A method, device, and equipment for calculating the cross slope of a road

Abstract

The present application provides a method, apparatus, and device for calculating the lateral slope of a road. The method includes: obtaining the speed, acceleration, and yaw rate of the vehicle when it is traveling. Substituting the speed, acceleration, and yaw rate of the vehicle into the kinematic model of the vehicle to calculate the lateral slope. When the vehicle is in an acceleration condition or a steering condition, the force state of the vehicle changes, which affects the calculation of the lateral slope. At this time, the additional lateral force borne by the vehicle can be determined. The lateral slope is corrected based on the additional lateral force, so that the lateral slope can be calculated more accurately. Through the method provided by the present application, the lateral slope of the road can be calculated by combining the motion characteristics of the vehicle itself, such as the kinematic model, to improve the accuracy of calculating the lateral slope. And in the acceleration condition or the steering condition, the lateral slope can also be corrected by combining the force characteristics of the vehicle to further improve the accuracy of calculating the lateral slope.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly relates to a method, device, and equipment for calculating the lateral slope of a road. Background Art

[0002] With the development of vehicle intelligence, more and more vehicles have functions such as assisted driving and safety control. The realization of these functions depends on accurately obtaining relevant parameters during vehicle driving, including vehicle state parameters and environmental parameters, etc. Among them, the environmental parameters include the lateral slope of the road surface. The lateral slope of the road surface during vehicle driving is of great significance for the safety control of the vehicle.

[0003] Currently, the commonly used method for measuring relevant parameters during vehicle driving is mainly implemented based on an Inertial Measurement Unit (IMU). The IMU usually includes sensors such as an accelerometer and a gyroscope, which can measure information such as the acceleration and angular velocity of the vehicle, and then obtain relevant parameters during vehicle driving, including the lateral slope, through operations such as integration.

[0004] Due to the cumulative error characteristic of the integration operation, over time, the error of the measured lateral slope will continuously increase, resulting in reduced accuracy. And the method for measuring the lateral slope based on the IMU mainly focuses on the processing of sensor-collected data and does not combine the motion characteristics of the vehicle itself, which will also cause errors in the calculated lateral slope. Summary of the Invention

[0005] In view of this, the present application is committed to providing a method, device, and equipment for calculating the lateral slope of a road to improve the accuracy of calculating the lateral slope of the road.

[0006] In a first aspect, the present application provides a method for calculating the lateral slope of a road, the method comprising:

[0007] Obtain the speed, acceleration, and yaw angular velocity of the vehicle;

[0008] Substitute the speed, the acceleration, and the yaw angular velocity into the kinematic model of the vehicle to calculate the lateral slope;

[0009] When the vehicle is in an acceleration condition or a steering condition, determine the additional lateral force borne by the vehicle;

[0010] Based on the additional lateral force, correct the lateral slope to determine the corrected lateral slope.

[0011] In a possible implementation manner, the speed includes the longitudinal speed; when the vehicle is in an acceleration condition or a steering condition, determining the additional lateral force borne by the vehicle includes:

[0012] When the vehicle is in an acceleration condition, determine the additional lateral force based on the vertical load corresponding to the driving wheels of the vehicle; or,

[0013] When the vehicle is in a steering condition, calculate the wheel side slip force according to the wheel side slip model;

[0014] Based on the longitudinal speed and the steering radius of the vehicle, determine the centrifugal force generated by the vehicle;

[0015] Based on the wheel side slip force and the centrifugal force, determine the additional lateral force.

[0016] In a possible implementation manner, the acceleration includes longitudinal acceleration;

[0017] The determining the additional lateral force based on the vertical load corresponding to the driving wheels of the vehicle includes:

[0018] Determine the relationship equation between the gravity of the vehicle, the vertical load of the front axle, and the vertical load of the rear axle;

[0019] Combined with the dynamic model of the vehicle, based on the vertical load of the front axle, the vertical load of the rear axle, and the longitudinal acceleration, establish a moment balance equation;

[0020] Based on the relationship equation and the moment balance equation, determine the vertical load corresponding to the driving wheels;

[0021] Based on the friction coefficient between the driving wheels and the ground and the vertical load corresponding to the driving wheels, calculate the lateral friction force borne by the driving wheels;

[0022] Based on the lateral friction force and the initial friction force borne by the driving wheels under the uniform speed condition, determine the additional lateral force.

[0023] In a possible implementation manner, the combined with the dynamic model of the vehicle, based on the vertical load of the front axle, the vertical load of the rear axle, and the longitudinal acceleration, establishing a moment balance equation includes:

[0024] Based on the vertical load of the front axle, the distance between the center of mass of the vehicle and the front axle, the vertical load of the rear axle, and the distance between the center of mass and the rear axle, determine the first moment;

[0025] Based on the longitudinal acceleration and the height of the center of mass, determine the second moment;

[0026] Based on the first moment and the second moment, establish the moment balance equation.

[0027] In a possible implementation, calculating the cornering force of the wheel according to the cornering model of the wheel includes:

[0028] Calculating the product of the yaw rate and the wheelbase of the vehicle to obtain the lateral velocity;

[0029] Based on the ratio of the lateral velocity to the longitudinal velocity, determining the angle between the movement direction of the center of mass of the vehicle and the longitudinal axis of the vehicle;

[0030] Based on the difference between the steering angle of the vehicle and the angle, determining the wheel cornering angle;

[0031] Based on the wheel cornering angle and the wheel cornering stiffness, determining the cornering force of the wheel.

[0032] In a possible implementation, the velocity includes the lateral velocity and the longitudinal velocity, and the acceleration includes the lateral acceleration;

[0033] Substituting the velocity, the acceleration, and the yaw rate into the kinematic model of the vehicle to calculate the transverse slope includes:

[0034] Calculating a first product of the longitudinal velocity and the yaw rate, and a second product of the lateral velocity and the yaw rate;

[0035] Calculating the difference between the lateral acceleration and the first product, and calculating the sum of the difference and the second product;

[0036] Based on the sum and the gravitational acceleration, calculating the transverse slope.

[0037] In a possible implementation, the acceleration includes the lateral acceleration; correcting the transverse slope based on the additional lateral force to determine the corrected transverse slope includes:

[0038] Based on the additional lateral force and the mass of the vehicle, calculating a lateral acceleration correction value;

[0039] Based on the lateral acceleration and the lateral acceleration correction value, determining the corrected lateral acceleration;

[0040] Based on the corrected lateral acceleration, determining the corrected transverse slope.

[0041] In a possible implementation, obtaining the velocity, the acceleration, and the yaw rate of the vehicle includes:

[0042] Obtaining the longitudinal acceleration and the lateral acceleration of the vehicle;

[0043] Obtaining the wheel speed and the steering angle of the vehicle;

[0044] Based on the wheel speed and the wheel radius, determine the longitudinal speed of the vehicle;

[0045] According to the Ackermann steering principle, based on the longitudinal speed, the steering angle, the wheelbase, the front track width, and the rear track width, calculate the lateral speed of the vehicle;

[0046] According to the kinematic model of the vehicle, based on the longitudinal speed, the steering angle, and the wheelbase, calculate the yaw rate.

[0047] In a second aspect, the present application provides a device for calculating the lateral road slope, the device comprising:

[0048] An acquisition unit configured to acquire the speed, acceleration, and yaw rate of the vehicle;

[0049] A calculation unit configured to substitute the speed, the acceleration, and the yaw rate into the kinematic model of the vehicle to calculate the lateral slope;

[0050] A determination unit configured to determine the additional lateral force borne by the vehicle when the vehicle is in an acceleration condition or a steering condition;

[0051] A correction unit configured to correct the lateral slope based on the additional lateral force to determine the corrected lateral slope.

[0052] In a third aspect, the present application provides an electronic device, the device comprising: a memory and a processor;

[0053] The memory is used to store relevant program codes;

[0054] The processor is configured to call the program codes to execute the method for calculating the lateral road slope according to any one of the implementation manners in the first aspect above.

[0055] In a fourth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method for calculating the lateral road slope according to any one of the implementation manners in the first aspect above.

[0056] In a fifth aspect, the present application provides a computer program product, the computer program product comprises computer programs / instructions, and when the computer programs / instructions are executed by a processor, the method for calculating the lateral road slope according to any one of the implementation manners in the first aspect above is implemented.

[0057] In the above implementation manners of the present application, the lateral slope of the vehicle driving route can be calculated in combination with the kinematic model and driving state of the vehicle. First, the speed, acceleration, and yaw rate of the vehicle during driving are obtained. The speed, acceleration, and yaw rate of the vehicle are substituted into the kinematic model of the vehicle to calculate the lateral slope. When the vehicle is in an acceleration condition or a steering condition, the force state of the vehicle will change, affecting the calculation of the lateral slope. At this time, the additional lateral force borne by the vehicle can be determined. The lateral slope is corrected based on the additional lateral force, so that the lateral slope can be calculated more accurately. Through the method provided by the present application, the lateral slope of the road can be calculated in combination with the motion characteristics of the vehicle itself, such as the kinematic model, improving the accuracy of calculating the lateral slope. And under the acceleration condition or the steering condition, the lateral slope can also be corrected in combination with the force characteristics of the vehicle to further improve the accuracy of calculating the lateral slope. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments provided in the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0059] Figure 1 It is a flowchart of a method for calculating the lateral slope of a road provided by an embodiment of the present application.

[0060] Figure 2 It is a schematic diagram of wheel steering provided by an embodiment of the present application.

[0061] Figure 3 It is a schematic diagram of a device for calculating the lateral slope of a road provided by an embodiment of the present application.

[0062] Figure 4 It is a schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present application in combination with the drawings in the embodiments of the present application. The described embodiments are only exemplary implementation manners of the present application, not all implementation manners. Those skilled in the art can obtain other embodiments in combination with the embodiments of the present application without creative efforts, and these embodiments are also within the protection scope of the present application.

[0064] In the field of intelligent driving, the lateral slope of the road surface during vehicle driving is of great significance for the safety control of the vehicle. Currently, the commonly used methods for measuring vehicle driving state parameters are mainly implemented based on an Inertial Measurement Unit (IMU). The IMU usually includes sensors such as accelerometers and gyroscopes, which can measure information such as the acceleration and angular velocity of the vehicle, and then obtain the state parameters of the vehicle, including the lateral slope, through operations such as integration.

[0065] Due to the cumulative error characteristic of the integration operation, over time, the error of the measured lateral slope will continuously increase, resulting in reduced accuracy. And the method of measuring the lateral slope based on the IMU mainly focuses on the processing of the data collected by the sensors, without combining the motion characteristics of the vehicle itself, which will also cause errors in the calculated lateral slope.

[0066] Based on this, the embodiments of the present application provide a method for calculating the road lateral slope to improve the accuracy of calculating the road lateral slope. Specifically, when implemented, first, the speed, acceleration, and yaw angular velocity of the vehicle during driving are obtained. The speed, acceleration, and yaw angular velocity of the vehicle are substituted into the kinematic model of the vehicle to calculate the lateral slope. When the vehicle is in an acceleration condition or a steering condition, the force state of the vehicle will change, affecting the calculation of the lateral slope. At this time, the additional lateral force borne by the vehicle can be determined. Based on the additional lateral force, the lateral slope is corrected, so that the lateral slope can be calculated more accurately. Through the method provided by the embodiments of the present application, the motion characteristics of the vehicle itself, such as the kinematic model, can be combined to calculate the road lateral slope and improve the accuracy of calculating the lateral slope. And in the acceleration condition or the steering condition, the force characteristics of the vehicle can also be combined to correct the lateral slope to further improve the accuracy of calculating the lateral slope.

[0067] To facilitate understanding of the technical solution provided by the embodiments of the present application, the following will be specifically introduced in combination with the accompanying drawings in the embodiments.

[0068] See Figure 1 as shown Figure 1 is a flowchart of a method for calculating the road lateral slope provided by the embodiments of the present application.

[0069] Optionally, this method can be executed by the data processing device at the vehicle end. The data processing device at the vehicle end can obtain the parameters of the vehicle itself and the data collected by each sensor, and process the obtained data to calculate the road lateral slope.

[0070] This method may include the following steps:

[0071] S101: Obtain the speed, acceleration, and yaw angular velocity of the vehicle.

[0072] In the embodiment of the present application, when calculating the lateral slope using the kinematic model of the vehicle, parameters such as the vehicle speed, acceleration, and yaw rate are required. Therefore, when the vehicle is running, the vehicle speed, acceleration, and yaw rate can be obtained.

[0073] In the vehicle coordinate system, with the longitudinal axis of the vehicle as the X-axis, the direction of the X-axis is the longitudinal direction, and the direction perpendicular to the longitudinal direction represents the lateral direction (y-axis direction). The vehicle speed can be decomposed into a longitudinal speed and a lateral speed. The longitudinal speed represents the speed component of the speed in the longitudinal direction (the direction of the X-axis in the vehicle coordinate system), and the lateral speed represents the speed component of the speed in the lateral direction (the direction of the y-axis in the vehicle coordinate system).

[0074] Optionally, the vehicle acceleration can be measured by an acceleration sensor installed on the vehicle. Similarly, the acceleration can include a longitudinal acceleration and a lateral acceleration. Among them, the longitudinal acceleration represents the acceleration component in the longitudinal direction, and the lateral acceleration represents the acceleration component in the lateral direction. After the acceleration sensor measures the longitudinal acceleration and the lateral acceleration, the measured data can be stored in an Electronic Control Unit (ECU). In this way, the data processing device can directly read the stored longitudinal acceleration and lateral acceleration from the ECU.

[0075] In a possible implementation, the longitudinal speed and lateral speed of the vehicle can be determined based on the following method:

[0076] First, the data processing device can obtain the basic parameters of the vehicle, including the wheel radius, wheelbase, front track, and rear track, etc. Among them, the wheel radius can represent the radii of the four wheels. Optionally, the basic parameters of the vehicle can be directly obtained from the manufacturer or measured subsequently.

[0077] In practical applications, wheel speed sensors are installed on the vehicle, and the wheel speeds of the four wheels of the vehicle can be measured using the wheel speed sensors, including the left front wheel, right front wheel, left rear wheel, and right rear wheel. A steering angle sensor is also installed on the vehicle, and the steering angle during vehicle running can be measured using the steering angle sensor. The wheel speeds of the four wheels measured by the wheel speed sensors and the steering angle measured by the steering angle sensor can both be stored in the ECU. In this way, the data processing device can read the stored data from the ECU.

[0078] After obtaining the wheel speed and wheel radius of the vehicle, the data processing device can determine the longitudinal speed of the vehicle based on the wheel speed and wheel radius. Specifically, when implementing, the longitudinal speed of the vehicle can also be determined in combination with the driving wheels of the vehicle. In a possible implementation manner, when the driving wheels of the vehicle are the front wheels, that is, the left front wheel and the right front wheel, the longitudinal speed of the vehicle can be determined based on the wheel speed of the left front wheel, the wheel speed of the right front wheel, and the wheel radius. For example, the average value of the wheel speed of the left front wheel and the wheel speed of the right front wheel can be calculated, and then the product of the average value and the wheel radius can be calculated to obtain the longitudinal speed of the vehicle. For example, represents the wheel speed of the left front wheel, represents the wheel speed of the right front wheel, represents the wheel speed of the left rear wheel, represents the wheel speed of the right rear wheel, represents the longitudinal speed, represents the wheel radius, then the longitudinal speed can be calculated by the following formula: .

[0079] In a possible implementation manner, when the driving wheels of the vehicle are the rear wheels, that is, the left rear wheel and the right rear wheel, the longitudinal speed of the vehicle can be determined based on the wheel speed of the left rear wheel, the wheel speed of the right rear wheel, and the wheel radius. For example, the average value of the wheel speed of the left rear wheel and the wheel speed of the right rear wheel can be calculated, and then the product of the average value and the wheel radius can be calculated to obtain the longitudinal speed of the vehicle. For example, the calculation formula of the longitudinal speed can be expressed as: .

[0080] In a possible implementation manner, when the driving wheels of the vehicle are four wheels, that is, the vehicle is driven based on the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, the longitudinal speed of the vehicle can be determined based on the wheel speed of the left front wheel, the wheel speed of the right front wheel, the wheel speed of the left rear wheel, the wheel speed of the right rear wheel, and the wheel radius. For example, the average value of the wheel speed of the left front wheel, the wheel speed of the right front wheel, the wheel speed of the left rear wheel, and the wheel speed of the right rear wheel can be calculated, and then the product of the average value and the wheel radius can be calculated to obtain the longitudinal speed of the vehicle. For example, the longitudinal speed can be expressed as: .

[0081] After determining the longitudinal speed, according to the Ackermann steering principle, the lateral speed of the vehicle can be calculated based on the longitudinal speed, steering angle, wheelbase, front track, and rear track of the vehicle. For example, represents the steering angle, represents the front track, represents the rear track, represents the lateral speed, represents the wheelbase of the vehicle, according to the Ackermann steering principle, the lateral speed It can be expressed as: .

[0082] In a possible implementation, according to the kinematic model of the vehicle, the yaw rate can be calculated based on the longitudinal speed, the steering angle, and the wheelbase. For example, using to represent the yaw rate, the calculation formula for the yaw rate can be expressed as: .

[0083] S102: Substitute the speed, acceleration, and yaw rate into the kinematic model of the vehicle to calculate the lateral slope.

[0084] After obtaining the speed, acceleration, and yaw rate of the vehicle, the lateral slope can be calculated according to the kinematic model of the vehicle.

[0085] In a possible implementation, in combination with the kinematic model of the vehicle, the lateral slope can be calculated in the following way:

[0086] Calculate the first product of the longitudinal speed and the yaw rate of the vehicle, and calculate the second product of the lateral speed and the yaw rate of the vehicle. Then calculate the difference between the lateral acceleration and the first product, and calculate the sum of the difference and the second product. Based on the obtained sum and the gravitational acceleration, the lateral slope is calculated. It should be noted that in the embodiments of the present application, the order of calculating the first product and the second product is not limited, nor is the order of calculating the difference and the sum limited, that is, it is also possible to first calculate the sum of the lateral acceleration and the second product, and then calculate the difference between the sum and the first product, which does not affect the implementation of the embodiments of the present application.

[0087] For the convenience of understanding, the method for calculating the lateral slope will be specifically introduced below in combination with the kinematic model of the vehicle.

[0088] When the vehicle is in motion, there are mainly the following three aspects of factors affecting the calculation of the lateral acceleration. The first aspect is the lateral acceleration component generated by the longitudinal speed of the vehicle, the second aspect is the lateral acceleration component generated by the lateral slope, and the third aspect is the lateral acceleration component generated by the lateral speed of the vehicle. They will be introduced separately below. First, when the vehicle rotates around the axis at the yaw rate , for the positioning point of the vehicle (which can be regarded as the position point representing the whole vehicle), the linear velocity of this positioning point and the angular velocity have the following relationship: , where , is the unit vector in the direction of the axis, and is the position vector of this positioning point.

[0089] When the vehicle has a speed in the longitudinal direction ( axis), and at the same time rotates about the axis, then after a short period of time , when the small angle and small time interval conditions are met, the displacement increment generated by the vehicle in the lateral direction ( axis) can be approximately expressed as: . Among them, , can be regarded as a small distance moved in the longitudinal direction, can be regarded as the angle of rotation about the axis, and their product approximately gives the displacement increment in the lateral direction.

[0090] According to the definition of acceleration, when tends to zero, the rate of change of the lateral velocity corresponding to the displacement increment in the lateral direction, that is, the lateral acceleration component , can be expressed in the following form:

[0091] .

[0092] In the second aspect, when the vehicle is traveling on a road surface with a transverse slope of , by decomposing the gravitational acceleration , the magnitude of the component of the gravitational acceleration in the lateral direction can be obtained as . That is to say, the component of the gravitational acceleration in the lateral direction will cause the vehicle to generate a lateral acceleration component , that is, is obtained.

[0093] In the third aspect, when the vehicle has a lateral velocity , and rotates about the axis with a yaw angular velocity , due to the existence of the yaw angular velocity , the lateral velocity will change. Considering the motion of the vehicle within a short period of time , after time , considering the interaction relationship between rotation and lateral velocity, the displacement increment generated in the lateral direction can be approximately expressed as: , and the negative sign indicates the opposite direction to the vehicle's motion direction. Correspondingly, calculating the lateral acceleration component corresponding to this displacement increment , when When it approaches zero, the lateral acceleration can be expressed in the following form:

[0094] .

[0095] Based on this, the lateral acceleration of the vehicle is expressed as the sum of three lateral acceleration components, and the lateral acceleration can be expressed in the following form: , so the transverse slope has the following calculation formula: . That is, calculate the first product of the longitudinal speed and the yaw rate as well as the second product of the lateral speed and the yaw rate . Then calculate the sum of the lateral acceleration and the negative of the first product and the second product. Based on the ratio of this sum to the gravitational acceleration, the sine function value of the transverse slope is obtained. Then, based on this sine function value, the arcsine function value is calculated to obtain the transverse slope .

[0096] S103: When the vehicle is in an acceleration condition or a steering condition, determine the additional lateral force borne by the vehicle.

[0097] When the vehicle is in an acceleration condition or a steering condition, the acting forces on the vehicle change, resulting in a change in the lateral acceleration of the vehicle, which will affect the calculation of the transverse slope. Therefore, when the vehicle is in an acceleration condition or a steering condition, the acting forces on the vehicle can be analyzed to determine the additional lateral force borne by the vehicle.

[0098] S104: Based on the additional lateral force, correct the transverse slope to determine the corrected transverse slope.

[0099] After determining the additional lateral force borne by the vehicle, the lateral acceleration correction value generated by the vehicle under the action of the additional lateral force can be determined, and the corrected lateral acceleration can be calculated using the lateral acceleration correction value and the lateral acceleration determined in step S102. According to the kinematic model, it is necessary to calculate the transverse slope in combination with the lateral acceleration, so the corrected transverse slope can be determined based on the corrected lateral acceleration. Specifically, based on the additional lateral force and the mass of the vehicle, the lateral acceleration correction value is calculated. Based on the lateral acceleration and the lateral acceleration correction value, the corrected lateral acceleration is determined. Then, in combination with the kinematic model of the vehicle, the corrected transverse slope is determined based on the corrected lateral acceleration.

[0100] Through the method provided by the above embodiments, the lateral slope of the road can be calculated by combining the motion characteristics of the vehicle itself, such as the kinematic model, improving the accuracy of calculating the lateral slope. And under the acceleration condition or the steering condition, the lateral slope can also be corrected by combining the forces acting on the vehicle to further improve the accuracy of calculating the lateral slope.

[0101] The process of correcting the lateral slope will be introduced below for the acceleration condition and the steering condition respectively.

[0102] (1) When the vehicle is in the acceleration condition.

[0103] When the vehicle is in the acceleration condition, the center of gravity of the vehicle will move backward. The movement of the center of gravity will change the load distribution between the front axle and the rear axle of the vehicle. The change in the loads borne by the front axle and the rear axle causes the change in the pressures borne by the front wheels and the rear wheels, which in turn affects the force action between the front wheels and the rear wheels of the vehicle and the ground. Due to the change in the forces on the wheels, the lateral friction force on the wheels changes, which affects the lateral acceleration and thus affects the calculation of the lateral slope. Specifically, when the loads borne by the front axle and the rear axle change, the lateral friction forces between the front wheels and the rear wheels and the ground will change, resulting in additional lateral forces. The additional lateral forces are mainly affected by the driving wheels of the vehicle. Therefore, when the vehicle is in the acceleration condition, the additional lateral forces can be determined based on the vertical loads corresponding to the driving wheels of the vehicle. Among them, when the driving wheels of the vehicle are the front wheels, the vertical load corresponding to the driving wheels is the front axle vertical load; when the driving wheels are the rear wheels, the vertical load corresponding to the driving wheels is the rear axle vertical load.

[0104] In a possible implementation manner, the additional lateral forces of the vehicle can be determined by the following method:

[0105] A1: Determine the relationship equation between the gravity of the vehicle, the front axle vertical load, and the rear axle vertical load.

[0106] In the embodiments of the present application, it can be understood that the sum of the front axle vertical load and the rear axle vertical load of the vehicle obtains the gravity of the vehicle. That is, this relationship equation can be expressed as the gravity of the vehicle being equal to the sum of the front axle vertical load and the rear axle vertical load.

[0107] A2: Combine the dynamic model of the vehicle and establish a moment balance equation based on the front axle vertical load, the rear axle vertical load, and the longitudinal acceleration.

[0108] Under the acceleration condition, when the engine drives the driving wheels to rotate, the driving wheels will exert a backward force on the ground. As a reaction force, the ground will give the driving wheels a forward friction force, which is exactly the force that makes the vehicle accelerate forward in the longitudinal direction and causes the vehicle to generate longitudinal acceleration.

[0109] When accelerating, the driving wheels are subject to forward friction, and the position where the driving wheels touch the ground is lower than the center of mass. There is a downward force arm at the center of mass of the vehicle, and the length of the force arm is the height of the center of mass. At this time, the torque balance equation can be established in combination with the vehicle's dynamic model.

[0110] In specific implementation, the lever arm corresponding to the vertical load on the front axle is the distance between the center of mass of the vehicle and the front axle, and the lever arm corresponding to the vertical load on the rear axle is the distance between the center of mass of the vehicle and the rear axle. Therefore, the first moment can be determined based on the vertical load on the front axle, the distance between the center of mass and the front axle, and the vertical load on the rear axle, and the distance between the center of mass and the rear axle. Specifically, the product of the vertical load on the front axle, the distance between the center of mass and the front axle, and the product of the vertical load on the rear axle, the distance between the center of mass and the rear axle can be calculated. Since the directions of the distances from the front axle and the rear axle to the center of mass are different, the difference between the two products is calculated to obtain the first moment.

[0111] In addition, the force arm corresponding to the forward friction force on the driving wheel of the vehicle is the height of the center of mass, so the second moment can be determined based on the longitudinal acceleration and the height of the center of mass. Specifically, the product of the mass of the vehicle, the longitudinal acceleration, and the height of the center of mass can be calculated to obtain the second moment. Then, based on the first moment and the second moment, a moment balance equation is established. That is, the first moment minus the second moment is equal to 0.

[0112] It should be noted that the form of establishing the torque balance equation in the above embodiment is only an exemplary description. After respectively calculating the product of the vertical load on the front axle, the distance between the center of mass and the front axle, the vertical load on the rear axle, the distance between the center of mass and the rear axle, the mass of the vehicle, the longitudinal acceleration, and the product of the height of the center of mass, the torque balance equation can also be established by determining according to the direction of the torque that the product of the vertical load on the front axle, the distance between the center of mass and the front axle is equal to the sum of the product of the vertical load on the rear axle, the distance between the center of mass and the rear axle, and the mass of the vehicle, the longitudinal acceleration, and the product of the height of the center of mass.

[0113] A3: Based on the relationship equation and the moment balance equation, determine the vertical load corresponding to the driving wheel.

[0114] After determining the relationship equation and the moment balance equation, the two equations can be combined to obtain the expression of the vertical load corresponding to the driving wheel.

[0115] A4: Calculate the lateral friction force on the drive wheel based on the friction coefficient between the drive wheel and the ground and the vertical load.

[0116] Specifically, the product of the friction coefficient between the driving wheel and the ground and the vertical load corresponding to the driving wheel is calculated to obtain the lateral friction force.

[0117] A5: Determine the additional lateral force based on the lateral friction and the initial friction borne by the drive wheels under constant speed conditions.

[0118] Under uniform speed conditions, it can be assumed that the vertical load on the front axle is the same as the vertical load on the rear axle, and the vertical load corresponding to the drive wheel can be determined to be half of the gravity. Based on this, the product of the friction coefficient between the drive wheel and the ground and the vertical load corresponding to the drive wheel under uniform speed conditions can be calculated to obtain the initial friction force borne by the drive wheel under uniform speed conditions. Then, based on the difference between the lateral friction force corresponding to the drive wheel under acceleration conditions and the initial friction force, the additional lateral force is determined.

[0119] The following will introduce the process of determining the additional lateral force in conjunction with a specific application scenario.

[0120] In this application scenario, m represents the mass of the vehicle. represents the acceleration due to gravity, represents the vertical load on the front axle, represents the vertical load on the rear axle, then the relationship equation between the vehicle's gravity and the vertical load on the front axle and the vertical load on the rear axle can be expressed as: .

[0121] by represents the distance from the center of mass to the front axle, represents the distance from the center of mass to the rear axle, and and The sum can be expressed as the wheelbase L of the vehicle, then the first moment = . Let h be the height of the center of mass, represents the longitudinal acceleration, then the second moment = Then, the moment balance equation can be expressed as: . Combining the relational equation with the moment balance equation, we can obtain: , .

[0122] by Indicates the friction coefficient between the driving wheel and the ground. Taking the front wheel as an example, the vertical load corresponding to the driving wheel is the vertical load of the front axle. , then the lateral friction It can be expressed as: Initial friction force under uniform speed conditions It is expressed as: The additional lateral force .

[0123] After obtaining the additional lateral force, the ratio of the additional lateral force to the mass of the vehicle can be calculated to obtain the lateral acceleration correction value. Since the additional lateral force is calculated based on the lateral friction force, and the direction of the lateral friction force is opposite to the direction of the lateral acceleration, the difference between the lateral acceleration and the lateral acceleration correction value can be calculated to obtain the corrected lateral acceleration. Substituting the vehicle speed, yaw rate, and the corrected lateral acceleration into the kinematic model of the vehicle, the corrected lateral slope can be calculated. Among them, the method for calculating the corrected lateral slope can refer to the above-mentioned embodiments and will not be elaborated here.

[0124] (2) When the vehicle is in a turning condition.

[0125] When the vehicle turns, a centrifugal force will be generated, and the direction of the centrifugal force is opposite to the direction of the vehicle's lateral acceleration. Among them, the centrifugal force can be calculated based on the longitudinal speed and turning radius of the vehicle. At the same time, during the turning condition, the wheels will have a side slip phenomenon. According to the side slip model of the wheels, the wheel side slip force generated by the wheels can be calculated, and the direction of the wheel side slip force is opposite to the direction of the centrifugal force, that is, the direction of the wheel side slip force is the same as the direction of the lateral acceleration. Thus, based on the centrifugal force and the wheel side slip force, the additional lateral force borne by the vehicle can be determined.

[0126] Specifically, when the vehicle is in a turning condition, the wheel side slip force is calculated according to the side slip model of the wheels. Based on the longitudinal speed and turning radius of the vehicle, the centrifugal force generated by the vehicle is determined. Based on the wheel side slip force and the centrifugal force, the additional lateral force is determined.

[0127] Since the direction of the wheel side slip force is the same as the direction of the lateral acceleration, and the direction of the centrifugal force is opposite to the direction of the lateral acceleration, the magnitude of the additional lateral force can be determined as the absolute value of the difference between the wheel side slip force and the centrifugal force. When it is determined that the direction of the additional lateral force is the same as the direction of the lateral acceleration, the additional lateral force can be expressed as the difference obtained by subtracting the centrifugal force from the wheel side slip force. Then, the ratio of the additional lateral force to the mass of the vehicle is calculated to obtain the lateral acceleration correction value. Then, the sum of the lateral acceleration and the lateral acceleration correction value is calculated to obtain the corrected lateral acceleration.

[0128] Substitute the speed, yaw rate, and the corrected lateral acceleration into the kinematic model of the vehicle to calculate the corrected lateral slope. The specific calculation method can refer to the above-mentioned embodiments and will not be elaborated here.

[0129] In a possible implementation manner, the centrifugal force can be calculated by combining the dynamic model of the vehicle through the following method: Let represent the longitudinal speed, let m represent the mass of the vehicle, let R represent the turning radius, and let represent the centrifugal force, then the centrifugal force can be expressed as: Among them, the turning radius R can be calculated from the wheelbase and the steering angle. Let L represent the wheelbase and represent the steering angle, then the turning radius R can be expressed as: .

[0130] In a possible implementation, calculating the cornering force of the wheel according to the cornering model of the wheel can be expressed as: determining the cornering force of the wheel based on the cornering stiffness of the wheel and the cornering angle of the wheel. For example, calculating the product of the cornering stiffness of the wheel and the cornering angle of the wheel to obtain the cornering force of the wheel. Among them, the cornering stiffness of the wheel can be measured by a sensor. The cornering angle of the wheel can be calculated in combination with the kinematic model of the vehicle, and specific descriptions will be given below in combination with embodiments.

[0131] In specific implementation, according to the kinematic model of the vehicle, calculating the product of the yaw rate and the wheelbase to obtain the lateral velocity. Based on the ratio of the lateral velocity to the longitudinal velocity, determining the angle between the moving direction of the center of mass and the longitudinal axis of the vehicle. Based on the difference between the steering angle of the vehicle and this angle, determining the cornering angle of the wheel.

[0132] See Figure 2 as shown, Figure 2 is a schematic diagram of wheel steering provided by an embodiment of the present application.

[0133] Figure 2 The rectangles located at the four corners in Figure 2 are used to represent the four wheels of the vehicle. For the sake of simplified understanding, the four wheels of the vehicle can be simplified to the two wheels of a bicycle, that is, Figure 2 the two middle wheels, and the front wheel is in a steering state. According to it can be known that the angle between the moving direction of the vehicle center of mass (i.e., the direction of the vehicle speed ), that is, the center of mass side slip angle, satisfies . Among them, the straight line connecting the two wheels can be understood as the longitudinal axis of the vehicle. For the sake of simplified analysis, for small angle cases, it can be approximately considered that . In addition, according to the kinematic model of the vehicle, regarding the vehicle as making a circular motion around the instantaneous steering center, then the lateral velocity at the vehicle center of mass has the following relationship with the yaw rate . Therefore, the center of mass side slip angle can be obtained. Under the steering condition, the steering angle of the vehicle can be expressed as the angle between the center line of the front wheel (the radial center line of the front wheel) and the longitudinal axis of the vehicle, and the cornering angle It can be understood as the angle between the center line of the front wheel (the radial center line of the front wheel) and the moving direction of the vehicle's center of mass. Therefore, the wheel slip angle can be expressed as: . After obtaining the wheel slip angle, the product of the wheel slip angle and the wheel cornering stiffness can be calculated to obtain the wheel side force.

[0134] (3) When the vehicle is in the acceleration condition and the steering condition.

[0135] When the vehicle is in the acceleration condition and the steering condition, the additional side force borne by the vehicle can be determined based on the acceleration condition and the steering condition respectively introduced in the above embodiments. Taking the direction of the lateral acceleration as the positive direction, the lateral frictional force generated in the acceleration condition is opposite to the direction of the lateral acceleration. In the steering condition, the direction of the centrifugal force generated by the vehicle is opposite to the direction of the lateral acceleration, and the direction of the wheel side force is the same as the direction of the lateral acceleration. Therefore, the additional side force can be obtained by subtracting the lateral frictional force and the centrifugal force from the wheel side force. Calculate the ratio of the additional side force to the vehicle mass to obtain the lateral acceleration correction value. Then calculate the sum of the lateral acceleration and the lateral acceleration correction value to obtain the corrected lateral acceleration. Substitute the speed, yaw rate, and the corrected lateral acceleration into the kinematic model of the vehicle to calculate the corrected lateral slope.

[0136] Through the method provided by the above embodiments, the lateral slope of the road can be calculated in combination with the kinematic model of the vehicle, improving the accuracy of calculating the lateral slope. And in the acceleration condition or the steering condition, the lateral slope can also be corrected in combination with the dynamic model of the vehicle to further improve the accuracy of calculating the lateral slope.

[0137] In a possible implementation manner, after obtaining the corrected lateral slope, the data processing device can output the corrected lateral slope to the control system of the vehicle, such as the Electronic Stability Program (ESP), Adaptive Cruise Control (ACC), etc. The automatic driving control system can adjust the driving state of the vehicle in combination with the lateral slope information, improving the accuracy and safety of automatic driving.

[0138] In a possible implementation, the corrected lateral slope calculated by the data processing device can also be verified to evaluate the accuracy of the corrected lateral slope. For example, the terrain slope at the vehicle's location can be obtained through the vehicle's high-precision map information and compared with the calculated corrected lateral slope for verification. If the deviation between the calculated corrected lateral slope and the terrain slope is less than the threshold, it indicates that the accuracy of the calculated corrected lateral slope is relatively high. Additionally, based on the vehicle's driving conditions on a flat road surface (such as a parking lot, a straight section of a highway, etc.), it can be checked whether the calculated corrected lateral slope is close to zero. If the corrected lateral slope is close to zero, it indicates that the accuracy of the calculated corrected lateral slope is relatively high.

[0139] Based on the above method embodiments, an embodiment of the present application also provides a device for calculating the lateral slope of a road. Refer to Figure 3 as shown in Figure 3 FIG. [FIGURE NUMBER] is a schematic diagram of a device for calculating the lateral slope of a road provided by an embodiment of the present application.

[0140] The device 300 includes:

[0141] An acquisition unit 301, configured to acquire the vehicle's speed, acceleration, and yaw rate;

[0142] A calculation unit 302, configured to substitute the speed, the acceleration, and the yaw rate into the vehicle's kinematic model to calculate the lateral slope;

[0143] A determination unit 303, configured to determine the additional lateral force borne by the vehicle when the vehicle is in an acceleration condition or a steering condition;

[0144] A correction unit 304, configured to correct the lateral slope based on the additional lateral force to determine the corrected lateral slope.

[0145] In a possible implementation, the speed includes the longitudinal speed; the determination unit 303 is specifically configured to, when the vehicle is in an acceleration condition, determine the additional lateral force based on the vertical load corresponding to the driving wheels of the vehicle; or, when the vehicle is in a steering condition, calculate the wheel side slip force according to the wheel side slip model; determine the centrifugal force generated by the vehicle based on the longitudinal speed and the turning radius of the vehicle; and determine the additional lateral force based on the wheel side slip force and the centrifugal force.

[0146] In a possible implementation, the acceleration includes longitudinal acceleration; the determining unit 303 is specifically configured to determine the relationship equation between the gravity of the vehicle, the vertical load on the front axle, and the vertical load on the rear axle; in combination with the dynamic model of the vehicle, based on the vertical load on the front axle, the vertical load on the rear axle, and the longitudinal acceleration, establish a moment balance equation; based on the relationship equation and the moment balance equation, determine the vertical load corresponding to the driving wheel; based on the friction coefficient between the driving wheel and the ground and the vertical load corresponding to the driving wheel, calculate the lateral friction force borne by the driving wheel; based on the lateral friction force and the initial friction force borne by the driving wheel under the uniform speed condition, determine the additional lateral force.

[0147] In a possible implementation, the determining unit 303 is specifically configured to determine a first moment based on the vertical load on the front axle, the distance between the center of mass of the vehicle and the front axle, the vertical load on the rear axle, and the distance between the center of mass and the rear axle; determine a second moment based on the longitudinal acceleration and the height of the center of mass; based on the first moment and the second moment, establish the moment balance equation.

[0148] In a possible implementation, the determining unit 303 is specifically configured to calculate the product of the yaw rate and the wheelbase of the vehicle to obtain a lateral velocity; based on the ratio of the lateral velocity to the longitudinal velocity, determine the angle between the movement direction of the center of mass of the vehicle and the longitudinal axis of the vehicle; based on the difference between the steering angle of the vehicle and the angle, determine the wheel slip angle; based on the wheel slip angle and the wheel slip stiffness, determine the wheel slip force.

[0149] In a possible implementation, the velocity includes lateral velocity and longitudinal velocity, and the acceleration includes lateral acceleration; the calculating unit 302 is specifically configured to calculate a first product of the longitudinal velocity and the yaw rate, and a second product of the lateral velocity and the yaw rate; calculate the difference between the lateral acceleration and the first product, and calculate the sum of the difference and the second product; based on the sum and the gravitational acceleration, calculate the lateral slope.

[0150] In a possible implementation, the acceleration includes lateral acceleration; the correcting unit 304 is specifically configured to calculate a lateral acceleration correction value based on the additional lateral force and the mass of the vehicle; based on the lateral acceleration and the lateral acceleration correction value, determine the corrected lateral acceleration; based on the corrected lateral acceleration, determine the corrected lateral slope.

[0151] In a possible implementation, the obtaining unit 301 is specifically configured to obtain the longitudinal acceleration and lateral acceleration of the vehicle; obtain the wheel speed and steering angle of the vehicle; determine the longitudinal speed of the vehicle based on the wheel speed and wheel radius; calculate the lateral speed of the vehicle according to the Ackerman steering principle based on the longitudinal speed, the steering angle, the wheelbase, the front track width, and the rear track width; and calculate the yaw rate based on the longitudinal speed, the steering angle, and the wheelbase according to the kinematic model of the vehicle.

[0152] For the beneficial effects of the device for calculating the road cross slope provided in the embodiments of the present application, reference may be made to the above method embodiments, which will not be elaborated herein.

[0153] Based on the above method embodiments and device embodiments, the embodiments of the present application further provide an electronic device. This will be introduced below with reference to the accompanying drawings.

[0154] See Figure 4 , Figure 4 which is a schematic diagram of an electronic device provided in the embodiments of the present application.

[0155] The device 400 includes: a memory 401 and a processor 402;

[0156] The memory 401 is used to store relevant program codes;

[0157] The processor 402 is used to call the program codes to execute the method for calculating the road cross slope described in the above method embodiments.

[0158] In addition, the embodiments of the present application further provide a computer-readable storage medium, which is used to store a computer program, and the computer program is used to execute the method for calculating the road cross slope described in the above method embodiments.

[0159] The embodiments of the present application further provide a computer program product, which includes computer programs / instructions, and when the computer programs / instructions are executed by a processor, the method for calculating the road cross slope described in the above method embodiments is implemented.

[0160] It should be noted that the computer-readable medium described above in the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0161] The computer program product can be written in any combination of one or more programming languages to write program code for performing the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0162] It should be noted that the various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. In particular, for system or apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiments. The device embodiments described above are merely illustrative. The units or modules described as separate components may or may not be physically separated. The components shown as units or modules may or may not be physical modules, that is, they can be located in one place or distributed to multiple network units. Some or all of the units or modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative efforts.

[0163] The flowcharts and block diagrams in the accompanying drawings illustrate the architectures, functions, and operations that may be implemented by methods, apparatuses, devices, etc. according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions denoted in the blocks may occur in an order different from that denoted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0164] It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" may mean: only A exists, only B exists, and both A and B exist at the same time. Here, A and B may be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or a similar expression means any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c may mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c may be single or multiple.

[0165] It should also be noted that in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device that comprises a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article, or device that comprises the element.

[0166] The steps of the methods or algorithms described in connection with the embodiments disclosed in this application can be implemented directly by hardware, by software modules executed by a processor, or by a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well known in the art.

[0167] The foregoing description of the disclosed embodiments enables those skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for calculating the cross slope of a road, characterized in that, The method includes: Obtaining the speed, acceleration, and yaw rate of the vehicle; Substituting the speed, acceleration, and yaw rate into the kinematic model of the vehicle to calculate the lateral slope; When the vehicle is in an acceleration condition or a steering condition, determining the additional lateral force borne by the vehicle; Based on the additional lateral force, correcting the lateral slope to determine the corrected lateral slope; The speed includes the longitudinal speed. When the vehicle is in an acceleration condition or a steering condition, determining the additional lateral force borne by the vehicle includes: When the vehicle is in an acceleration condition, determining the additional lateral force based on the vertical load corresponding to the driving wheels of the vehicle; or, When the vehicle is in a steering condition, calculating the wheel side force according to the wheel side deflection model; Based on the longitudinal speed and turning radius of the vehicle, determining the centrifugal force generated by the vehicle; Based on the wheel side force and the centrifugal force, determining the additional lateral force.

2. The method according to claim 1, wherein The acceleration includes the longitudinal acceleration; Determining the additional lateral force based on the vertical load corresponding to the driving wheels of the vehicle includes: Determining the relationship equation between the gravity of the vehicle, the vertical load of the front axle, and the vertical load of the rear axle; Combining with the dynamic model of the vehicle, based on the vertical load of the front axle, the vertical load of the rear axle, and the longitudinal acceleration, establishing a moment balance equation; Based on the relationship equation and the moment balance equation, determining the vertical load corresponding to the driving wheels; Based on the friction coefficient between the driving wheels and the ground and the vertical load corresponding to the driving wheels, calculating the lateral friction force borne by the driving wheels; Based on the lateral friction force and the initial friction force borne by the driving wheels under the uniform speed condition, determining the additional lateral force.

3. The method according to claim 2, wherein Combining with the dynamic model of the vehicle, based on the vertical load of the front axle, the vertical load of the rear axle, and the longitudinal acceleration, establishing a moment balance equation includes: Based on the vertical load of the front axle, the distance between the center of mass of the vehicle and the front axle, the vertical load of the rear axle, and the distance between the center of mass and the rear axle, determining the first moment; Based on the longitudinal acceleration and the height of the center of mass, determining the second moment; Based on the first moment and the second moment, establishing the moment balance equation.

4. The method according to claim 1, characterized in that, Calculating the wheel side force according to the wheel side deflection model includes: Calculating the product of the yaw rate and the wheelbase of the vehicle to obtain the lateral speed; Based on the ratio of the lateral speed to the longitudinal speed, determining the angle between the moving direction of the center of mass of the vehicle and the longitudinal axis of the vehicle; Based on the difference between the steering angle of the vehicle and the angle, determining the wheel side deflection angle; Based on the wheel side deflection angle and the wheel side deflection stiffness, determining the wheel side force.

5. The method according to claim 1, wherein The speed further includes the lateral speed, and the acceleration includes the lateral acceleration; Substituting the speed, acceleration, and yaw rate into the kinematic model of the vehicle to calculate the lateral slope includes: Calculating the first product of the longitudinal speed and the yaw rate, and the second product of the lateral speed and the yaw rate; Calculate the difference between the lateral acceleration and the first product, and calculate the sum of the difference and the second product; Based on the sum and the gravitational acceleration, calculate the transverse slope.

6. The method according to claim 1, wherein The acceleration includes lateral acceleration; The correcting the transverse slope based on the additional lateral force to determine the corrected transverse slope includes: Based on the additional lateral force and the mass of the vehicle, calculate a lateral acceleration correction value; Based on the lateral acceleration and the lateral acceleration correction value, determine the corrected lateral acceleration; Based on the corrected lateral acceleration, determine the corrected transverse slope.

7. The method according to any one of claims 1 to 6, characterized in that The obtaining the vehicle speed, acceleration and yaw rate includes: Obtain the longitudinal acceleration and lateral acceleration of the vehicle; Obtain the wheel speed and steering angle of the vehicle; Based on the wheel speed and the wheel radius, determine the longitudinal speed of the vehicle; According to the Ackerman steering principle, based on the longitudinal speed, the steering angle, the wheelbase, the front track and the rear track, calculate the lateral speed of the vehicle; According to the kinematic model of the vehicle, based on the longitudinal speed, the steering angle and the wheelbase, calculate the yaw rate.

8. A device for calculating the cross slope of a road, characterized in that, The device includes: An obtaining unit, configured to obtain the vehicle speed, acceleration and yaw rate, where the speed includes the longitudinal speed; A calculating unit, configured to substitute the speed, the acceleration and the yaw rate into the kinematic model of the vehicle to calculate the transverse slope; A determining unit, configured to determine the additional lateral force borne by the vehicle when the vehicle is in an acceleration condition or a steering condition; specifically, when the vehicle is in an acceleration condition, the determining unit determines the additional lateral force based on the vertical load corresponding to the driving wheels of the vehicle; or, when the vehicle is in a steering condition, calculate the wheel side slip force according to the wheel side slip model; based on the longitudinal speed and the turning radius of the vehicle, determine the centrifugal force generated by the vehicle; based on the wheel side slip force and the centrifugal force, determine the additional lateral force; A correcting unit, configured to correct the transverse slope based on the additional lateral force to determine the corrected transverse slope.

9. An electronic device, characterized in that, The device includes: a memory and a processor; The memory is used to store relevant program codes; The processor is used to call the program codes to execute the method for calculating the road transverse slope according to any one of claims 1 to 7.

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