Vehicle gradient sensor data calibration method and device, equipment and storage medium

Abstract

The invention discloses a vehicle gradient sensor data calibration method, device and equipment and a storage medium, and the method comprises the steps: collecting the gradient sensor data and positioning signal data of a vehicle in real time when the vehicle is in an on-line state, taking the acquired real-time gradient sensor data as gradient data to be calibrated; generating gradient calibration parameters of the gradient data to be calibrated based on the vehicle altitude data, the vehicle speed data and the data acquisition frequency; and calibrating the gradient data to be calibrated based on the gradient calibration parameters. According to the technical scheme, the calibration efficiency and the calibration precision of the data of the gradient sensor are improved, gradient calibration does not need to be carried out in a special site when the vehicle is off line, and the production cost of the vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a calibration method, device, equipment and storage medium for vehicle slope sensor data. Background Art

[0002] Vehicle slope is a key parameter for vehicle controllers such as a vehicle's VCU (Vehicle Control Unit), TCU (Transmission Control Unit), EBS (Electronic Braking System), and ABS (Anti-lock Braking System) to calculate, and it can affect the scheduling of vehicle power and braking force.

[0003] Currently, major vehicle manufacturers mainly calibrate the zero value of the slope sensor when the vehicle leaves the factory. However, the weight of the goods loaded by the user's vehicle during use is different, which will directly cause the zero value of the slope sensor to be inaccurate, thereby affecting the scheduling of vehicle power and braking force, further affecting the normal driving of the whole vehicle, and even causing a significant increase in the energy consumption of the whole vehicle. Summary of the Invention

[0004] The present invention provides a calibration method, device, equipment and storage medium for vehicle slope sensor data to improve the calibration accuracy of vehicle slope sensor data.

[0005] According to one aspect of the present invention, a calibration method for vehicle slope sensor data is provided. The method includes:

[0006] When the vehicle is in the on-line state, the slope sensor data and positioning signal data of the vehicle are collected in real time, and the collected real-time slope sensor data is used as the slope data to be calibrated; wherein, the on-line state includes the vehicle start state and the vehicle driving state; the slope sensor data is directly collected by the slope sensor deployed on the vehicle, and the positioning signal data includes vehicle altitude data and vehicle speed data;

[0007] Based on the vehicle altitude data, the vehicle speed data, and the data collection frequency, a slope calibration parameter for the slope data to be calibrated is generated;

[0008] The slope data to be calibrated is calibrated based on the slope calibration parameter.

[0009] According to another aspect of the present invention, a calibration device for vehicle slope sensor data is provided. The device includes:

[0010] A data acquisition module, which is used to collect the slope sensor data and positioning signal data of a vehicle in real time when the vehicle is in an online state, and use the collected real-time slope sensor data as the slope data to be calibrated; wherein, the online state includes the vehicle start state and the vehicle driving state; the slope sensor data is directly collected by a slope sensor deployed on the vehicle, and the positioning signal data includes vehicle altitude data and vehicle speed data;

[0011] A calibration parameter generation module, which is used to generate a slope calibration parameter for the slope data to be calibrated based on the vehicle altitude data, the vehicle speed data, and the data acquisition frequency;

[0012] A calibration module, which is used to calibrate the slope data to be calibrated based on the slope calibration parameter.

[0013] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0014] At least one processor;

[0015] And a memory communicatively connected to the at least one processor;

[0016] Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the calibration method for vehicle slope sensor data according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to implement the calibration method for vehicle slope sensor data according to any embodiment of the present invention when executed by a processor.

[0018] According to another aspect of the present invention, there is provided a computer program product, which includes a computer program, and the computer program implements the calibration method for vehicle slope sensor data according to any embodiment of the present invention when executed by a processor.

[0019] The technical solution of the embodiment of the present invention collects the slope sensor data, vehicle altitude data, and vehicle speed data of the vehicle when the vehicle is in an online state, calibrates the slope sensor data of the vehicle, and can realize automatic calibration of the slope signal regardless of how the vehicle cargo weight changes, realizes automatic calibration during driving, improves the calibration efficiency and calibration accuracy of the slope sensor data, does not require slope calibration in a dedicated site when the vehicle is offline, reduces the vehicle production cost, and improves the vehicle power performance, economic performance, and braking safety performance.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Brief Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 is a flowchart of a method for calibrating vehicle slope sensor data according to Embodiment 1 of the present invention;

[0023] Figure 2 is a flowchart of a method for calibrating vehicle slope sensor data according to Embodiment 2 of the present invention;

[0024] Figure 3 is a schematic structural diagram of a device for calibrating vehicle slope sensor data according to Embodiment 3 of the present invention;

[0025] Figure 4 is a schematic structural diagram of an electronic device for implementing the method for calibrating vehicle slope sensor data in the embodiments of the present invention. Detailed Embodiments

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, rather than all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 FIG. 1 is a flowchart of a method for calibrating vehicle slope sensor data according to Embodiment 1 of the present invention. This embodiment is applicable to the case of calibrating the data of a vehicle slope sensor deployed in a vehicle. The method can be executed by a calibration device for vehicle slope sensor data. The calibration device for vehicle slope sensor data can be implemented in the form of hardware and / or software, and the calibration device for vehicle slope sensor data can be configured in various general computing devices. As Figure 1 shown, the method includes:

[0030] S110. When the vehicle is in the on-line state, collect the slope sensor data and positioning signal data of the vehicle in real time, and use the collected real-time slope sensor data as the slope data to be calibrated.

[0031] Among them, the on-line state may include the vehicle start state and the vehicle driving state; the slope sensor data can be directly collected by the slope sensor deployed in the vehicle, and the positioning signal data may include vehicle altitude data and vehicle speed data, and the vehicle altitude data can be used to represent the altitude at which the vehicle is located.

[0032] It should be noted that due to the reasons of the slope sensor itself, as well as the influence of the installation position of the slope sensor and the load of the vehicle itself, the accuracy of the slope sensor data collected by the slope sensor will be affected.

[0033] Optionally, collecting the slope sensor data and positioning signal data of the vehicle in real time includes: periodically collecting the slope sensor data and positioning signal data of the vehicle at a preset data collection frequency, where the setting of the data collection frequency needs to ensure that a preset number of data is collected within a preset collection duration.

[0034] Specifically, the slope sensor data and the positioning signal data of the vehicle can be periodically collected according to a preset data collection frequency. Optionally, the slope sensor data can be obtained by collecting data from the slope sensors deployed on the vehicle; the positioning signal data can be obtained by the vehicle positioning system, and the data source of the vehicle speed data in the positioning signal data can be adaptively set by those skilled in the art, such as the vehicle speed converted at the wheel end, the vehicle speed calculated at the instrument end, and the vehicle speed converted from the transmission speed, etc.

[0035] It should be noted that the unit of the slope sensor data is radians, the unit of the vehicle altitude data is meters, and the unit of the vehicle speed data is meters per second. Optionally, in the embodiments of the present invention, the data collection frequency can be adaptively set by those skilled in the art. The higher the data collection frequency, the higher the accuracy of the obtained data. The preset collection duration and the preset collection quantity are adaptively set by those skilled in the art.

[0036] Optionally, in the embodiments of the present invention, after the slope sensor data and the positioning signal data of the vehicle are collected in real time, it further includes: filtering the collected slope sensor data and positioning signal data.

[0037] Specifically, the slope sensor data and the positioning signal data with a preset collection quantity collected within a preset collection duration can be filtered and denoised to improve the data quality of the collected data. Optionally, the filtering and denoising method can be adaptively set by those skilled in the art, such as filtering algorithms such as FIR (Finite Impulse Response) filtering, IIR (Infinite Impulse Response) filtering, and polynomial smoothing filtering.

[0038] S120. Generate a slope calibration parameter for the slope data to be calibrated based on the vehicle altitude data, the vehicle speed data, and the data collection frequency.

[0039] S130. Calibrate the slope data to be calibrated based on the slope calibration parameter.

[0040] Specifically, by obtaining the direct acquisition signal data of the slope sensor, the vehicle altitude data, and the vehicle speed data during the startup and driving of the vehicle, performing operations and spectral analysis on the above data to obtain the signal deviation value of the slope sensor, and calibrating the slope data to be calibrated according to the signal deviation value to obtain the calibrated slope sensor data. It should be noted that the larger the preset collection quantity, the higher the accuracy of the spectral analysis.

[0041] In the technical solution of the embodiment of the present invention, when the vehicle is in the on-line state, the slope sensor data, vehicle altitude data, and vehicle speed data of the vehicle are collected, and the slope sensor data of the vehicle is calibrated. No matter how the vehicle cargo weight changes, the slope signal can be automatically calibrated, realizing automatic calibration during driving, improving the calibration efficiency and calibration accuracy of the slope sensor data, eliminating the need for slope calibration in a dedicated site when the vehicle is off-line, reducing the vehicle production cost, and improving the vehicle power performance, economic performance, and braking safety performance.

[0042] Embodiment 2

[0043] Figure 2 The flowchart of a calibration method for vehicle slope sensor data provided by Embodiment 2 of the present invention is further refined on the basis of the above embodiment, and specific steps for generating slope calibration parameters of the to-be-calibrated slope data based on the vehicle altitude data and the vehicle speed data are provided. It should be noted that for the parts not detailed in the embodiments of the present invention, reference can be made to the relevant descriptions of other embodiments, which will not be elaborated here. As Figure 2 shown, the method includes:

[0044] S210. When the vehicle is in the on-line state, the slope sensor data and positioning signal data of the vehicle are collected in real time, and the collected real-time slope sensor data is used as the to-be-calibrated slope data.

[0045] S220. According to the vehicle altitude data and vehicle speed data collected at the first collection moment and the second collection moment, and the data collection frequency, determine the slope calibration data corresponding to the to-be-calibrated slope data collected at the first collection moment.

[0046] Among them, the first collection moment and the second collection moment are adjacent collection moments, and the second collection moment is later than the first collection moment. The slope calibration data may refer to the data for calibrating the to-be-calibrated slope data.

[0047] Optionally, the slope calibration data can be determined by the following formula:

[0048]

[0049] where d i is the slope calibration data corresponding to the first collection moment, b i+1 is the vehicle altitude data corresponding to the second collection moment, b i is the vehicle altitude data corresponding to the first collection moment, c i+1 is the vehicle speed data corresponding to the second collection moment, c iis the vehicle speed data corresponding to the first acquisition moment, and f is the data acquisition frequency. It should be noted that the value of i can be 1, 2, 3... n - 1. When i takes the value of n, d i = d i-1 .

[0050] S230. For the slope data to be calibrated and the slope calibration data at each acquisition moment, perform difference processing respectively to determine the slope deviation signal corresponding to each acquisition moment.

[0051] Exemplarily, the difference processing process of the slope data to be calibrated and the slope calibration data can be carried out according to the following formula:

[0052] e i = a i - d i ;

[0053] where e i is the slope deviation signal, a i is the slope data to be calibrated, and d i is the slope calibration data.

[0054] S240. Perform Fourier transform on the slope deviation signal to generate slope calibration parameters.

[0055] Optionally, performing Fourier transform on the slope deviation signal to generate slope calibration parameters includes: performing Fourier transform on the slope deviation signal corresponding to each acquisition moment to generate spectral data corresponding to the slope deviation signal: where the spectral data includes frequency data and amplitude data; traversing the spectral data corresponding to each acquisition moment according to the preset target frequency data to determine the target spectral data, and determining the amplitude data in the target spectral data as the slope calibration parameter.

[0056] It should be noted that after performing spectral analysis on the Fourier transform of the slope deviation signal, each slope deviation signal will correspond to a spectral data.

[0057] Exemplarily, the target spectral data can refer to the spectral data in which the frequency data is the target frequency value in the spectral data. The target frequency value can be adaptively set by those skilled in the art. For example, the target frequency value is set to 0.

[0058] S250. Calibrate the slope data to be calibrated based on the slope calibration parameter.

[0059] Optionally, calibrating the slope data to be calibrated based on the slope calibration parameter includes: performing difference processing on the slope data to be calibrated at each acquisition moment and the slope calibration parameter respectively to calibrate the slope data to be calibrated.

[0060] Exemplarily, the calibration of the slope data to be calibrated can be completed through the following formula:

[0061] A i = a i - p;

[0062] Where, A i is the calibrated slope sensor data, a i is the slope data to be calibrated, and p is the slope calibration parameter.

[0063] The technical solution of the embodiment of the present invention determines the slope calibration data for calibrating the slope data to be calibrated through the positioning signal data collected when the vehicle is in the on-line state, and determines the slope calibration parameter of the slope data to be calibrated based on the slope calibration data, completing the data calibration of the slope data to be calibrated and improving the calibration accuracy of the slope sensor data.

[0064] Embodiment III

[0065] Figure 3 is a schematic structural diagram of a calibration device for vehicle slope sensor data provided by Embodiment III of the present invention. As Figure 3 shown, the device includes:

[0066] A data acquisition module 310, configured to collect the slope sensor data and positioning signal data of the vehicle in real time when the vehicle is in the on-line state, and use the collected real-time slope sensor data as the slope data to be calibrated; wherein, the on-line state includes the vehicle start state and the vehicle driving state; the slope sensor data is directly collected by the slope sensor deployed on the vehicle, and the positioning signal data includes vehicle altitude data and vehicle speed data;

[0067] A calibration parameter generation module 320, configured to generate the slope calibration parameter of the slope data to be calibrated based on the vehicle altitude data, the vehicle speed data, and the data acquisition frequency;

[0068] A calibration module 330, configured to calibrate the slope data to be calibrated based on the slope calibration parameter.

[0069] The technical solution of the embodiment of the present invention collects the slope sensor data, vehicle altitude data, and vehicle speed data of the vehicle when the vehicle is in the on-line state, calibrates the slope sensor data of the vehicle, can realize automatic calibration of the slope signal regardless of how the vehicle cargo weight changes, realizes automatic calibration during driving, improves the calibration efficiency and calibration accuracy of the slope sensor data, does not require slope calibration in a special site when the vehicle is off-line, reduces the vehicle production cost, and improves the vehicle power performance, economic performance, and braking safety performance.

[0070] Optionally, the calibration parameter generation module 320 includes:

[0071] A calibration data determination unit, configured to determine slope calibration data corresponding to the slope data to be calibrated collected at the first collection time according to the vehicle altitude data and vehicle speed data collected at the first collection time and the second collection time, and the data collection frequency; wherein, the first collection time and the second collection time are adjacent collection times;

[0072] A deviation signal determination unit, configured to perform difference processing on the slope data to be calibrated and the slope calibration data at each collection time respectively to determine a slope deviation signal corresponding to each collection time;

[0073] A calibration parameter determination unit, configured to perform Fourier transform on the slope deviation signal to generate a slope calibration parameter.

[0074] Optionally, the calibration parameter determination unit may specifically be configured to:

[0075] Perform Fourier transform on the slope deviation signal corresponding to each collection time to generate spectrum data corresponding to the slope deviation signal: wherein, the spectrum data includes frequency data and amplitude data;

[0076] Traverse the spectrum data corresponding to each collection time according to the preset target frequency data to determine target spectrum data, and determine the amplitude data in the target spectrum data as the slope calibration parameter.

[0077] Optionally, the calibration module 330 may specifically be configured to: perform difference processing on the slope data to be calibrated at each collection time and the slope calibration parameter respectively to calibrate the slope data to be calibrated.

[0078] Optionally, the data acquisition module 310 includes:

[0079] A data acquisition unit, configured to periodically acquire slope sensor data and positioning signal data of the vehicle at a preset data acquisition frequency, wherein the setting of the data acquisition frequency needs to ensure that a preset number of data is acquired within a preset acquisition duration.

[0080] Optionally, the device further includes:

[0081] A filtering module, configured to perform filtering processing on the acquired slope sensor data and positioning signal data.

[0082] The calibration device for vehicle slope sensor data provided by the embodiments of the present invention can execute the calibration method for vehicle slope sensor data provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0083] Embodiment Four

[0084] Figure 4 FIG. shows a schematic structural diagram of an electronic device 410 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0085] As Figure 4 shown, the electronic device 410 includes at least one processor 411, and a memory communicatively connected to the at least one processor 411, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc. The memory stores a computer program executable by the at least one processor. The processor 411 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 into the random access memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0086] Multiple components in the electronic device 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a magnetic disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0087] The processor 411 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 411 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as the calibration method for vehicle slope sensor data.

[0088] In some embodiments, a calibration method for vehicle slope sensor data may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the calibration method for vehicle slope sensor data described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the calibration method for vehicle slope sensor data by any other suitable means (e.g., by means of firmware).

[0089] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0090] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, a dedicated computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0091] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0092] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0093] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0094] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0095] It should be understood that various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0096] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A calibration method for vehicle slope sensor data, characterized in that Comprising: When the vehicle is in the on-line state, the slope sensor data and positioning signal data of the vehicle are collected in real time, and the collected real-time slope sensor data is used as the slope data to be calibrated; wherein, the on-line state includes the vehicle start state and the vehicle driving state; the slope sensor data is directly collected by the slope sensor deployed on the vehicle, and the positioning signal data includes vehicle altitude data and vehicle speed data; Based on the vehicle altitude data, the vehicle speed data, and the data collection frequency, a slope calibration parameter for the slope data to be calibrated is generated; Based on the slope calibration parameter, the slope data to be calibrated is calibrated.

2. The method according to claim 1, characterized in that, The generating the slope calibration parameter for the slope data to be calibrated based on the vehicle altitude data and the vehicle speed data includes: According to the vehicle altitude data and vehicle speed data collected at the first collection moment and the second collection moment, and the data collection frequency, determining the slope calibration data corresponding to the slope data to be calibrated collected at the first collection moment; wherein, the first collection moment and the second collection moment are adjacent collection moments; Performing a difference process on the slope data to be calibrated and the slope calibration data at each collection moment respectively to determine the slope deviation signal corresponding to each collection moment; Performing a Fourier transform on the slope deviation signal to generate a slope calibration parameter.

3. The method according to claim 2, wherein The performing a Fourier transform on the slope deviation signal to generate a slope calibration parameter includes: Performing a Fourier transform on the slope deviation signal corresponding to each collection moment to generate spectral data corresponding to the slope deviation signal: wherein, the spectral data includes frequency data and amplitude data; According to the preset target frequency data, traversing the spectral data corresponding to each collection moment to determine the target spectral data, and determining the amplitude data in the target spectral data as the slope calibration parameter.

4. The method according to claim 1, wherein The calibrating the slope data to be calibrated based on the slope calibration parameter includes: Performing a difference process on the slope data to be calibrated at each collection moment and the slope calibration parameter respectively to calibrate the slope data to be calibrated.

5. The method according to claim 1, characterized in that, The collecting the slope sensor data and the positioning signal data of the vehicle in real time includes: Periodically collecting the slope sensor data and the positioning signal data of the vehicle at a preset data collection frequency, wherein the setting of the data collection frequency needs to ensure that a preset number of data is collected within a preset collection duration.

6. The method according to claim 1, wherein After collecting the slope sensor data and the positioning signal data of the vehicle in real time, it further includes: Performing a filtering process on the collected slope sensor data and positioning signal data.

7. A calibration device for vehicle slope sensor data, characterized in that, Comprising: A data collection module, configured to collect the slope sensor data and the positioning signal data of the vehicle in real time when the vehicle is in the on-line state, and use the collected real-time slope sensor data as the slope data to be calibrated; wherein, the on-line state includes the vehicle start state and the vehicle driving state; the slope sensor data is directly collected by the slope sensor deployed on the vehicle, and the positioning signal data includes vehicle altitude data and vehicle speed data; A calibration parameter generation module, configured to generate a slope calibration parameter for the slope data to be calibrated based on the vehicle altitude data, the vehicle speed data, and the data acquisition frequency; A calibration module, configured to calibrate the slope data to be calibrated based on the slope calibration parameter.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; And a memory communicatively connected to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the calibration method for vehicle slope sensor data according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the calibration method for vehicle slope sensor data according to any one of claims 1-6 when executed by a processor.

10. A computer program product, characterized in that, Including a computer program, and the computer program implements the calibration method for vehicle slope sensor data according to any one of claims 1-6 when executed by a processor.

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