Road slope detection system and method

Abstract

The application provides a road slope detection system and method, and relates to the field of vehicle driving, which comprises a first camera arranged on an instrument desk of a vehicle, a guide rail arranged between the first camera and a front windshield and extending along a longitudinal direction of a vehicle body, a marker vertically arranged in the guide rail and movable, and a controller used for controlling the marker to move to a target position along the guide rail, the target position being such that a distal end of the marker, an end of a slope away from the ground and the first camera are on the same straight line, the slope being located in front of the vehicle, and the controller is further used for obtaining a height measurement value of the first camera and a marker height, and calculating a slope of the slope based on the height measurement value and the marker height, the height measurement value being a height of the slope.

Description

Technical Field

[0001] This invention relates to the field of vehicle driving, and more particularly to a road slope detection system and method. Background Technology

[0002] When off-road vehicles are traversing steep slopes or needing to exit from the bottom of a ditch, there are certain slopes that are insurmountable due to the vehicle's own performance. If the driver is unaware of this and attempts to climb a steep slope, the vehicle may stall halfway up the slope or overturn, posing a safety risk to the driver.

[0003] In related technologies, slope identification is usually achieved by installing external sensors on vehicles. However, the process of obtaining slope information is complex and cannot quickly determine the slope. Summary of the Invention

[0004] This invention provides a road slope detection system and method to solve the problem of not being able to quickly obtain the slope in related technologies.

[0005] In a first aspect, the present invention provides a road slope detection system, comprising:

[0006] The first camera 110 is installed on the dashboard 150 of the vehicle 100;

[0007] The guide rail 120 is disposed between the first camera 110 and the windshield 160 and extends longitudinally along the body of the vehicle (100).

[0008] The marker 130 is movably and vertically mounted within the guide rail 120;

[0009] The controller 140 is used to control the pole 130 to move along the guide rail 120 to a target position, the target position being such that the far end of the pole 130, the end of the ramp 170 away from the ground, and the first camera 110 are in a straight line, the ramp being located in front of the vehicle 100;

[0010] It is also used to obtain the height measurement value of the first camera 110 and the height of the marker 130, and to calculate the slope of the ramp 170 based on the height measurement value and the height of the marker 130, wherein the height measurement value is the height of the ramp 170.

[0011] Preferably, the controller is further configured to: acquire a first vehicle height value and a second vehicle height value; determine whether there is a difference between the first vehicle height value and the second vehicle height value; if there is a difference, execute the step of controlling the pole 130 to move along the guide rail 120 to the target position.

[0012] Preferably, the system further includes: a first sensor 180 disposed on the front axle of the vehicle 100, for detecting the front vehicle height to obtain the first vehicle height value and sending it to the controller 140; and a second sensor 190 disposed on the rear axle of the vehicle 100, for detecting the rear vehicle height to obtain the second vehicle height value and sending it to the controller 140.

[0013] Preferably, the first camera is used to: capture a real-time view of the front of the vehicle 100 and send the view to the controller 140. The view includes the far end of the marker 130 and the end of the ramp 170 away from the ground. The controller is also used to: determine whether the far end of the marker 130 and the end of the ramp 170 away from the ground overlap in the view; if they do not overlap, execute the step of controlling the marker 130 to move along the guide rail 120 to the target position.

[0014] Preferably, the controller is configured to: obtain the distance between the target location and the end of the slope 170 near the ground, and the distance between the target location and the first camera 110; based on the height of the slope 170, the height of the marker 130, the distance between the target location and the end of the slope 170 near the ground, and the distance between the target location and the first camera 110, obtain the distance between the end of the slope 170 near the ground and the vertically mapped end of the slope 170, wherein the vertically mapped end of the slope 170 represents the endpoint of the slope 170 that is vertically mapped onto the ground from the end away from the ground; and calculate the slope of the slope based on the height of the slope 170 and the distance between the end of the slope 170 near the ground and the vertically mapped end of the slope 170.

[0015] Preferably, the system further includes a distance measuring device 195 disposed on the rearview mirror inside the vehicle, used to measure the distance between the target position and the end of the slope 170 near the ground.

[0016] Preferably, the controller is used to: after performing the step of controlling the pole 130 to move along the guide rail 120 to the target position, determine the distance between the target position and the first camera 110 based on the number of revolutions of the motor of the pole 130.

[0017] Preferably, the controller is further configured to: push the slope of the ramp 170 to the vehicle instrument panel.

[0018] In a second aspect, the present invention provides a road slope detection method, applied to the system described in the first aspect, the method comprising:

[0019] Obtain the first vehicle height value and the second vehicle height value;

[0020] Determine whether there is a difference between the first vehicle height value and the second vehicle height value;

[0021] If present, obtain the height measurement value of the first camera and the height of the pole, wherein the height measurement value is the height of the slope, and the slope is located in front of the vehicle;

[0022] The slope of the incline is calculated based on the measured height and the height of the marker.

[0023] Thirdly, the present invention provides a complete vehicle, comprising: a vehicle body; and a road slope detection system disposed on the vehicle body, wherein the road slope detection system is the system described in the first aspect.

[0024] This invention provides a road slope detection system, comprising: a first camera mounted on the dashboard of a vehicle; a guide rail positioned between the first camera and the windshield, extending longitudinally along the vehicle body; a marker pole movably and vertically mounted within the guide rail; and a controller for controlling the marker pole to move along the guide rail to a target position, wherein the target position aligns the distal end of the marker pole, the end of the slope away from the ground, and the first camera in a straight line, and the slope is located in front of the vehicle; the controller also acquires the height measurement value of the first camera and the height of the marker pole, and calculates the slope of the slope based on the height measurement value and the height of the marker pole, wherein the height measurement value is the height of the slope. Thus, by installing the first camera and the marker pole, the height measurement value and the marker pole height, which are sufficient for calculating the slope, can be quickly obtained, thereby simplifying the slope calculation process and rapidly obtaining the slope slope, to some extent solving the problem of not being able to quickly obtain the slope slope in related technologies. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 The diagram shows a schematic representation of the road slope detection system according to some embodiments of the present invention.

[0027] Figure 2 The diagram illustrates a simulation of the controller's decision-making process according to some embodiments of the present invention;

[0028] Figure 3 A schematic diagram of the road slope detection system according to some embodiments of the present invention is shown.

[0029] Figure 4 The diagram shows a schematic representation of the road slope detection system according to some embodiments of the present invention.

[0030] Figure 5 A schematic flowchart of a road slope detection method according to some embodiments of the present invention is shown. Detailed Implementation

[0031] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure.

[0032] As described in the background section, when off-road vehicles traverse steep slopes or need to exit from the bottom of a ditch, certain slopes are insurmountable due to the vehicle's inherent performance limitations. Drivers navigating steep slopes without prior knowledge face risks of stalling halfway up the hill or overturning, posing a safety hazard to the driver. Related technologies typically rely on external sensors mounted on the vehicle for slope identification, but this process is complex and cannot quickly determine the slope's gradient.

[0033] In response, this invention provides a road slope detection system. By installing a first camera and a marker, it can quickly obtain the measured value of the slope height and the height of the marker, thereby simplifying the slope calculation process and quickly obtaining the slope. This solves to some extent the problem of not being able to quickly obtain the slope in related technologies.

[0034] The road slope detection system provided by this invention can identify in advance whether a vehicle can drive on a given slope, improving driving safety and avoiding the risk of vehicle damage caused by steep slopes. If we calculate based on a typical off-road vehicle costing 200,000 yuan, the road slope detection system provided by this invention can save approximately 100,000 yuan in repair costs after a rollover.

[0035] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0036] In some embodiments, the road slope detection system provided by the present invention includes a first camera 100, a guide rail 120, a marker 130, and a controller 140, such as Figure 1 As shown.

[0037] In some embodiments, the first camera 110 can be a rangefinder camera, or it can be other cameras with intelligent functions, such as intelligent question answering, etc. The size of the first camera 110 can be of various sizes, such as a pinhole camera, a spherical camera, etc.

[0038] In some embodiments, the first camera 110 can be disposed on the dashboard 150 of the vehicle 100, for example, at the center of the intersection of the diagonals of the dashboard 150, or directly in front of the driver's seat on the dashboard. This embodiment of the invention does not impose specific limitations on this. The first camera 110 can be fixed to the dashboard 150 by various connection methods such as screws or adhesives, so that the relative position of the first camera and the vehicle does not change during vehicle operation, thereby improving the accuracy of slope measurement.

[0039] In some embodiments, the guide rail 120 can be a grooved track, a chain track, or any other type of track. The guide rail 120 can be disposed between the first camera 110 and the windshield 160, extending longitudinally along the body of the vehicle 100. Accordingly, the length of the guide rail 120 depends on the distance between the first camera 110 and the windshield 160. For example, the starting end of the guide rail 120 can be set in front of the first camera 110, and the ending end can be set 5cm in front of the windshield 160, extending the guide rail 120 longitudinally along the body of the vehicle 100 so that the direction of the guide rail 120 can be perpendicular to the windshield 160.

[0040] In some embodiments, the marker 130 can be a ruler or a rod-shaped object such as a wooden pole of a certain length. The marker 130 may include a movable device that matches the track configuration of the guide rail 120, allowing the marker 130 to be movably and vertically positioned within the guide rail 120. For example, if the guide rail 120 is a grooved track, the proximal end of the marker 130 may be convex. To avoid obstructing the vehicle 100's visibility during travel, the marker 130 can be a telescopic, fixed-length altimeter. When measuring the slope of the ramp 170, it extends to a fixed length. When the vehicle 100 is traveling on flat ground, it can be shortened to a shorter distance to maintain good visibility through the windshield 160.

[0041] In some embodiments, the controller 140 may be a vehicle controller or a dedicated controller for the road slope detection system of the present invention. The controller 140 may be located in the center console of the vehicle 100 or in the first camera 100.

[0042] In some embodiments, when the vehicle 100 encounters a slope 170 ahead, the controller 140 controls the marker 130 to move along the guide rail 120 to a target position, where the distal end of the marker 130, the end of the slope 170 away from the ground, and the first camera 110 are aligned in a straight line. Specifically, the controller 140 can control the movement of the marker 130 based on the image captured by the first camera 100, or it can move the marker 130 to the target position based on the distance detected by other ranging devices. Figure 2 The following diagram illustrates the decision-making simulation of the controller according to some embodiments of the present invention, such as... Figure 2 As shown, point A can be the location of the first camera 110, point C can be the far end of the marker 130 (the end away from the guide rail 120), and point F can be the end of the ramp 170 away from the ground. Figure 2 At the moment shown, since the marker 130 is at the target position, points A, C, and F can form a straight line.

[0043] In some embodiments, after the controller 140 moves the pole 130 to the target position, it is further configured to acquire the height measurement value of the first camera 110 and the height of the pole 130, wherein the height measurement value is the height of the ramp 170. The height of the pole 130 can also be understood as the length of the pole 130, which can be a fixed value and pre-input into the controller 140, for example... Figure 2 As shown in L2. In some embodiments, the controller 140 can obtain a height measurement value through the ranging function of the first camera 100, and the height of the ramp 170 can be... Figure 2 L5, as shown, is the vertical distance between point F, the end of the slope 170 that is far from the ground, and point E on the ground.

[0044] In some embodiments, the controller 140 can calculate the slope of the ramp 170 based on the height measurement and the height of the marker 130, for example, according to... Figure 2 The proportional relationship between L2 and L5 shown is used to calculate the slope of the 170° ramp. Figure 2 β is shown.

[0045] In this way, by installing the first camera and the marker, the height measurement value of the slope and the height of the marker can be obtained quickly, which simplifies the slope calculation process and quickly obtains the slope, thus solving to some extent the problem that the slope cannot be obtained quickly in related technologies.

[0046] In some embodiments, the controller 140 is further configured to acquire a first vehicle height value and a second vehicle height value; determine whether there is a difference between the first vehicle height value and the second vehicle height value; if so, execute the step of controlling the pointer 130 to move along the guide rail 120 to the target position. The first vehicle height value can be the front vehicle height, for example, the vertical distance between the ground and the endpoint of the windshield 160 near the sky; the second vehicle height value can be the rear vehicle height, for example, the vertical distance between the ground and the endpoint of the rear windshield near the sky. If there is a difference between the first vehicle height value and the second vehicle height value, it indicates that there is a slope 170 in front of the vehicle 100, and the controller 140 can execute the step of controlling the pointer 130 to move along the guide rail 120 to the target position as described above, and start calculating the slope of the slope 170. If there is no difference between the first vehicle height value and the second vehicle height value, it indicates that the vehicle 100 is currently on a plane, and there is no slope 170 in front of it, and the controller 140 can perform no processing. Judging whether there is a difference between the first vehicle height value and the second vehicle height value can make the judgment more accurate and reduce the amount of calculation by the controller 140.

[0047] In some embodiments, to enable the controller 140 to acquire a first vehicle height value and a second vehicle height value, the road slope detection system provided in this embodiment of the invention further includes a first sensor 180 disposed on the front axle of the vehicle 100 and a second sensor 190 disposed on the rear axle of the vehicle 100, such as... Figure 3 As shown in the diagram. Both the first sensor 180 and the second sensor 190 can be vehicle body sensors, or other sensors capable of measuring vehicle body height. The first sensor 180 detects the front vehicle body height to obtain a first vehicle body height value and sends it to the controller 140. The second sensor 190 detects the rear vehicle body height to obtain a second vehicle body height value and sends it to the controller 140. Using the first sensor 180 and the second sensor 190 simplifies the process of the controller 140 obtaining the first and second vehicle body height values, increasing the speed of slope calculation.

[0048] In some embodiments, during the driving of the vehicle 100, the first camera 110 can be used to capture a real-time view of the front of the vehicle 100 and send the view to the controller 140. The view includes the far end of the marker 130 and the end of the ramp 170 that is off the ground. After receiving the view, the controller 140 can determine whether the far end of the marker 130 and the end of the ramp 170 that is off the ground overlap. If they overlap, it can be understood that the marker 130 is at the target position, and the far end of the marker 130, the end of the ramp 170 that is off the ground, and the first camera 110 are on the same straight line. Figure 2Points A, C, and F shown are aligned on a straight line. If they do not coincide, the controller 140 can calculate the distance between the far end of the marker 130 and the end of the slope 170 furthest from the ground based on the scale of the front view, thus obtaining the moving distance of the marker 130, and executing the step described above of controlling the marker 130 to move along the guide rail 120 to the target position. By using the first camera and the controller together to determine whether the far end of the marker 130, the end of the slope 170 furthest from the ground, and the first camera 110 are aligned on a straight line, the slope calculation process becomes more accurate.

[0049] In some embodiments, the target location can be as follows: Figure 2 At point B, as shown, marker 130 is located at point B, aligning the distal end C of marker 130, the end F of ramp 170 away from the ground, and point A of the first camera 110 with a straight line. After the controller 140 moves marker 130 along guide rail 120 to the target position, it can also be used to acquire the target position (e.g., ...). Figure 2 Point B shown) and the end of the slope 170 near the ground (as shown) Figure 2 The distance between points D shown (i.e., Figure 2 As shown in L3), and the target location (e.g. Figure 2 Point B shown) and the first camera 110 (as shown) Figure 2 The distance between points A shown (i.e., Figure 2 L1 (as shown).

[0050] In some embodiments, controller 140 acquires, for example Figure 2 After L1 and L3 as shown, it can be based on the height of the ramp 170 (i.e., Figure 2 As shown in L5), the height of the marker 130 (i.e., Figure 2 The distance between L2 (shown) and the target location and the end of the slope 170 closest to the ground (i.e., Figure 2 As shown in L3) and the distance between the target position and the first camera 110 (i.e., Figure 2 As shown in L1), the end of slope 170 closest to the ground and the vertical mapping end of slope 170 (as shown in L1) are obtained. Figure 2 The distance between points E shown (i.e., Figure 2 As shown in L4), the vertically mapped end of ramp 170 represents the end of ramp 170 that is vertically mapped to the ground from the end of ramp 170 away from the ground.

[0051] In some embodiments, the controller 140, via, such as Figure 2 The process of deriving L4 from L1, L2, L3, and L5 shown can be calculated based on the parallel ratio of triangles and the tangent formula. For example, it can be calculated using the following formula:

[0052]

[0053] Where α is as follows Figure 2 As shown, the angle between the straight line formed by points A, C, and F and the ground;

[0054] L1 is the distance between the target location and the first camera 110;

[0055] L2 is the height of the benchmark 130;

[0056] L3 is the distance between the target location and the end of the slope 170 that is closest to the ground.

[0057] L4 is the distance between the end of ramp 170 closest to the ground and the vertically mapped end of ramp 170.

[0058] L5 is the height of the slope at 170 degrees.

[0059] After obtaining L4, controller 140 can be used based on the height of ramp 170 (i.e., Figure 2 The distance between L5 shown and the vertically mapped end of the ramp 170 (i.e., the distance between the end of the ramp 170 closest to the ground and the vertically mapped end of the ramp 170) is shown. Figure 2 As shown in L4), the slope of a 170° slope can be calculated based on the tangent formula of a triangle, for example, using the following formula:

[0060]

[0061] Where β is the slope of the 170 slope.

[0062] The slope of the ramp in front of the vehicle can be calculated using the two formulas above, which simplifies the slope calculation process and thus improves the speed of slope calculation.

[0063] In some embodiments, the road slope detection system further includes a distance measuring device 195 disposed on the rearview mirror of the vehicle, such as Figure 4 As shown. The ranging device 195 can be a ranging camera, or an infrared ranging device or other device capable of ranging. The ranging device 195 is used to measure the distance between the target position and the end of the slope 170 closest to the ground (i.e., Figure 2 As shown in L3), the measured values ​​are transmitted to the controller 140 so that the controller 140 can calculate the slope based on the measured values.

[0064] In some embodiments, the benchmark 130 may include a motor and a body, the motor being electrically connected to the controller 140 so that the controller 140 controls the body via the motor. The controller 140 can obtain the distance between the target position and the first camera 110 (i.e., Figure 2As shown in L1), a specific method for obtaining the distance can be as follows: After the controller 140 executes the step of controlling the pointer 130 to move along the guide rail 120 to the target position, the distance between the target position and the first camera 110 is confirmed based on the number of revolutions of the pointer 130 motor. To enable the controller 140 to more accurately confirm the distance between the target position and the first camera 110 based on the number of revolutions of the pointer 130 motor, after the controller 140 calculates the slope of the ramp 170, it can also control the pointer 130 to return to its endpoint position, for example, returning to the guide rail end closer to the first camera. The controller 140 can directly obtain the distance between the target position and the first camera 110 through the motor of the pointer 130, making the slope calculation process simpler and improving calculation efficiency.

[0065] In some embodiments, after calculating the slope, the controller 140 can also push the slope of the ramp 170 to the vehicle instrument panel so that the user can perceive it and reduce the user's driving risk.

[0066] This invention also provides a road slope detection method, applied to the road slope detection system described above. For example... Figure 5 As shown, the road slope detection method provided in this embodiment of the invention includes steps 510 to 540.

[0067] Step 510: Obtain the first vehicle height value and the second vehicle height value.

[0068] In some embodiments, the controller 140 may obtain a first vehicle height value through a first sensor 180 disposed on the front axle of the vehicle 100, and a second vehicle height value through a second sensor disposed on the rear axle of the vehicle 100.

[0069] After acquiring the first vehicle height value and the second vehicle height value, the controller 140 can execute step 520 to determine whether there is a difference between the first vehicle height value and the second vehicle height value.

[0070] Step 520: Determine whether there is a difference between the first vehicle height value and the second vehicle height value.

[0071] In some embodiments, the controller 140 can determine whether there is a difference between the first vehicle height value and the second vehicle height value. If there is a difference, step 530 can be executed; if there is no difference, it can be assumed that the vehicle 100 is traveling on flat ground and there is no slope 170 for measuring gradient ahead.

[0072] Step 530: If present, obtain the height measurement value of the first camera and the height of the pole, wherein the height measurement value is the height of the slope, and the slope is located in front of the vehicle.

[0073] In some embodiments, the controller 140 can use the first camera to measure distance and obtain the height of the slope 170 (i.e., Figure 2 As shown in L5), the height of the benchmark 130 can also be obtained through a preset method (i.e., Figure 2 (as shown in L2), then step 540 can be performed.

[0074] Step 540: Calculate the slope of the ramp based on the measured height and the height of the marker.

[0075] In some embodiments, the controller 140 is based on height measurements (i.e., Figure 2 As shown in L5) and the height of the benchmark (i.e., Figure 2 As shown in L2), one specific way to calculate the slope of 170° is as follows:

[0076] Based on the foreground image captured by the first camera 110, the controller 140 determines whether the far end of the marker 130 and the end of the slope 170 away from the ground in the foreground image overlap. During this determination, based on the aspect ratio of the foreground image, the controller can also control the marker 130 to move along the guide rail 120 to the target position, ultimately ensuring that the far end of the marker 130 and the end of the slope 170 away from the ground overlap in the foreground image. This means that the marker 130 is located at the target position, i.e., the far end of the marker 130 (e.g., the far end of the marker 130). Figure 2 Point C shown), the end of the slope 170 degrees away from the ground (as shown) Figure 2 Point F shown) and the first camera 110 (as shown) Figure 2 Point A shown is on the same straight line. Control 140 can determine the distance between the target position and the first camera 110 (i.e., ...) based on the number of revolutions of the motor of the benchmark 130 during its movement. Figure 2 L1 (as shown).

[0077] The controller 140 can also obtain the distance between the target position and the end of the ramp 170 closest to the ground via a distance measuring device 195 mounted on the rearview mirror of the vehicle (i.e., Figure 2 (L3 as shown).

[0078] The controller 140 obtains the following respectively: Figure 2 After L1, L2, L3, and L5 are shown, L4 can be calculated using the following formula:

[0079]

[0080] Where α is as follows Figure 2 As shown, the angle between the straight line formed by points A, C, and F and the ground;

[0081] L1 is the distance between the target location and the first camera 110;

[0082] L2 is the height of the benchmark 130;

[0083] L3 is the distance between the target location and the end of the slope 170 that is closest to the ground.

[0084] L4 is the distance between the end of ramp 170 closest to the ground and the vertically mapped end of ramp 170.

[0085] L5 is the height of the slope at 170 degrees.

[0086] After obtaining L4, controller 140 can be used based on the height of ramp 170 (i.e., Figure 2 The distance between L5 shown and the vertically mapped end of the ramp 170 (i.e., the distance between the end of the ramp 170 closest to the ground and the vertically mapped end of the ramp 170) is shown. Figure 2 As shown in L4), the slope of a 170° slope can be calculated based on the tangent formula of a triangle, for example, using the following formula:

[0087]

[0088] Where β is the slope of the 170 slope.

[0089] The slope of the ramp in front of the vehicle can be calculated using the two formulas above, which simplifies the slope calculation process and thus improves the speed of slope calculation.

[0090] In this way, by installing a first camera and a marker, the height of the slope and the marker height can be quickly obtained, simplifying the slope calculation process and rapidly determining the slope gradient. This solves, to some extent, the problem of not being able to quickly obtain slope gradients in related technologies. Furthermore, it allows for early identification of the feasibility of driving on the slope, improving driving safety and avoiding the risk of vehicle damage caused by steep inclines. If we calculate based on a typical SUV costing 200,000 yuan, this could save approximately 100,000 yuan in repair costs after a rollover.

[0091] This invention also provides a complete vehicle, including: a vehicle body; and a road slope detection system disposed on the vehicle body, wherein the road slope detection system is the road slope detection system described above.

[0092] In the above description, technical details such as the composition of each component are not described in detail. However, those skilled in the art should understand that various technical means can be used to form layers, areas, etc., of the desired shape. Furthermore, in order to form the same structure, those skilled in the art can also design methods that are not entirely the same as those described above. Additionally, although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination.

[0093] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0094] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A road slope detection system, characterized in that, include: The first camera (110) is installed on the dashboard (150) of the vehicle (100); A guide rail (120) is disposed between the first camera (110) and the windshield (160) and extends longitudinally along the body of the vehicle (100); The marker (130) is movably and vertically mounted within the guide rail (120); A controller (140) is used to control the pole (130) to move along the guide rail (120) to a target position, the target position being such that the far end of the pole (130), the end of the ramp (170) away from the ground and the first camera (110) are in a straight line, the ramp being located in front of the vehicle (100); It is also used to obtain the height measurement value of the first camera (110) and the height of the pole (130), and to calculate the slope of the ramp (170) based on the height measurement value and the height of the pole (130), wherein the height measurement value is the height of the ramp (170).

2. The system according to claim 1, wherein the controller is further configured to: Obtain the first vehicle height value and the second vehicle height value; Determine whether there is a difference between the first vehicle height value and the second vehicle height value; If present, perform the step of controlling the pole (130) to move along the guide rail (120) to the target position.

3. The system according to claim 2, characterized in that, The system also includes: The first sensor (180) located on the front axle of the vehicle (100) is used for: The front vehicle height is detected to obtain the first vehicle height value and sent to the controller (140); A second sensor (190) located on the rear axle of the vehicle (100) is used for: The vehicle height is detected to obtain the second vehicle height value and sent to the controller (140).

4. The system according to claim 3, characterized in that, The first camera is used for: The system captures a real-time view of the front of the vehicle (100) and sends the view to the controller (140). The view includes the far end of the signpost (130) and the end of the ramp (170) away from the ground. The controller is also used for: Determine whether the far end of the marker (130) and the end of the slope (170) away from the ground in the foreground image overlap; If they do not coincide, perform the step of controlling the pole (130) to move along the guide rail (120) to the target position.

5. The system according to claim 4, characterized in that, The controller is used for: Obtain the distance between the target location and the end of the slope (170) closest to the ground, and the distance between the target location and the first camera (110); Based on the height of the slope (170), the height of the marker (130), the distance between the target position and the end of the slope (170) near the ground, and the distance between the target position and the first camera (110), the distance between the end of the slope (170) near the ground and the vertically mapped end of the slope (170) is obtained. The vertically mapped end of the slope (170) represents the endpoint of the slope (170) that is vertically mapped onto the ground from the end away from the ground. The slope of the slope 170 is calculated based on the height of the slope (170) and the distance between the end of the slope (170) near the ground and the vertically mapped end of the slope (170).

6. The system according to claim 5, characterized in that, The system also includes: The distance measuring device (195) installed on the rearview mirror inside the vehicle is used for: Measure the distance between the target location and the end of the slope (170) closest to the ground.

7. The system according to claim 6, characterized in that, The controller is used for: After performing the step of controlling the pole (130) to move along the guide rail (120) to the target position, the distance between the target position and the first camera (110) is confirmed based on the number of revolutions of the motor of the pole (130).

8. The system according to claim 7, characterized in that, The controller is also used for: The slope of the ramp (170) is pushed to the vehicle instrument panel.

9. A method for detecting road slope, characterized in that, Applied to the system of claim 8, the method comprises: Obtain the first vehicle height value and the second vehicle height value; Determine whether there is a difference between the first vehicle height value and the second vehicle height value; If present, obtain the height measurement value of the first camera and the height of the pole, wherein the height measurement value is the height of the slope, and the slope is located in front of the vehicle; The slope of the incline is calculated based on the measured height and the height of the marker.

10. A complete vehicle, characterized in that, include: The vehicle body; A road slope detection system is installed on the vehicle body, and the road slope detection system is the system according to any one of claims 1-8.

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