipment and storage medium

Abstract

This application discloses a road slope alarm method, apparatus, device, and storage medium, relating to the field of road detection technology. The disclosed road slope alarm method includes: when the road obstacle detection result meets preset obstacle conditions, activating a first laser transceiver and a second laser transceiver; controlling the first and second laser transceivers to respectively transmit a first pulse signal and a second pulse signal forward onto the road; upon receiving the first and second echo signals, acquiring the reception time difference between the first and second echo signals, and determining a road slope estimate based on the reception time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver; when the estimated road slope is greater than a slope safety threshold, generating slope alarm information and providing a road slope reminder. This achieves stable road slope estimation and sharp slope alarm at low cost.

Description

Technical Field

[0001] This application relates to the field of road detection technology, and in particular to road slope alarm methods, devices, equipment and storage media. Background Technology

[0002] When using autonomous driving functions, drivers often don't pay attention to road conditions. When encountering a steep incline, the vehicle struggles to respond effectively in autonomous mode. On steep inclines, the vehicle may roll back due to insufficient power. Even on gentle inclines, the sudden acceleration uphill at the original speed can cause significant vibrations and jolting, posing a considerable safety risk to the driver. Therefore, in autonomous driving mode, it is essential for new energy vehicles to automatically estimate the road gradient and provide warnings and deceleration accordingly to ensure driver comfort and safety when going uphill.

[0003] Currently, some road slope estimation methods measure the longitudinal slope of a vehicle based on data collected by the Global Positioning System (GPS), while others estimate the road slope based on data collected by vehicle sensors. However, GPS has weak stability; when the GPS signal is unstable, the longitudinal slope measurement is inaccurate, resulting in significant errors. Methods based on vehicle sensors increase the overall vehicle manufacturing cost, and the sensors themselves have limitations and are susceptible to interference from equipment noise.

[0004] How to achieve stable road slope estimation and provide steep slope warnings at low cost has become a problem to be solved.

[0005] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this application is to provide a road slope alarm method, device, equipment, and storage medium, aiming to solve the technical problem of how to achieve stable road slope estimation and perform steep slope alarm at low cost.

[0007] To achieve the above objectives, this application proposes a road slope warning method, the method comprising:

[0008] When the road obstacle detection results meet the preset obstacle conditions, the first laser transceiver and the second laser transceiver are activated. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror.

[0009] The first laser transceiver and the second laser transceiver are controlled to transmit a first pulse signal and a second pulse signal forward to the road, respectively, wherein the first pulse signal is transmitted through the first laser transceiver and the second pulse signal is transmitted through the second laser transceiver;

[0010] Upon receiving the first echo signal and the second echo signal, the receiving time difference between the first echo signal and the second echo signal is obtained, and the estimated road slope is determined based on the receiving time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver.

[0011] When the estimated road slope exceeds the slope safety threshold, a slope alarm is generated to provide a road slope reminder.

[0012] In one embodiment, the step of determining the road slope estimate based on the receiving time difference includes:

[0013] The distance between the first laser transceiver and the second laser transceiver is obtained to determine the laser distance.

[0014] The estimated road slope is determined based on the receiving time difference and the laser distance.

[0015] In one embodiment, the step of determining the road slope estimate based on the receiving time difference and the laser distance includes:

[0016] Obtain the emission speeds of the first laser transceiver and the second laser transceiver;

[0017] Calculate the cross section length of the ramp based on the receiving time difference and the transmitting speed;

[0018] The estimated road slope is calculated based on the cross section length of the slope and the distance to the laser.

[0019] In one embodiment, after the step of generating a slope alarm message and providing a road slope reminder when the estimated road slope value is greater than the slope safety threshold, the method further includes:

[0020] Obtain vehicle speed, vehicle acceleration, and vehicle steering angle;

[0021] The deceleration requirement is determined based on the vehicle speed, the vehicle acceleration, the vehicle steering angle, and the estimated road slope.

[0022] The vehicle is controlled to decelerate according to the deceleration demand value.

[0023] In one embodiment, the step of determining the deceleration requirement value based on the vehicle speed, the vehicle acceleration, the vehicle steering angle, and the estimated road slope includes:

[0024] The road surface friction coefficient is determined based on the vehicle acceleration.

[0025] The deceleration requirement is determined based on the vehicle speed, the vehicle steering angle, the road surface friction coefficient, and the estimated road slope.

[0026] In one embodiment, before the step of activating the first and second laser transceivers when the road obstacle detection result meets the preset obstacle conditions, the method further includes:

[0027] When the vehicle is detected to be in autonomous driving mode, data from road cameras and road radar sensors are acquired.

[0028] The road obstacle detection result is obtained by detecting obstacles on the road ahead based on the road camera data and the road radar sensor data.

[0029] In one embodiment, after the step of activating the first laser transceiver and the second laser transceiver when the road obstacle detection result meets the preset obstacle conditions, the method further includes:

[0030] When the road obstacle detection results do not meet the preset obstacle conditions, the first laser transceiver and the second laser transceiver are turned off.

[0031] Furthermore, to achieve the above objectives, this application also proposes a road slope warning device, which includes:

[0032] The condition detection module is used to activate the first laser transceiver and the second laser transceiver when the road obstacle detection result meets the preset obstacle conditions. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror.

[0033] A laser transmitting module is used to control the first laser transceiver and the second laser transceiver to transmit a first pulse signal and a second pulse signal forward to the road, respectively, wherein the first pulse signal is transmitted through the first laser transceiver and the second pulse signal is transmitted through the second laser transceiver;

[0034] The slope estimation module is used to obtain the reception time difference between the first echo signal and the second echo signal when the first echo signal and the second echo signal are received, and to determine the estimated road slope value based on the reception time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver.

[0035] The slope alarm module is used to generate slope alarm information and provide road slope reminders when the estimated road slope value is greater than the slope safety threshold.

[0036] In addition, to achieve the above objectives, this application also proposes a road slope warning device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the road slope warning method as described above.

[0037] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the road slope warning method described above.

[0038] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the road slope warning method described above.

[0039] One or more technical solutions proposed in this application have at least the following technical effects:

[0040] When the road obstacle detection results meet preset obstacle conditions, a first laser transceiver and a second laser transceiver are activated. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror. The first and second laser transceivers are controlled to transmit a first pulse signal and a second pulse signal forward onto the road, respectively. The first pulse signal is transmitted through the first laser transceiver, and the second pulse signal is transmitted through the second laser transceiver. Upon receiving the first and second echo signals, the reception time difference between the first and second echo signals is obtained. The road slope estimate is determined based on the received time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver. When the estimated road slope is greater than the slope safety threshold, a slope alarm is generated to remind the driver of the road slope. The road slope is estimated by emitting and receiving laser pulses from two laser transceivers installed above and below the electronic rearview mirror. No additional sensors or GPS are required, reducing the overall vehicle cost. It can quickly react to steep slopes ahead and promptly warn the driver, giving the driver time to switch out of the automatic driving mode, brake, and decelerate, and providing some psychological preparation. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] Figure 1 This is a flowchart illustrating an embodiment of the road slope alarm method of this application.

[0044] Figure 2 This is a schematic diagram of the laser transceiver installation provided for Embodiment 1 of the road slope alarm method of this application;

[0045] Figure 3 A schematic diagram of the laser ranging principle provided for Embodiment 1 of the road slope alarm method of this application;

[0046] Figure 4 This is a schematic diagram of a vehicle going uphill, provided in Embodiment 1 of the road slope alarm method of this application;

[0047] Figure 5 This is a flowchart illustrating Embodiment 2 of the road slope alarm method of this application;

[0048] Figure 6 A simplified flowchart illustrating the road slope alarm method provided in Embodiment 2 of this application;

[0049] Figure 7 This is a schematic diagram of the module structure of the road slope alarm device according to an embodiment of this application;

[0050] Figure 8 This is a schematic diagram of the device structure of the hardware operating environment involved in the road slope alarm method in this application embodiment.

[0051] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0053] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0054] The main solution of this application embodiment is as follows: When the road obstacle detection result meets the preset obstacle conditions, the first laser transceiver and the second laser transceiver are activated, wherein the first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror; the first laser transceiver and the second laser transceiver are controlled to transmit a first pulse signal and a second pulse signal forward to the road, respectively, wherein the first pulse signal is transmitted through the first laser transceiver, and the second pulse signal is transmitted through the second laser transceiver; when the first echo signal and the second echo signal are received, the reception time difference between the first echo signal and the second echo signal is obtained, and the estimated road slope value is determined based on the reception time difference, wherein the first echo signal is received by the first laser transceiver, and the second echo signal is received by the second laser transceiver; when the estimated road slope value is greater than the slope safety threshold, a slope alarm message is generated to provide a road slope reminder.

[0055] In this embodiment, for ease of description, the following description will focus on the vehicle identification system as the executing entity.

[0056] Because drivers often don't pay attention to road conditions when using autonomous driving functions, vehicles in autonomous mode struggle to respond effectively to steep inclines. On steep inclines, a vehicle going straight uphill may slip due to insufficient power. Even on gentle inclines, the sudden, constant speed as the vehicle ascends at its original speed can cause significant vibrations and jolting, posing a considerable safety risk to the driver. Therefore, in autonomous driving mode, it is essential for new energy vehicles to automatically estimate the road gradient and provide warnings and deceleration accordingly to ensure driver comfort and safety when going uphill.

[0057] Currently, some road slope estimation methods measure the longitudinal slope of a vehicle based on GPS data, while others estimate the road slope based on data collected by vehicle sensors. However, GPS has weak stability; when the GPS signal is unstable, the longitudinal slope measurement is inaccurate, resulting in significant errors. Methods based on vehicle sensors increase the overall vehicle manufacturing cost, and the sensors themselves have limitations, being susceptible to interference from equipment noise.

[0058] This application provides a solution that uses two laser transceivers in the Camera Monitoring System (CMS) of a new energy vehicle to estimate road slope. When the estimated slope exceeds a preset threshold, the vehicle sends a message to the CAN bus, triggering an alarm via an alarm on the CAN bus. This method does not require additional sensors; it only requires installing two laser transceivers on the existing CMS. Compared to vehicle sensors, laser transceivers are cheaper and have a minimal impact on the overall vehicle cost. Furthermore, laser transceivers are more stable than GPS and are not affected by environmental factors such as noise.

[0059] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or vehicle system capable of performing the above functions. The following description uses a vehicle system as an example to illustrate this embodiment and the subsequent embodiments.

[0060] Based on this, the embodiments of this application provide a road slope alarm method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the road slope alarm method of this application.

[0061] In this embodiment, the road slope alarm method includes steps S10 to S40:

[0062] Step S10: When the road obstacle detection result meets the preset obstacle conditions, turn on the first laser transceiver and the second laser transceiver. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror.

[0063] It should be understood that the vehicle to which the solution of this application is applied can be a new energy vehicle, and it is necessary to ensure that the vehicle is equipped with a camera monitoring system. The camera monitoring system can not only provide visual environmental monitoring, but also integrate advanced image processing capabilities for identifying lane lines, pedestrians, obstacles, etc.

[0064] It should be noted that the vehicle's electronic rearview mirrors are equipped with two laser transceivers, one above the other. These devices are crucial for real-time measurement of the physical environment surrounding the vehicle, especially for detecting changes in the slope of the road ahead. Please refer to... Figure 2 , Figure 2 This is a schematic diagram of the laser transceiver installation provided in Embodiment 1 of the road slope warning method of this application. The first laser transceiver is installed below the electronic rearview mirror of the vehicle, i.e., the lower laser transceiver, and the second laser transceiver is installed above the electronic rearview mirror of the vehicle, i.e., the upper laser transceiver.

[0065] Additionally, it should be understood that before the vehicle moves, it is necessary to ensure that all sensors (such as cameras and radar sensors) and systems (such as the driver monitoring system) are correctly installed and connected to the central processing unit of the vehicle system. This ensures that the vehicle can correctly acquire slope warning data and perform slope estimation based on this data when a slope warning is issued during driving. Specifically, the working status of the upper and lower laser transceivers needs to be checked, including but not limited to checking whether they can successfully transmit and receive laser signals, as well as the signal strength and stability. This ensures that the laser transceivers can accurately acquire information about the road ahead during autonomous driving, providing a reliable foundation for subsequent data processing. Furthermore, while the vehicle is moving, it will detect road obstacles (such as vehicles, pedestrians, and roadblocks) ahead of the vehicle using sensor data, obtaining road obstacle detection results. When the road obstacle detection result indicates that there are no vehicles or other obstacles ahead (i.e., the road obstacle detection result meets the preset obstacle conditions), the upper and lower laser transceivers are activated, and the slope warning module is enabled. When the surrounding environment is complex, with many vehicles or obstacles, turning off the slope warning module allows the driver to concentrate fully, eliminating the need to remind the driver of any steep slopes ahead and avoiding ineffective warnings. In open environments, drivers tend to be more relaxed, so turning on the slope warning module by default can effectively reduce safety hazards.

[0066] In one feasible implementation, steps S01 to S02 may be included before step S10:

[0067] Step S01: When the vehicle is detected to be in autonomous driving mode, acquire road camera data and road radar sensor data;

[0068] It should be understood that the slope warning method of this application is designed for scenarios where a new energy vehicle is started and switched to autonomous driving mode via the in-vehicle system interface. In autonomous driving mode, the vehicle's control system takes over driving tasks, including acceleration, braking, and steering. At this time, the vehicle will autonomously determine key operations such as driving route and speed adjustment based on the built-in autonomous driving algorithm. Simultaneously, the in-vehicle system continuously collects data from various sensors, such as cameras, radar sensors, and laser transceivers, to assess changes in the surrounding environment in real time. Road camera data refers to image and video data captured by cameras installed at or around the vehicle. These cameras capture real-time visual information of the road ahead using optical lenses, including road signs, lane lines, other vehicles, pedestrians, and traffic signals. Road radar sensor data is collected by radar sensors on the vehicle. These sensors measure the distance, speed, and angle of objects around the vehicle by emitting radio waves and receiving reflected signals.

[0069] Step S02: Detect obstacles on the road ahead based on the road camera data and the road radar sensor data, and obtain the road obstacle detection result.

[0070] It should be understood that road camera data and radar sensor data can be used for vehicle visual recognition and environmental perception. By combining image and video data captured by cameras with distance and speed information collected by road radar sensors, and performing fusion processing on this data, obstacles on the road ahead can be identified, resulting in a road obstacle detection result. The road obstacle detection result can indicate whether there are no obstacles on the road ahead or whether there are obstacles on the road ahead.

[0071] In one feasible implementation, after step S10, the method may further include: turning off the first laser transceiver and the second laser transceiver when the road obstacle detection result does not meet the preset obstacle conditions.

[0072] It should be noted that when a vehicle or other obstacle is detected ahead via camera and radar (i.e., the road obstacle detection result does not meet the preset obstacle conditions), the slope alarm module is not required, and the upper and lower laser transceivers will be turned off. Simultaneously, the detection of road obstacles ahead will continue until a vehicle or other obstacle is detected (i.e., the road obstacle detection result meets the preset obstacle conditions), at which point the laser transceivers will be turned back on, and the slope alarm module will be activated.

[0073] Step S20: Control the first laser transceiver and the second laser transceiver to transmit a first pulse signal and a second pulse signal forward to the road, respectively, wherein the first pulse signal is transmitted through the first laser transceiver and the second pulse signal is transmitted through the second laser transceiver;

[0074] It should be noted that when the vehicle encounters a slope in front during autonomous driving, the upper and lower laser transceivers mounted on the electronic rearview mirror will simultaneously emit laser pulses towards the ground. The laser pulse emitted by the lower laser transceiver (i.e., the first laser transceiver) is recorded as the first pulse signal, and the laser pulse emitted by the upper laser transceiver (i.e., the second laser transceiver) is recorded as the second pulse signal.

[0075] Step S30: When the first echo signal and the second echo signal are received, the reception time difference between the first echo signal and the second echo signal is obtained, and the estimated road slope value is determined based on the reception time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver.

[0076] It should be understood that due to the presence of a slope, the time it takes for the two laser beams to travel from emission to return will differ. These time differences will be recorded by the system and used as the basis for calculating the slope. For details, please refer to... Figure 3 , Figure 3 This is a schematic diagram of the laser ranging principle provided for Embodiment 1 of the road slope alarm method of this application. Figure 3 As shown, after two laser transceivers simultaneously send a first pulse signal and a second pulse signal to the slope, the laser pulses propagate at the speed of light and are reflected back upon encountering the slope surface, resulting in a first echo signal and a second echo signal. The first echo signal is a reflection of the first pulse signal and is received by the first laser transceiver, while the second echo signal is a reflection of the second pulse signal and is received by the second laser transceiver. A timing circuit records the round-trip time of the laser pulse from transmission to reception, obtaining the reception time difference between the first and second echo signals. A signal processing module processes this signal reception time difference to obtain the cross-sectional length L, and thus, an estimated road slope. The estimated road slope is expressed in angles, representing the degree of inclination of the road ahead of the vehicle. A larger estimated slope indicates a greater inclination of the slope ahead of the vehicle.

[0077] In one feasible implementation, the step of determining the road slope estimate based on the receiving time difference in step S30 may include steps S31 to S32:

[0078] Step S31: Obtain the distance between the first laser transceiver and the second laser transceiver to obtain the laser distance;

[0079] It should be understood that the distance between the first and second laser transceivers, i.e., the laser distance between the upper and lower laser transceivers, is a preset value during manufacturing, denoted as 'd'. This value is recorded in the vehicle system's configuration file. When the laser warning module is activated, this preset distance value is used to calculate the slope estimate. Specifically, the upper and lower laser transceivers on the CMS can be manufactured separately or combined into a single module, allowing for more accurate confirmation of the distance 'd' between the upper and lower laser transceivers.

[0080] Step S32: Determine the estimated road slope based on the receiving time difference and the laser distance.

[0081] It should be understood that the cross-sectional length L of the ramp between the upper and lower laser transceivers can be calculated based on the laser reception time difference and the speed of light. The slope can then be estimated based on the cross-sectional length L and the laser distance d. For details, please refer to... Figure 4 , Figure 4This is a schematic diagram of a vehicle going uphill, provided in Embodiment 1 of the road slope warning method of this application. Assuming the estimated slope value is α, the following formula holds:

[0082] tanα=d / L

[0083] By transforming it, we can obtain:

[0084] α = arctan(d / L)

[0085] In one feasible implementation, step S32 may include: obtaining the transmission speeds of the first laser transceiver and the second laser transceiver; calculating the cross section length of the slope based on the receiving time difference and the transmission speed; and calculating an estimated road slope based on the cross section length of the slope and the laser distance.

[0086] Specifically, assuming the emission speeds of the first and second laser transceivers are both c, and the time from laser emission to return from the first transceiver is denoted as t1, and the time from laser emission to return from the second transceiver as t2, the time difference Δt is obtained by subtracting the two. Then, the cross-sectional length L of the slope between the first and second laser transceivers can be calculated using L = cΔt2. Furthermore, the estimated road slope α can be calculated using trigonometric formulas, as follows:

[0087] α = arctan[2d / c△t]

[0088] For example, if a new energy vehicle is equipped with a CMS system and has two laser transceivers installed (upper and lower), and is driving in autonomous driving mode, it encounters a steep uphill slope. The time from the upper laser transceiver's pulse laser emission to its return is 2 microseconds, and the time from the lower laser transceiver's emission to its return is 0.1 nanoseconds less than that of the upper laser transceiver. The distance from the uphill slope to the vehicle can be calculated as: 1 microsecond × laser emission speed (for ease of calculation, we take 300,000,000 meters / second) = 300 meters. Given that the interval d between the upper and lower laser transceivers is 5 millimeters, and the distance difference L between the upper and lower laser transceivers is 0.05 nanoseconds × laser emission speed = 15 millimeters, we can obtain α = arctan(d / L) as approximately 18.4°, which is the estimated slope.

[0089] Step S40: When the estimated road slope is greater than the slope safety threshold, a slope alarm message is generated to remind the driver of the road slope.

[0090] It should be understood that the in-vehicle system presets a slope safety threshold. After the slope warning module is activated, the estimated road slope is compared with the slope safety threshold. Only when the estimated road slope is greater than the slope safety threshold will a slope warning be generated to alert the driver. Specifically, the slope safety threshold can be set to 15°. If the estimated road slope is less than or equal to 15°, the slope is considered to have little impact on vehicle driving and requires no special handling. Conversely, if the slope is greater than 15°, a higher driving risk is considered, and the in-vehicle system will send an alarm message to the driver through the in-vehicle network, such as the CAN bus, and remind the driver of the steep slope ahead through the instrument panel or audible and visual alarm devices. Comparing the estimated road slope with the slope safety threshold avoids frequent alarms from the vehicle system. Filtered alarms ensure that the driver is alerted at critical moments without disturbing their daily entertainment.

[0091] Specifically, for a slope estimate of 18.4°, comparing it with the preset slope safety threshold of 15°, we can conclude that the slope is greater than 15°. In this case, autonomous driving is considered to have a high driving risk. An alarm message will be sent to the driver via the CAN bus, and the driver will be reminded of the steep slope ahead through the instrument panel or audible and visual alarm device. Afterwards, a command can also be sent to the vehicle's motor control system via the CAN bus to appropriately reduce the motor speed, so that the vehicle can decelerate automatically.

[0092] This embodiment provides a road slope warning method. When the road obstacle detection result meets preset obstacle conditions, a first laser transceiver and a second laser transceiver are activated. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror. The first and second laser transceivers are controlled to transmit a first pulse signal and a second pulse signal forward onto the road, respectively. The first pulse signal is transmitted through the first laser transceiver, and the second pulse signal is transmitted through the second laser transceiver. Upon receiving the first echo signal and the second echo signal, the first echo signal and the second echo signal are compared. The system calculates the road slope estimate based on the time difference between the received echo signals. The first echo signal is received by the first laser transceiver, and the second echo signal is received by the second laser transceiver. When the estimated road slope exceeds a slope safety threshold, a slope warning is generated to alert the driver. The road slope is estimated using laser pulses emitted and received by two laser transceivers installed above and below the electronic rearview mirror. This eliminates the need for additional sensors or GPS, reducing overall vehicle costs. It allows for rapid response to steep slopes ahead, providing timely warnings to the driver, giving them time to switch out of autonomous driving mode, brake, and prepare mentally.

[0093] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 5 After step S40, the road slope alarm method further includes steps S50 to S70:

[0094] Step S50: Obtain vehicle speed, vehicle acceleration, and vehicle steering angle;

[0095] It should be understood that after detecting a road gradient estimate exceeding the safety threshold, to prevent the driver from receiving an alarm and being unable to switch modes and brake automatically, in addition to issuing a warning to the driver, the system will also send a command via the CAN bus to the vehicle's motor control system to appropriately reduce the motor speed. This enables the vehicle to automatically decelerate when encountering a steep slope, ensuring driving safety. Vehicle speed, vehicle acceleration, and vehicle steering angle are used to assess the vehicle's deceleration requirements when facing a slope.

[0096] Step S60: Determine the deceleration requirement value based on the vehicle speed, the vehicle acceleration, the vehicle steering angle, and the estimated road slope.

[0097] It should be understood that vehicle speed, vehicle acceleration, and vehicle steering angle are used to assess the vehicle's instantaneous dynamic state. These parameters, combined with road gradient estimates, can be used by vehicle control algorithms to analyze the vehicle's stability and safety under current road conditions. Through comprehensive analysis, a deceleration requirement value is calculated. This deceleration requirement value reflects the deceleration needed to maintain safe and stable vehicle operation.

[0098] In one feasible implementation, step S60 may include: determining the road surface friction coefficient based on the vehicle acceleration; and determining the deceleration requirement value based on the vehicle speed, the vehicle steering angle, the road surface friction coefficient, and the estimated road slope.

[0099] Specifically, after obtaining the vehicle acceleration, it can be used according to the dynamic model. To estimate the road surface friction coefficient, where 'a' is the vehicle acceleration (unit: m / s²) and 'g' is the gravitational acceleration (approximately 9.81 m / s²). 2 Considering that larger vehicle speeds and larger vehicle steering angles may require greater deceleration to maintain stability when driving on slopes, a deceleration coefficient can be determined based on vehicle speed and vehicle steering angle, and the deceleration requirement value can be determined based on the road friction coefficient, deceleration coefficient, and estimated road slope.

[0100] Vehicle speed, acceleration, and steering angle are input into the vehicle's control algorithm, which predicts the vehicle's behavior under different road conditions. Simultaneously, the estimated road friction coefficient can be determined by the vehicle's braking performance and tire grip, typically involving braking distance and deceleration. Using this data, the control algorithm calculates a deceleration requirement, reflecting the speed reduction the vehicle needs to achieve to maintain safe and stable driving. This deceleration requirement is then used to adjust the vehicle's driving state, achieving precise deceleration by controlling the braking system or adjusting power output.

[0101] Step S70: Control the vehicle to decelerate according to the deceleration demand value.

[0102] It should be understood that this deceleration requirement is used to adjust the vehicle's driving state, achieving precise deceleration by controlling the vehicle's braking system or adjusting power output. Specifically, after obtaining the deceleration requirement, the onboard system will send a command to the vehicle's motor control system via the CAN bus to appropriately reduce the motor speed. This enables the vehicle to automatically decelerate when encountering steep inclines, ensuring driving safety, reducing safety risks caused by excessive speed, and improving passenger comfort.

[0103] This embodiment provides a road slope warning method, which acquires vehicle speed, vehicle acceleration, and vehicle steering angle, determines a deceleration demand value based on the vehicle speed, vehicle acceleration, vehicle steering angle, and estimated road slope, and controls the vehicle to decelerate according to the deceleration demand value. By comprehensively judging the vehicle's deceleration demand based on the vehicle's real-time dynamic data (speed, acceleration, steering angle) and estimated road slope, more intelligent and precise speed control is achieved, improving the adaptability and safety of the slope warning scheme in the face of complex road conditions.

[0104] For example, to help understand the implementation process of the road slope alarm method obtained by combining this embodiment with the above embodiment one, please refer to... Figure 6 , Figure 6 A simplified flowchart of a road slope warning method is provided, specifically:

[0105] After starting the vehicle, check if it is equipped with a CMS module and if two laser transceivers are installed on the rearview mirrors. If not, install laser transceivers above and below the mirrors. If the vehicle is equipped with a CMS module and two laser transceivers are installed on the rearview mirrors, activate the laser transceivers. After the new energy vehicle enters autonomous driving mode, it uses various sensors such as cameras, radar, and laser transceivers to monitor the surrounding area for other vehicles or obstacles in real time. If any are detected, the slope warning module is deactivated. If other vehicles or obstacles are present, when encountering a slope on the road ahead, the system receives the laser pulses emitted by the laser transceivers, which return after time intervals t1 and t2. By receiving the time difference between the returned laser pulses, and based on the known laser velocity and mathematical formulas, the slope is estimated, and different signals are sent to the CAN bus according to different slopes. If the estimated slope is within 15°, the message transmission bypasses the alarm; the CAN bus sends a message to the motor, issuing a command to reduce the motor speed, thus achieving deceleration. If the estimated gradient exceeds 15°, the message is transmitted through the alarm to alert the driver at the vehicle end, and then a message is sent to the motor via the CAN bus to issue a command to reduce the motor speed, thereby achieving the purpose of deceleration.

[0106] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the road slope alarm method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0107] This application also provides a road slope warning device, please refer to... Figure 7 The road slope warning device includes:

[0108] The condition detection module 10 is used to activate the first laser transceiver and the second laser transceiver when the road obstacle detection result meets the preset obstacle conditions. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror.

[0109] The laser transmitting module 20 is used to control the first laser transceiver and the second laser transceiver to transmit a first pulse signal and a second pulse signal forward to the road, respectively, wherein the first pulse signal is transmitted through the first laser transceiver and the second pulse signal is transmitted through the second laser transceiver.

[0110] The slope estimation module 30 is used to obtain the reception time difference between the first echo signal and the second echo signal when the first echo signal and the second echo signal are received, and to determine the estimated road slope value based on the reception time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver.

[0111] The slope alarm module 40 is used to generate slope alarm information and provide road slope reminders when the estimated road slope value is greater than the slope safety threshold.

[0112] In one embodiment, the slope estimation module 30 is further configured to obtain the distance between the first laser transceiver and the second laser transceiver to obtain the laser distance; and determine the estimated road slope value based on the receiving time difference and the laser distance.

[0113] In one embodiment, the slope estimation module 30 is further configured to obtain the transmission speeds of the first laser transceiver and the second laser transceiver; calculate the cross section length of the slope based on the receiving time difference and the transmission speed; and calculate the estimated road slope based on the cross section length of the slope and the laser distance.

[0114] In one embodiment, the slope alarm module 40 is further configured to acquire vehicle speed, vehicle acceleration, and vehicle steering angle; determine a deceleration demand value based on the vehicle speed, vehicle acceleration, vehicle steering angle, and estimated road slope; and control the vehicle to decelerate based on the deceleration demand value.

[0115] In one embodiment, the slope alarm module 40 is further configured to determine the road surface friction coefficient based on the vehicle acceleration; and to determine the deceleration requirement value based on the vehicle speed, the vehicle steering angle, the road surface friction coefficient, and the estimated road slope.

[0116] In one embodiment, the condition detection module 10 is further configured to acquire road camera data and road radar sensor data when the vehicle is detected to be in autonomous driving mode; detect obstacles on the road ahead based on the road camera data and the road radar sensor data, and obtain road obstacle detection results.

[0117] In one embodiment, the condition detection module 10 is further configured to shut down the first laser transceiver and the second laser transceiver when the road obstacle detection result does not meet the preset obstacle conditions.

[0118] The road slope warning device provided in this application, employing the road slope warning method described in the above embodiments, can solve the technical problem of how to achieve stable road slope estimation and perform steep slope warnings at low cost. Compared with the prior art, the beneficial effects of the road slope warning device provided in this application are the same as those of the road slope warning method provided in the above embodiments, and other technical features in the road slope warning device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0119] This application provides a road slope warning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the road slope warning method in Embodiment 1 above.

[0120] The following is for reference. Figure 8 The diagram illustrates a structural schematic suitable for implementing a road slope warning device according to embodiments of this application. The road slope warning device in embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle systems (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 8 The road slope warning device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0121] like Figure 8As shown, the road gradient warning device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the road gradient warning device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the road slope warning device to communicate wirelessly or wiredly with other devices to exchange data. Although road slope warning devices with various systems are shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0122] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0123] The road slope alarm device provided in this application, employing the road slope alarm method described in the above embodiments, can solve the technical problem of how to achieve stable road slope estimation and perform steep slope alarms at low cost. Compared with the prior art, the beneficial effects of the road slope alarm device provided in this application are the same as those of the road slope alarm method provided in the above embodiments, and other technical features of this road slope alarm device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0124] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0125] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0126] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the road slope alarm method in the above embodiments.

[0127] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0128] The aforementioned computer-readable storage medium may be included in the road slope warning device; or it may exist independently and not assembled into the road slope warning device.

[0129] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the road slope alarm device, cause the road slope alarm device to:

[0130] When the road obstacle detection results meet the preset obstacle conditions, the first laser transceiver and the second laser transceiver are activated. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror.

[0131] The first laser transceiver and the second laser transceiver are controlled to transmit a first pulse signal and a second pulse signal forward to the road, respectively, wherein the first pulse signal is transmitted through the first laser transceiver and the second pulse signal is transmitted through the second laser transceiver;

[0132] Upon receiving the first echo signal and the second echo signal, the receiving time difference between the first echo signal and the second echo signal is obtained, and the estimated road slope is determined based on the receiving time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver.

[0133] When the estimated road slope exceeds the slope safety threshold, a slope alarm is generated to provide a road slope reminder.

[0134] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0135] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of 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 than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0136] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0137] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described road slope warning method. This solves the technical problem of how to achieve stable road slope estimation and perform steep slope warnings at low cost. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the road slope warning method provided in the above embodiments, and will not be repeated here.

[0138] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the road slope warning method described above.

[0139] The computer program product provided in this application can solve the technical problem of how to achieve stable road slope estimation and provide steep slope warning at low cost. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the road slope warning method provided in the above embodiments, and will not be repeated here.

[0140] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A road slope warning method, characterized in that, The road slope warning method includes: When the road obstacle detection results meet the preset obstacle conditions, the first laser transceiver and the second laser transceiver are activated. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror. The first laser transceiver and the second laser transceiver are controlled to transmit a first pulse signal and a second pulse signal forward to the road, respectively, wherein the first pulse signal is transmitted through the first laser transceiver and the second pulse signal is transmitted through the second laser transceiver; Upon receiving the first echo signal and the second echo signal, the receiving time difference between the first echo signal and the second echo signal is obtained, and the estimated road slope is determined based on the receiving time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver. When the estimated road slope is greater than the slope safety threshold, a slope alarm message is generated to remind the driver of the road slope. The step of determining the road slope estimate based on the received time difference includes: The distance between the first laser transceiver and the second laser transceiver is obtained to determine the laser distance. The estimated road slope is determined based on the receiving time difference and the laser distance; The step of determining the estimated road slope based on the receiving time difference and the laser distance includes: Obtain the emission speeds of the first laser transceiver and the second laser transceiver; Calculate the cross section length of the ramp based on the receiving time difference and the transmitting speed; The estimated road slope is calculated based on the cross section length of the slope and the distance to the laser.

2. The method as described in claim 1, characterized in that, After the step of generating a slope alarm message and providing a road slope reminder when the estimated road slope value is greater than the slope safety threshold, the method further includes: Obtain vehicle speed, vehicle acceleration, and vehicle steering angle; The deceleration requirement is determined based on the vehicle speed, the vehicle acceleration, the vehicle steering angle, and the estimated road slope. The vehicle is controlled to decelerate according to the deceleration demand value.

3. The method as described in claim 2, characterized in that, The step of determining the deceleration requirement value based on the vehicle speed, the vehicle acceleration, the vehicle steering angle, and the estimated road slope includes: The road surface friction coefficient is determined based on the vehicle acceleration. The deceleration requirement is determined based on the vehicle speed, the vehicle steering angle, the road surface friction coefficient, and the estimated road slope.

4. The method as described in claim 1, characterized in that, Before the step of activating the first and second laser transceivers when the road obstacle detection results meet the preset obstacle conditions, the method further includes: When the vehicle is detected to be in autonomous driving mode, data from road cameras and road radar sensors are acquired. The road obstacle detection result is obtained by detecting obstacles on the road ahead based on the road camera data and the road radar sensor data.

5. The method as described in claim 1, characterized in that, After the step of activating the first and second laser transceivers when the road obstacle detection results meet the preset obstacle conditions, the method further includes: When the road obstacle detection results do not meet the preset obstacle conditions, the first laser transceiver and the second laser transceiver are turned off.

6. A road slope warning device, characterized in that, The device includes: The condition detection module is used to activate the first laser transceiver and the second laser transceiver when the road obstacle detection result meets the preset obstacle conditions. The first laser transceiver is installed below the electronic rearview mirror, and the second laser transceiver is installed above the electronic rearview mirror. A laser transmitting module is used to control the first laser transceiver and the second laser transceiver to transmit a first pulse signal and a second pulse signal forward to the road, respectively, wherein the first pulse signal is transmitted through the first laser transceiver and the second pulse signal is transmitted through the second laser transceiver; The slope estimation module is used to obtain the reception time difference between the first echo signal and the second echo signal when the first echo signal and the second echo signal are received, and to determine the estimated road slope value based on the reception time difference, wherein the first echo signal is received by the first laser transceiver and the second echo signal is received by the second laser transceiver. The slope alarm module is used to generate slope alarm information and provide road slope reminders when the estimated road slope value is greater than the slope safety threshold. The slope estimation module is also used to obtain the distance between the first laser transceiver and the second laser transceiver to obtain the laser distance; The estimated road slope is determined based on the receiving time difference and the laser distance; The slope estimation module is also used to obtain the transmission speeds of the first laser transceiver and the second laser transceiver; Calculate the cross section length of the ramp based on the receiving time difference and the transmitting speed; The estimated road slope is calculated based on the cross section length of the slope and the distance to the laser.

7. A road slope warning device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and running on the processor, the computer program being configured to implement the steps of the road slope warning method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the road slope warning method as described in any one of claims 1 to 5.

Images