Method for determining gradient of road where vehicle is located, vehicle and storage medium

Abstract

The invention discloses a method for determining the gradient of a road where a vehicle is located, the vehicle and a storage medium, and the method can comprise the steps that the current vehicle speed of the vehicle under the current road condition and the duration for the vehicle to maintain the current vehicle speed are obtained, the current vehicle speed is the driving speed of the vehicle at the current moment, and the duration is the duration for the vehicle to maintain the current vehicle speed; the current road condition is used for representing surrounding environment conditions of a road where the vehicle is located; determining a latching result of the vehicle based on the current vehicle speed and the duration; in response to the latching result indicating that the vehicle meets the latching condition, triggering to keep the current longitudinal acceleration as the initial longitudinal acceleration and keep the current vehicle speed as the initial vehicle speed, and determining the longitudinal gradient of the road based on the initial longitudinal acceleration and the initial vehicle speed; in response to the latching result indicating that the vehicle does not satisfy the latching condition, a longitudinal slope is determined based on the current longitudinal acceleration and the current vehicle speed. The technical problem that the accuracy of the longitudinal gradient of the road where the vehicle is located is low is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicles, and in particular, to a method for determining the slope of a road on which a vehicle is located, a vehicle, and a storage medium. Background Art

[0002] Currently, the longitudinal slope of the road on which the vehicle is located is often obtained by synchronously processing the collected longitudinal acceleration and the vehicle speed.

[0003] However, in the actual processing process, since the signal representing the longitudinal acceleration and the signal representing the vehicle speed are often delayed and asynchronous, processing errors will occur when the longitudinal acceleration and the vehicle speed are processed synchronously, resulting in low accuracy of the longitudinal slope of the road where the vehicle is located.

[0004] Currently, no effective solution has been proposed to the technical problem of low accuracy of the longitudinal slope of the road where the vehicle is located. Summary of the Invention

[0005] Embodiments of the present application provide a method for determining the slope of a road on which a vehicle is located, a vehicle, and a storage medium to at least solve the technical problem of low accuracy of the longitudinal slope of the road on which the vehicle is located.

[0006] According to one aspect of an embodiment of the present application, a method for determining the slope of a road on which a vehicle is located is provided, comprising: obtaining the current speed of the vehicle under the current road conditions, and the duration for which the vehicle maintains the current speed, wherein the current speed is the vehicle's driving speed at the current moment, and the current road conditions are used to represent the surrounding environment of the road on which the vehicle is located; determining a latching result of the vehicle based on the current speed and the duration, wherein the latching result is used to indicate whether the vehicle meets a latching condition, and the latching condition is used to trigger maintaining the current longitudinal acceleration at the initial longitudinal acceleration and maintaining the current vehicle speed at the initial vehicle speed, and the current longitudinal acceleration is the vehicle's initial longitudinal acceleration. the longitudinal acceleration of the vehicle at the current moment, the initial longitudinal acceleration is the longitudinal acceleration of the vehicle at the initial moment, the initial vehicle speed is the driving speed of the vehicle at the initial moment, and the current moment is later than the initial moment; in response to the latching result indicating that the vehicle meets the latching condition, triggering to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and maintaining the current vehicle speed as the initial vehicle speed, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed; in response to the latching result indicating that the vehicle does not meet the latching condition, determining the longitudinal slope based on the current longitudinal acceleration and the current vehicle speed, wherein the current longitudinal acceleration is different from the initial longitudinal acceleration.

[0007] Furthermore, based on the current vehicle speed and duration, the vehicle locking result is determined, including: determining a first relationship between the current vehicle speed and a preset vehicle speed, wherein the preset vehicle speed is a critical vehicle speed for judging whether the vehicle meets the locking conditions; determining a second relationship between the duration and the preset duration, wherein the preset duration is a critical duration for judging whether the vehicle meets the locking conditions; based on the first relationship and the second relationship, determining the locking result.

[0008] Further, based on the first relationship and the second relationship, the latching result is determined, including: in response to the first relationship indicating that the current vehicle speed is less than the preset vehicle speed, and the second relationship indicating that the duration is greater than the preset duration, determining that the latching result is that the vehicle meets the latching condition; in response to the first relationship indicating that the current vehicle speed is greater than or equal to the preset vehicle speed, and the second relationship indicating that the duration is less than or equal to the preset duration, determining that the latching result is that the vehicle does not meet the latching condition.

[0009] Furthermore, the method also includes: obtaining a first component acceleration corresponding to the initial vehicle speed, wherein the first component acceleration is obtained by converting the initial vehicle speed, and the first component acceleration is used to represent the acceleration corresponding to the initial vehicle speed in the longitudinal direction of the road; in response to the latching result indicating that the vehicle meets the latching condition, triggering to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and maintaining the current vehicle speed as the initial vehicle speed, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed, including: in response to the latching result indicating that the vehicle meets the latching condition, triggering to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and maintaining the current vehicle speed as the initial vehicle speed, and determining the longitudinal slope based on the initial longitudinal acceleration and the first component acceleration.

[0010] Furthermore, determining the longitudinal gradient based on the initial longitudinal acceleration and the first component acceleration includes: determining a first acceleration difference between the initial longitudinal acceleration and the first component acceleration; and performing gradient processing on the first acceleration difference to obtain the longitudinal gradient.

[0011] Furthermore, the method also includes: obtaining a second component acceleration corresponding to the current vehicle speed, wherein the second component acceleration is obtained by converting the current vehicle speed, and the second component acceleration is used to represent the acceleration corresponding to the current vehicle speed in the longitudinal direction of the road; in response to the latching result indicating that the vehicle does not meet the latching condition, determining the longitudinal slope based on the current longitudinal acceleration and the current vehicle speed, including: in response to the latching result indicating that the vehicle does not meet the latching condition, determining the longitudinal slope based on the current longitudinal acceleration and the second component acceleration.

[0012] Furthermore, based on the current longitudinal acceleration and the second component acceleration, the longitudinal gradient is determined, including: determining a second acceleration difference between the current longitudinal acceleration and the second component acceleration; and performing gradient processing on the second acceleration difference to obtain the longitudinal gradient.

[0013] Furthermore, the method also includes: adjusting the preset vehicle speed and preset time according to the type of vehicle, so that the adjusted preset vehicle speed is used to indicate the critical vehicle speed for judging whether the type of vehicle meets the locking condition, and the adjusted preset time is used to indicate the critical time for judging whether the type of vehicle meets the locking condition; in response to the current vehicle speed being less than the adjusted preset vehicle speed and the duration being greater than the adjusted preset time, determining that the locking result is that the type of vehicle meets the locking condition; in response to the current vehicle speed being greater than or equal to the adjusted preset vehicle speed and the duration being less than or equal to the adjusted preset time, determining that the locking result is that the type of vehicle does not meet the locking condition.

[0014] According to another aspect of an embodiment of the present application, a device for determining the slope of a road on which a vehicle is located is also provided, and the device may include: a first acquisition unit, for acquiring the current speed of the vehicle under the current road conditions, and the duration for which the vehicle maintains the current speed, wherein the current speed is the driving speed of the vehicle at the current moment, and the current road conditions are used to represent the surrounding environment of the road on which the vehicle is located; a first determination unit, for determining a latching result of the vehicle based on the current speed and the duration, wherein the latching result is used to indicate whether the vehicle meets the latching condition, and the latching condition is used to trigger the current longitudinal acceleration to be maintained at the initial longitudinal acceleration, and the current speed to be maintained at the initial speed, and the current longitudinal acceleration The longitudinal acceleration is the longitudinal acceleration of the vehicle at the current moment, the initial longitudinal acceleration is the longitudinal acceleration of the vehicle at the initial moment, the initial speed is the driving speed of the vehicle at the initial moment, and the current moment is later than the initial moment; the second determining unit is used to trigger, in response to the latching result indicating that the vehicle meets the latching condition, maintaining the current longitudinal acceleration as the initial longitudinal acceleration, maintaining the current speed as the initial speed, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and the initial speed; the third determining unit is used to determine, in response to the latching result indicating that the vehicle does not meet the latching condition, the longitudinal slope based on the current longitudinal acceleration and the current speed, wherein the current longitudinal acceleration is different from the initial longitudinal acceleration.

[0015] According to another aspect of an embodiment of the present application, a vehicle is further provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the method of each embodiment of the present application is executed when the program is running.

[0016] According to another aspect of an embodiment of the present application, a computer-readable storage medium is also provided, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present application.

[0017] According to another aspect of the embodiments of the present application, a computer program product is further provided, including a computer program, which implements the methods in various embodiments of the present application when executed by a processor.

[0018] According to another aspect of an embodiment of the present application, a computer program product is further provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present application is implemented.

[0019] According to another aspect of the embodiments of the present application, a computer program is further provided, which implements the methods in various embodiments of the present application when executed by a processor.

[0020] In an embodiment of the present application, when determining the slope of the road on which the vehicle is located, the current speed of the vehicle under the current road conditions and the duration for which the vehicle maintains the current speed can be obtained. Based on the above current speed and the above duration, the locking result of the vehicle can be determined, that is, it can be determined whether the vehicle meets the locking condition; in response to the determined locking result indicating that the vehicle meets the locking condition, it is triggered to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and maintain the current speed as the initial speed, and based on the initial longitudinal acceleration and the initial speed, the longitudinal slope of the road can be determined; in response to the determined locking result indicating that the vehicle does not meet the locking condition, it is prohibited to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and the current speed is maintained as the initial speed, and based on the current longitudinal acceleration and the current speed, the longitudinal slope of the road can be determined. Since the embodiment of the present application determines whether the vehicle meets the locking conditions based on the obtained current vehicle speed and duration, if the vehicle meets the locking conditions, it triggers the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, and the current vehicle speed to be maintained as the initial vehicle speed, and based on the initial longitudinal acceleration and the initial vehicle speed, the longitudinal slope of the road can be determined, thereby achieving the purpose of slope locking of the vehicle, thereby solving the technical problem of low accuracy of the longitudinal slope of the road where the vehicle is located, and further achieving the technical effect of improving the accuracy of the longitudinal slope of the road where the vehicle is located. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] FIG1( a ) is a schematic diagram of an application scenario of a method for determining the slope of a road on which a vehicle is located according to an embodiment of the present invention;

[0023] FIG1( b ) is a flow chart of a method for determining the slope of a road on which a vehicle is located according to an embodiment of the present invention;

[0024] FIG2( a ) is a flow chart of a method for determining the longitudinal slope of a road on which a vehicle is located according to an embodiment of the present invention;

[0025] FIG2( b ) is a schematic diagram of a longitudinal acceleration of a vehicle varying with time according to an embodiment of the present invention;

[0026] FIG2( c ) is a schematic diagram of the actual vehicle speed varying with time according to an embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of data interaction between a vehicle and a server according to an embodiment of the present invention;

[0028] Figure 4 4 is a structural block diagram of a device for determining the slope of a road on which a vehicle is located according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] According to an embodiment of the present application, an embodiment of a method for determining the slope of a road on which a vehicle is located is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] As an optional embodiment, the above-mentioned method for determining the slope of the road where the vehicle is located can be applied to, but is not limited to, the application scenario shown in Figure 1(a). Figure 1(a) is a schematic diagram of an application scenario of a method for determining the slope of the road where a vehicle is located according to an embodiment of the present invention. As shown in Figure 1(a), in the application scenario, the terminal device 10 can be, but is not limited to, communicating with the server 13 through the network 11, and the server 13 can be, but is not limited to, performing operations on the database, such as writing data operations or reading data operations. The above-mentioned terminal device 10 can include, but is not limited to, a human-computer interaction screen, a processor, and a memory. The above-mentioned human-computer interaction screen can be, but is not limited to, used to display a virtual machine on the mobile terminal 10, etc. The vehicle 12 can be, but is not limited to, used to respond to the above-mentioned human-computer interaction operation, perform corresponding operations, or generate corresponding instructions and send the generated instructions to the server 13.

[0033] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be performed in a different order than herein. The method for determining the slope of a road on which a vehicle is located in the present application may include: step S102, obtaining a current speed of the vehicle under current road conditions, and a duration for which the vehicle maintains the current speed; step S104, determining a latch result of the vehicle based on the current speed and the duration; step S106, in response to the latch result indicating that the vehicle meets the latch condition, triggering maintaining the current longitudinal acceleration as the initial longitudinal acceleration and maintaining the current speed as the initial speed, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and the initial speed; and step S108, in response to the latch result indicating that the vehicle does not meet the latch condition, determining the longitudinal slope based on the current longitudinal acceleration and the current speed.

[0034] It should be noted that the relevant information and data involved in this application (including but not limited to current vehicle speed, duration, initial longitudinal acceleration and current longitudinal acceleration, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0035] FIG1( b ) is a flow chart of a method for determining the slope of a road on which a vehicle is located according to an embodiment of the present invention. As shown in FIG1( b ), the method may include the following steps:

[0036] Step S112, obtaining the current speed of the vehicle under the current road conditions, and the duration for which the vehicle maintains the current speed, wherein the current speed is the vehicle's driving speed at the current moment, and the current road conditions are used to represent the surrounding environment of the road where the vehicle is located.

[0037] In the technical solution provided in the above step S112 of the present invention, the above current vehicle speed may be the driving speed of the vehicle at the current moment under the current road conditions.

[0038] In this embodiment, the current road condition may be used to represent the surrounding environment of the road on which the vehicle is located. For example, if the vehicle is on an urban road, the current road condition represents the surrounding environment of the urban road; if the vehicle is on a rural road, the current road condition represents the surrounding environment of the rural road. The terms "road" and "road condition" are used for illustrative purposes only and are not intended to be limiting.

[0039] In this embodiment, the current speed of the vehicle under the current road condition and the duration for which the vehicle maintains the current speed are obtained. Optionally, this embodiment detects the vehicle's driving state under the current road condition to obtain current driving data of the vehicle under the current road condition; the current speed of the vehicle under the current road condition can be extracted from the obtained current driving data; and when the current speed is detected, the current speed is time-tested to obtain the duration for which the vehicle maintains the current speed.

[0040] For example, a vehicle's speed detection equipment can be used to collect the vehicle's current speed signal. By converting the collected current speed signal into a different format, the vehicle's current speed under current road conditions can be determined. The speed detection equipment can include devices such as a speed sensor and an optical encoder. The current speed signal can also be referred to as the actual speed signal.

[0041] Optionally, the current vehicle speed is compared with the second vehicle speed. If the current vehicle speed is the same as the second vehicle speed, the current vehicle speed is compared with a third vehicle speed. If the current vehicle speed is different from the third vehicle speed, the time interval between the current vehicle speed and the second vehicle speed is used as the duration of time the vehicle maintains the current vehicle speed. The second vehicle speed can be used to represent the vehicle's speed at a second moment in time under current road conditions, where the second moment is a moment after the current moment. The third vehicle speed can be used to represent the vehicle's speed at a third moment in time under current road conditions, where the third moment is a moment after the second moment.

[0042] Optionally, if the current vehicle speed is the same as the third speed, the current vehicle speed is compared with other vehicle speeds until the current vehicle speed is the same as any of the other vehicle speeds. The time interval between the current vehicle speed and the corresponding speed is then used as the duration of time the vehicle maintained the current speed. The other speeds may represent the vehicle's speed at other times under the current road conditions, and the other times may include any time after the third time.

[0043] Step S114, based on the current vehicle speed and duration, determine the vehicle's latching result, where the latching result is used to indicate whether the vehicle meets the latching condition, and the latching condition is used to trigger maintaining the current longitudinal acceleration at the initial longitudinal acceleration and maintaining the current vehicle speed at the initial vehicle speed. The current longitudinal acceleration is the longitudinal acceleration of the vehicle at the current moment, the initial longitudinal acceleration is the longitudinal acceleration of the vehicle at the initial moment, the initial vehicle speed is the driving speed of the vehicle at the initial moment, and the current moment is later than the initial moment.

[0044] In the technical solution provided in step S114 of the present invention, the latch result can be used to indicate whether the vehicle meets the latch condition. For example, the latch result can indicate that the vehicle meets the latch condition or that the vehicle does not meet the latch condition. This is merely an example and is not intended to be limiting.

[0045] In this embodiment, the latch condition can be used to trigger the current longitudinal acceleration to be maintained at the initial longitudinal acceleration and the current vehicle speed to be maintained at the initial vehicle speed. The current longitudinal acceleration can be the longitudinal acceleration of the vehicle at the current moment, the initial longitudinal acceleration can be the longitudinal acceleration of the vehicle at the initial moment, the initial vehicle speed can be the driving speed of the vehicle at the initial moment, and the current moment can be later than the initial moment. For example, the current longitudinal acceleration can be expressed as a sen Indicates that the above-mentioned initial vehicle speed can be 0m / s, which is only used as an example and not specifically limited.

[0046] In this embodiment, after obtaining the current speed of the vehicle under current road conditions and the duration for which the vehicle maintains the current speed, the vehicle's latching result is determined based on the current speed and duration. Optionally, this embodiment can obtain a preset speed and preset duration based on the current speed and duration, wherein the preset speed can be a critical speed for determining whether the vehicle meets the latching condition, and the preset duration can be a critical duration for determining whether the vehicle meets the latching condition. Based on the current speed and preset speed, the duration and preset duration, the vehicle's latching result can be determined, thereby achieving the purpose of determining whether the vehicle meets the latching condition.

[0047] Optionally, the vehicle's latching result can be determined based on the current vehicle speed and a preset speed, and the duration and the preset duration. For example, a comparison can be performed between the current vehicle speed and the preset speed, and between the duration and the preset duration, to obtain a comparison result. The comparison result can be used to represent a first relationship between the current vehicle speed and the preset speed, and a second relationship between the duration and the preset duration. Based on the comparison results, it can be determined whether the vehicle meets the latching condition.

[0048] Step S116 , in response to the latch result indicating that the vehicle meets the latch condition, triggering to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and maintaining the current vehicle speed as the initial vehicle speed, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed.

[0049] In the technical solution provided in step S116 of the present invention, after determining the vehicle latch result based on the current vehicle speed and duration, in response to the latch result indicating that the vehicle satisfies the latch condition, a trigger is triggered to maintain the current longitudinal acceleration as the initial longitudinal acceleration, maintain the current vehicle speed as the initial vehicle speed, and determine the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed. Optionally, based on determining the vehicle latch result, if the latch result indicates that the vehicle satisfies the latch condition, this embodiment triggers maintaining the current longitudinal acceleration as the initial longitudinal acceleration, maintains the current vehicle speed as the initial vehicle speed, and determines the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed.

[0050] Optionally, when the above-mentioned initial vehicle speed is converted, a first component acceleration corresponding to the above-mentioned initial vehicle speed can be obtained, wherein the above-mentioned conversion operation can be used to represent an acceleration conversion operation, for example, the acceleration conversion operation can be a first-order derivative operation; based on the above-mentioned initial longitudinal acceleration and the above-mentioned first component acceleration obtained by conversion, the longitudinal slope of the road can be determined.

[0051] It should be noted that the above method for determining the longitudinal slope of a road is provided for illustrative purposes only and is not specifically limited herein. Any process or method capable of triggering the maintenance of the current longitudinal acceleration at the initial longitudinal acceleration and the current vehicle speed at the initial vehicle speed upon determining that the latching result indicates that the vehicle satisfies the latching conditions, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and initial vehicle speed, is within the scope of the embodiments of this application and will not be further exemplified herein.

[0052] In step S118 , in response to the latch result indicating that the vehicle does not meet the latch condition, the longitudinal gradient is determined based on the current longitudinal acceleration and the current vehicle speed, wherein the current longitudinal acceleration is different from the initial longitudinal acceleration.

[0053] In the technical solution provided in the step S118 of the present application, the current longitudinal acceleration can be different from the initial longitudinal acceleration. For example, the current longitudinal acceleration can be 0.12 m / s 2 The initial longitudinal acceleration can be 0 m / s 2 The values are only for illustration and are not limited.

[0054] In this embodiment, after determining the latch result of the vehicle based on the current vehicle speed and the duration, in response to the latch result indicating that the vehicle does not meet the latch condition, the longitudinal slope of the road is determined based on the current longitudinal acceleration and the current vehicle speed. Optionally, based on the determination of the latch result of the vehicle, if the latch result indicates that the vehicle does not meet the latch condition, the current longitudinal acceleration is prohibited from being maintained as the initial longitudinal acceleration, and the longitudinal slope of the road can be determined based on the current longitudinal acceleration and the current vehicle speed.

[0055] Optionally, after converting the current vehicle speed, a second component acceleration corresponding to the current vehicle speed can be obtained, and the longitudinal slope of the road can be determined based on the current longitudinal acceleration and the second component acceleration obtained by conversion.

[0056] In the steps S112 to S118 of the present application, when determining the slope of the road where the vehicle is located, the current vehicle speed of the vehicle under the current road condition and the duration for which the vehicle maintains the current vehicle speed can be obtained, the latch result of the vehicle can be determined based on the current vehicle speed and the duration, that is, it can be determined whether the vehicle meets the latch condition, in response to the determined latch result indicating that the vehicle meets the latch condition, the current longitudinal acceleration is triggered to be maintained as the initial longitudinal acceleration, the current vehicle speed is maintained as the initial vehicle speed, and the longitudinal slope of the road can be determined based on the initial longitudinal acceleration and the initial vehicle speed, in response to the determined latch result indicating that the vehicle does not meet the latch condition, the current longitudinal acceleration is prohibited from being maintained as the initial longitudinal acceleration, the current vehicle speed is maintained as the initial vehicle speed, and the longitudinal slope of the road can be determined based on the current longitudinal acceleration and the current vehicle speed. Since the embodiment of the present application determines whether the vehicle meets the latch condition based on the obtained current vehicle speed and duration, if the vehicle meets the latch condition, the current longitudinal acceleration is triggered to be maintained as the initial longitudinal acceleration, the current vehicle speed is maintained as the initial vehicle speed, and the longitudinal slope of the road can be determined based on the initial longitudinal acceleration and the initial vehicle speed, thereby achieving the purpose of latching the slope of the vehicle, thereby solving the technical problem of low accuracy of the longitudinal slope of the road where the vehicle is located, and further achieving the technical effect of improving the accuracy of the longitudinal slope of the road where the vehicle is located.

[0057] The above method of this embodiment will be further introduced below.

[0058] As an optional embodiment, step S114 determines the vehicle locking result based on the current vehicle speed and duration, including: determining a first relationship between the current vehicle speed and a preset vehicle speed, wherein the preset vehicle speed is a critical vehicle speed for determining whether the vehicle meets the locking condition; determining a second relationship between the duration and the preset duration, wherein the preset duration is a critical duration for determining whether the vehicle meets the locking condition; and determining the locking result based on the first relationship and the second relationship.

[0059] In this embodiment, the preset vehicle speed may be a critical vehicle speed for determining whether the vehicle meets the locking condition. For example, the preset vehicle speed may be 0.1 m / s. This value is for illustration only and is not intended to be a specific limitation.

[0060] In this embodiment, after obtaining the current speed of the vehicle under current road conditions and the duration for which the vehicle maintained the current speed, a first relationship between the current speed and a preset speed is determined. Optionally, this embodiment may obtain a preset speed based on the current speed, and compare the current speed with the preset speed to obtain the first relationship between the current speed and the preset speed, thereby determining whether the current speed is less than the preset speed.

[0061] In this embodiment, the preset time period may be a critical time period for determining whether the vehicle meets the locking condition. For example, the preset time period may be 2 seconds, which is for illustration only and is not intended to be a specific limitation.

[0062] In this embodiment, after obtaining the current speed of the vehicle under the current road conditions and the duration for which the vehicle maintains the current speed, a second relationship between the duration and the preset duration is determined. Optionally, this embodiment may obtain the preset duration based on the obtained duration, and compare the duration with the preset duration to obtain the second relationship between the duration and the preset duration, thereby achieving the purpose of determining whether the duration is greater than the preset duration.

[0063] In this embodiment, after determining a first relationship between the current vehicle speed and a preset speed, and a second relationship between the duration and the preset duration, a latching result is determined based on the first relationship and the second relationship. Alternatively, this embodiment can determine a vehicle latching result based on determining the first relationship between the current vehicle speed and the preset speed, and the second relationship between the duration and the preset duration, thereby achieving the purpose of determining whether the vehicle meets the latching conditions and further realizing the technical effect of improving the accuracy of vehicle slope latching.

[0064] The method for determining the latch result based on the first relationship and the second relationship of this embodiment is further described below.

[0065] As an optional embodiment, based on the first relationship and the second relationship, the latching result is determined, including: in response to the first relationship indicating that the current vehicle speed is less than the preset vehicle speed, and the second relationship indicating that the duration is greater than the preset duration, determining that the latching result is that the vehicle meets the latching condition; in response to the first relationship indicating that the current vehicle speed is greater than or equal to the preset vehicle speed, and the second relationship indicating that the duration is less than or equal to the preset duration, determining that the latching result is that the vehicle does not meet the latching condition.

[0066] In this embodiment, after determining a first relationship between the current vehicle speed and a preset vehicle speed, and a second relationship between the duration and the preset duration, in response to the first relationship indicating that the current vehicle speed is less than the preset vehicle speed and the second relationship indicating that the duration is greater than the preset duration, the latching result is determined to be that the vehicle satisfies the latching condition. Alternatively, in this embodiment, based on determining the first relationship between the current vehicle speed and the preset vehicle speed, and the second relationship between the duration and the preset duration, if the first relationship indicates that the current vehicle speed is less than the preset vehicle speed and the second relationship indicates that the duration is greater than the preset duration, the latching result of the vehicle can be determined to be that the vehicle satisfies the latching condition, thereby achieving the purpose of determining that the vehicle satisfies the latching condition and further realizing the technical effect of improving the accuracy of slope latching of the vehicle.

[0067] In this embodiment, after determining a first relationship between the current vehicle speed and a preset vehicle speed, and a second relationship between the duration and the preset duration, in response to the first relationship indicating that the current vehicle speed is greater than or equal to the preset vehicle speed, and the second relationship indicating that the duration is less than or equal to the preset duration, the latching result is determined to be that the vehicle does not meet the latching condition. Alternatively, in this embodiment, based on determining the first relationship between the current vehicle speed and the preset vehicle speed, and the second relationship between the duration and the preset duration, if the first relationship indicates that the current vehicle speed is greater than or equal to the preset vehicle speed, and the second relationship indicates that the duration is less than or equal to the preset duration, the latching result of the vehicle can be determined to be that the vehicle does not meet the latching condition, thereby achieving the purpose of determining that the vehicle meets the non-latching condition, and further achieving the technical effect of improving the accuracy of slope latching of the vehicle.

[0068] The following further describes the method of responding to the latching result indicating that the vehicle meets the latching condition, triggering the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, the current vehicle speed to be maintained as the initial vehicle speed, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed.

[0069] As an optional embodiment, the method further comprises: obtaining a first component acceleration corresponding to the initial vehicle speed, wherein the first component acceleration is obtained by converting the initial vehicle speed, and the first component acceleration is used to represent an acceleration corresponding to the initial vehicle speed in the longitudinal direction of the road; and in response to the latch result indicating that the vehicle meets the latch condition, triggering the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, the current vehicle speed to be maintained as the initial vehicle speed, and the longitudinal slope of the road to be determined based on the initial longitudinal acceleration and the initial vehicle speed, comprising: in response to the latch result indicating that the vehicle meets the latch condition, triggering the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, the current vehicle speed to be maintained as the initial vehicle speed, and the longitudinal slope to be determined based on the initial longitudinal acceleration and the first component acceleration.

[0070] In this embodiment, the first component acceleration described above can be obtained by converting the initial vehicle speed, and the first component acceleration can be used to represent an acceleration corresponding to the initial vehicle speed in the longitudinal direction of the road. For example, if the road is a climbing road, the component acceleration described above can be used to represent an acceleration corresponding to the initial vehicle speed in the longitudinal direction of the climbing road, which is only illustrative and not limited.

[0071] In this embodiment, the first component acceleration corresponding to the initial vehicle speed is obtained. Optionally, the initial vehicle speed described above is converted to obtain the first component acceleration corresponding to the initial vehicle speed, thereby achieving the purpose of obtaining the component acceleration corresponding to the initial vehicle speed.

[0072] In this embodiment, after obtaining the first component acceleration corresponding to the initial vehicle speed, in response to the latch result indicating that the vehicle meets the latch condition, the current longitudinal acceleration is triggered to be maintained as the initial longitudinal acceleration, the current vehicle speed is triggered to be maintained as the initial vehicle speed, and the longitudinal slope is determined based on the initial longitudinal acceleration and the first component acceleration. Optionally, based on the obtained first component acceleration, if it is determined that the latch result is that the vehicle meets the latch condition, the current longitudinal acceleration is triggered to be maintained as the initial longitudinal acceleration, the current vehicle speed is triggered to be maintained as the initial vehicle speed, and the longitudinal slope of the road can be determined based on the initial longitudinal acceleration and the obtained first component acceleration, thereby achieving the purpose of determining the longitudinal slope of the road where the vehicle is located, and further achieving the technical effect of improving the accuracy of the longitudinal slope of the road where the vehicle is located.

[0073] The method of determining the longitudinal slope based on the initial longitudinal acceleration and the first component acceleration described above in this embodiment is further described below.

[0074] As an optional embodiment, determining the longitudinal slope based on the initial longitudinal acceleration and the first component acceleration includes: determining a first acceleration difference between the initial longitudinal acceleration and the first component acceleration; and performing slope processing on the first acceleration difference to obtain the longitudinal slope.

[0075] In this embodiment, after obtaining the first acceleration component corresponding to the initial vehicle speed, a first acceleration difference between the initial longitudinal acceleration and the first acceleration component is determined. Alternatively, based on the obtained first acceleration component, this embodiment performs a difference calculation on the initial longitudinal acceleration and the obtained first acceleration component to obtain the first acceleration difference between the initial longitudinal acceleration and the first acceleration component.

[0076] In this embodiment, after determining the first acceleration difference between the initial longitudinal acceleration and the first component acceleration, slope processing is performed on the first acceleration difference to obtain the longitudinal slope. Optionally, this embodiment, based on the determination of the first acceleration difference, performs slope processing on the determined first acceleration difference. For example, an inverse trigonometric function calculation is performed on the determined first acceleration difference to obtain the longitudinal slope of the road. This achieves the purpose of determining the longitudinal slope of the road on which the vehicle is located, thereby achieving the technical effect of improving the accuracy of the longitudinal slope of the road on which the vehicle is located.

[0077] The method of determining the longitudinal slope based on the current longitudinal acceleration and the current vehicle speed in response to the latch result indicating that the vehicle does not meet the latch condition in this embodiment is further described below.

[0078] As an optional embodiment, the method also includes: obtaining a second component acceleration corresponding to the current vehicle speed, wherein the second component acceleration is obtained by converting the current vehicle speed, and the second component acceleration is used to represent the acceleration corresponding to the current vehicle speed in the longitudinal direction of the road; step S118, in response to the latching result indicating that the vehicle does not meet the latching condition, determining the longitudinal slope based on the current longitudinal acceleration and the current vehicle speed, including: in response to the latching result indicating that the vehicle does not meet the latching condition, determining the longitudinal slope based on the current longitudinal acceleration and the second component acceleration.

[0079] In this embodiment, the second component acceleration can be obtained by converting the current vehicle speed, and the second component acceleration can be used to represent the acceleration corresponding to the current vehicle speed in the longitudinal direction of the road. The second component acceleration can be expressed as a spd For example, if the road is a climbing road, the second component acceleration can be used to represent the acceleration corresponding to the current vehicle speed in the longitudinal direction of the climbing road. This is only an example and is not specifically limited.

[0080] In this embodiment, the second component acceleration corresponding to the current vehicle speed is obtained. Optionally, the current vehicle speed is converted to obtain the second component acceleration corresponding to the current vehicle speed, thereby achieving the purpose of obtaining the component acceleration corresponding to the current vehicle speed.

[0081] In this embodiment, after obtaining the second component acceleration corresponding to the current vehicle speed, in response to the latch result indicating that the vehicle does not meet the latch condition, the longitudinal slope is determined based on the current longitudinal acceleration and the second component acceleration. Optionally, based on the obtained second component acceleration, if it is determined that the latch result is that the vehicle does not meet the latch condition, the current longitudinal acceleration is prevented from being maintained as the initial longitudinal acceleration, and the current vehicle speed is prevented from being maintained as the initial vehicle speed, and based on the current longitudinal acceleration and the obtained second component acceleration, the longitudinal slope of the road can be determined, thereby achieving the purpose of determining the longitudinal slope of the road where the vehicle is located, and further achieving the technical effect of improving the accuracy of the longitudinal slope of the road where the vehicle is located.

[0082] The method of determining the longitudinal slope based on the current longitudinal acceleration and the second component acceleration in this embodiment is further described below.

[0083] As an optional embodiment, determining the longitudinal slope based on the current longitudinal acceleration and the second component acceleration includes: determining a second acceleration difference between the current longitudinal acceleration and the second component acceleration; and performing slope processing on the second acceleration difference to obtain the longitudinal slope.

[0084] In this embodiment, the second acceleration difference can be represented by a g .

[0085] In this embodiment, after obtaining the component acceleration corresponding to the current vehicle speed, a second acceleration difference between the current longitudinal acceleration and the second component acceleration is determined. Optionally, based on the obtained second component acceleration, the current longitudinal acceleration and the obtained second component acceleration are subtracted to obtain the second acceleration difference between the current longitudinal acceleration and the second component acceleration, thereby achieving the purpose of determining the acceleration difference between the current longitudinal acceleration and the second component acceleration.

[0086] Optionally, the current longitudinal acceleration and the obtained second component acceleration are subtracted to obtain the second acceleration difference between the current longitudinal acceleration and the component acceleration, which can be achieved by the following formula (1):

[0087] a sen –a spd =a g (1)

[0088] In this embodiment, after determining the second acceleration difference between the current longitudinal acceleration and the second component acceleration, slope processing is performed on the second acceleration difference to obtain the longitudinal slope. Optionally, this embodiment, based on the determination of the second acceleration difference, performs slope processing on the determined second acceleration difference. For example, an inverse trigonometric function calculation is performed on the determined second acceleration difference to obtain the longitudinal slope of the road. This achieves the purpose of determining the longitudinal slope of the road on which the vehicle is located, thereby achieving the technical effect of improving the accuracy of the longitudinal slope of the road on which the vehicle is located.

[0089] It should be noted that the longitudinal slope obtained by performing the slope processing on the second acceleration difference can be expressed as VehGrd, and the inverse trigonometric function calculation performed on the second acceleration difference can be expressed as arcsin(a g ) is used here for illustration only and is not a specific limitation.

[0090] The following further describes the method for determining the slope of the road on which the vehicle is located in this embodiment.

[0091] As an optional embodiment, the method also includes: adjusting the preset vehicle speed and preset time according to the type of vehicle, so that the adjusted preset vehicle speed is used to indicate the critical vehicle speed for judging whether the type of vehicle meets the locking condition, and the adjusted preset time is used to indicate the critical time for judging whether the type of vehicle meets the locking condition; in response to the current vehicle speed being less than the adjusted preset vehicle speed and the duration being greater than the adjusted preset time, determining that the locking result is that the type of vehicle meets the locking condition; in response to the current vehicle speed being greater than or equal to the adjusted preset vehicle speed and the duration being less than or equal to the adjusted preset time, determining that the locking result is that the type of vehicle does not meet the locking condition.

[0092] In this embodiment, the adjusted preset vehicle speed may be used to indicate a critical vehicle speed for determining whether a vehicle of a certain type meets the latching condition.

[0093] In this embodiment, the adjusted preset time length may be used to indicate a critical time length for determining whether a vehicle of a certain type satisfies the locking condition.

[0094] In this embodiment, the types of the above-mentioned vehicles may include: small vehicles, medium-sized vehicles and large vehicles. Small vehicles may include: sports cars and sedans, etc. Medium-sized vehicles may include: sports utility vehicles (SUVs), medium-sized buses and medium-sized trucks, etc. Large vehicles may include: large buses and large trucks, etc.

[0095] In this embodiment, the preset speed and the preset duration are adjusted according to the type of vehicle. Alternatively, this embodiment adjusts the preset speed and the preset duration according to the type of vehicle based on the determination of the type of vehicle, thereby achieving the purpose of adjusting the preset speed and the preset duration.

[0096] In this embodiment, after adjusting the preset speed and preset duration respectively according to the type of vehicle, in response to the current vehicle speed being less than the adjusted preset speed and the duration being greater than the adjusted preset duration, the latching result is determined to be that the vehicle of the type meets the latching condition. Optionally, based on obtaining the current vehicle speed and duration, this embodiment compares the current vehicle speed with the adjusted preset speed to obtain a third relationship between the current vehicle speed and the adjusted preset speed, and compares the duration with the adjusted preset duration to obtain a fourth relationship between the duration and the adjusted preset duration. If the third relationship indicates that the current vehicle speed is less than the adjusted preset speed and the fourth relationship indicates that the duration is greater than the adjusted preset duration, then the latching result can be determined to be that the vehicle of the type meets the latching condition, thereby achieving the purpose of determining that the vehicle of the type meets the latching condition, and further achieving the technical effect of improving the accuracy of slope latching of the vehicle.

[0097] In this embodiment, after adjusting the preset speed and preset duration according to the type of vehicle, in response to the current vehicle speed being greater than or equal to the adjusted preset speed and the duration being less than or equal to the adjusted preset duration, the latching result is determined to be that the vehicle of the type does not meet the latching condition. Optionally, based on obtaining the current vehicle speed and duration, this embodiment compares the current vehicle speed with the adjusted preset speed to obtain a third relationship between the current vehicle speed and the adjusted preset speed, and compares the duration with the adjusted preset duration to obtain a fourth relationship between the duration and the adjusted preset duration. If the third relationship indicates that the current vehicle speed is greater than or equal to the adjusted preset speed and the fourth relationship indicates that the duration is less than or equal to the adjusted preset duration, the latching result can be determined to be that the vehicle of the type does not meet the latching condition, thereby achieving the purpose of determining that the vehicle of the type does not meet the latching condition, and further achieving the technical effect of improving the accuracy of slope latching of the vehicle.

[0098] In an embodiment of the present invention, when determining the slope of the road on which the vehicle is located, the current speed of the vehicle under the current road conditions and the duration for which the vehicle maintains the current speed can be obtained. Based on the above current speed and the above duration, the locking result of the vehicle can be determined, that is, it can be determined whether the vehicle meets the locking condition; in response to the determined locking result indicating that the vehicle meets the locking condition, it is triggered to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and maintain the current speed as the initial speed, and based on the initial longitudinal acceleration and the initial speed, the longitudinal slope of the road can be determined; in response to the determined locking result indicating that the vehicle does not meet the locking condition, it is prohibited to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and the current speed is maintained as the initial speed, and based on the current longitudinal acceleration and the current speed, the longitudinal slope of the road can be determined. Since the embodiment of the present application determines whether the vehicle meets the locking conditions based on the obtained current vehicle speed and duration, if the vehicle meets the locking conditions, it triggers the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, and the current vehicle speed to be maintained as the initial vehicle speed, and based on the initial longitudinal acceleration and the initial vehicle speed, the longitudinal slope of the road can be determined, thereby achieving the purpose of slope locking of the vehicle, thereby solving the technical problem of low accuracy of the longitudinal slope of the road where the vehicle is located, and further achieving the technical effect of improving the accuracy of the longitudinal slope of the road where the vehicle is located.

[0099] The technical solutions of the embodiments of the present invention are described below with reference to preferred implementation methods.

[0100] Currently, the longitudinal slope of the road on which the vehicle is located is often obtained by synchronously processing the collected longitudinal acceleration and the vehicle speed.

[0101] However, in the actual processing process, since the signal representing the longitudinal acceleration and the signal representing the vehicle speed are often delayed and asynchronous, processing errors will occur when the longitudinal acceleration and the vehicle speed are processed synchronously, resulting in low accuracy of the longitudinal slope of the road where the vehicle is located.

[0102] However, an embodiment of the present invention proposes a method for determining the slope of the road where the vehicle is located. Based on the obtained current vehicle speed and duration, it is determined whether the vehicle meets the locking condition. If the vehicle meets the locking condition, it triggers the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, and the current vehicle speed to be maintained as the initial vehicle speed. Based on the initial longitudinal acceleration and the initial vehicle speed, the longitudinal slope of the road can be determined, thereby achieving the purpose of locking the slope of the vehicle, thereby solving the technical problem of low accuracy of the longitudinal slope of the road where the vehicle is located, and further achieving the technical effect of improving the accuracy of the longitudinal slope of the road where the vehicle is located.

[0103] In this embodiment, by executing the method for determining the longitudinal slope of the road on which the vehicle is located as shown in Figure 2(a), it is possible to determine whether the vehicle meets the latching condition based on the current vehicle speed and duration obtained. If the vehicle meets the latching condition, the current longitudinal acceleration is triggered to be maintained as the initial longitudinal acceleration, and the current vehicle speed is maintained as the initial vehicle speed. Based on the initial longitudinal acceleration and the initial vehicle speed, the longitudinal slope of the road can be determined. For example, Figure 2(a) is a flowchart of a method for determining the longitudinal slope of the road on which the vehicle is located according to an embodiment of the present invention. The method may include the following steps:

[0104] Step S201: The longitudinal acceleration and actual speed of the vehicle are collected through sensors, and a basic longitudinal gradient signal is determined.

[0105] In the technical solution provided in step S201 of the present invention, the longitudinal acceleration signal of the vehicle is collected by the acceleration sensor to obtain the longitudinal acceleration of the vehicle. The longitudinal acceleration of the vehicle can be expressed as a sen To represent; and through the vehicle speed sensor, the actual vehicle speed signal is collected to obtain the actual vehicle speed, wherein the actual vehicle speed can be represented by VehSpd; the first-order derivative of the actual vehicle speed can be obtained to obtain the component acceleration, wherein the component acceleration can be represented by a spd To express; Using the above formula (1), we can get the component of vertical acceleration on the ramp, where this component can be expressed as a g To represent it; by performing slope processing on this component, the basic longitudinal slope signal can be obtained.

[0106] After collecting the longitudinal acceleration and actual vehicle speed of the vehicle and determining the basic longitudinal slope signal, the process proceeds to step S202 to determine whether the actual vehicle speed is less than 0.1 m / s and whether the duration is longer than 2 seconds.

[0107] If the actual vehicle speed is less than 0.1 m / s and lasts for more than 2 seconds, the process proceeds to step S203. When the vehicle meets the locking condition, the longitudinal slope of the road is maintained at the previous moment.

[0108] In the technical solution provided in the above step S203 of the present invention, when the vehicle meets the locking condition, the longitudinal acceleration of the entire vehicle is triggered to be maintained at the initial longitudinal acceleration, and the current vehicle speed is maintained at the initial vehicle speed. Based on the initial longitudinal acceleration and the initial vehicle speed, the longitudinal slope of the road is determined, and the longitudinal slope of the road can be maintained at the longitudinal slope of the previous moment.

[0109] If the actual vehicle speed is greater than or equal to 0.1 m / s and the duration is less than or equal to 2 s, then proceed to step S204. If the vehicle does not meet the locking conditions, the longitudinal slope of the road is determined based on the longitudinal acceleration of the vehicle and the current speed.

[0110] In the technical solution provided in the above step S203 of the present invention, the first-order derivative of the actual vehicle speed is performed to obtain the component acceleration corresponding to the actual vehicle speed, the difference between the longitudinal acceleration of the vehicle and the corresponding component acceleration is performed to obtain the acceleration difference, and the obtained acceleration difference is subjected to slope processing to obtain the longitudinal slope.

[0111] For example, the longitudinal acceleration of the vehicle can be shown in Figure 2(b). Figure 2(b) is a schematic diagram of the longitudinal acceleration of the vehicle changing with time according to an embodiment of the present invention. As time (t) changes, the longitudinal acceleration of the vehicle continues to change.

[0112] For another example, the actual vehicle speed can be shown in Figure 2(c). Figure 2(c) is a schematic diagram of the actual vehicle speed changing over time according to an embodiment of the present invention. When t is between 0s and 1.7s, the actual vehicle speed is 0. After t is 1.7s, the actual vehicle speed continues to change as t changes.

[0113] Figure 3 FIG. 1 is a schematic diagram of data interaction between a vehicle and a server according to an embodiment of the present invention. Figure 3 As shown, the vehicle 300 can upload the current vehicle speed and duration to the server 301, and the server 301 can determine the vehicle's locking result based on the current vehicle speed and duration; in response to the determined locking result indicating that the vehicle meets the locking condition, it is triggered to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and the current vehicle speed as the initial vehicle speed, and based on the initial longitudinal acceleration and the initial vehicle speed, the longitudinal slope of the road can be determined; in response to the determined locking result indicating that the vehicle does not meet the locking condition, it is prohibited to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and based on the current longitudinal acceleration and the current vehicle speed, the longitudinal slope of the road can be determined, and the longitudinal slope of the road is sent down to the vehicle 300.

[0114] In this embodiment, when determining the slope of the road where the vehicle is located, the current speed of the vehicle under the current road condition and the duration for which the vehicle maintains the current speed can be obtained, and based on the current speed and the duration, the latch result of the vehicle can be determined, that is, it can be determined whether the vehicle meets the latch condition; in response to the determined latch result indicating that the vehicle meets the latch condition, the current longitudinal acceleration is maintained as the initial longitudinal acceleration, and the current speed is maintained as the initial speed, and based on the initial longitudinal acceleration and the initial speed, the longitudinal slope of the road can be determined; in response to the determined latch result indicating that the vehicle does not meet the latch condition, the current longitudinal acceleration is not maintained as the initial longitudinal acceleration, and the current speed is not maintained as the initial speed, and based on the current longitudinal acceleration and the current speed, the longitudinal slope of the road can be determined. Since the embodiment of the present application determines whether the vehicle meets the latch condition based on the obtained current speed and duration, if the vehicle meets the latch condition, the current longitudinal acceleration is maintained as the initial longitudinal acceleration, and the current speed is maintained as the initial speed, and based on the initial longitudinal acceleration and the initial speed, the longitudinal slope of the road can be determined, thereby achieving the purpose of latching the slope of the vehicle, thereby solving the technical problem of low accuracy of the longitudinal slope of the road where the vehicle is located, and further achieving the technical effect of improving the accuracy of the longitudinal slope of the road where the vehicle is located.

[0115] According to another aspect of the embodiment of the present application, corresponding to the above-mentioned embodiment of the method for determining the slope of the road where the vehicle is located, the embodiment of the present application also provides a device for determining the slope of the road where the vehicle is located. Figure 4 is a structural block diagram of a device for determining the slope of the road where the vehicle is located according to an embodiment of the present application, as shown in Figure 4 The device for determining the slope of the road where the vehicle is located 400 can include a first obtaining unit 402, a first determining unit 404, a second determining unit 406 and a third determining unit 408.

[0116] The first obtaining unit 402 is configured to obtain the current speed of the vehicle under the current road condition and the duration for which the vehicle maintains the current speed, wherein the current speed is the driving speed of the vehicle at the current time, and the current road condition is used to represent the surrounding environment of the road where the vehicle is located.

[0117] The first determining unit 404 is configured to determine the latch result of the vehicle based on the current speed and the duration, wherein the latch result is used to indicate whether the vehicle meets the latch condition, the latch condition is used to trigger the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, and the current speed to be maintained as the initial speed, the current longitudinal acceleration is the longitudinal acceleration of the vehicle at the current time, the initial longitudinal acceleration is the longitudinal acceleration of the vehicle at the initial time, the initial speed is the driving speed of the vehicle at the initial time, and the current time is later than the initial time.

[0118] The second determining unit 406 is configured to trigger, in response to the latching result indicating that the vehicle satisfies the latching condition, maintaining the current longitudinal acceleration as the initial longitudinal acceleration and the current vehicle speed as the initial vehicle speed, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed.

[0119] The third determining unit 408 is configured to determine the longitudinal gradient based on the current longitudinal acceleration and the current vehicle speed in response to the latching result indicating that the vehicle does not meet the latching condition, wherein the current longitudinal acceleration is different from the initial longitudinal acceleration.

[0120] Optionally, the first determination unit 404 may include: a first determination module, used to determine a first relationship between the current vehicle speed and a preset vehicle speed, wherein the preset vehicle speed is a critical vehicle speed for determining whether the vehicle meets the latching condition; a second determination module, used to determine a second relationship between the duration and the preset duration, wherein the preset duration is a critical duration for determining whether the vehicle meets the latching condition; and a third determination module, used to determine the latching result based on the first relationship and the second relationship.

[0121] Optionally, the third determination module may include: a first determination submodule, for determining that the latching result is that the vehicle meets the latching condition in response to the first relationship indicating that the current vehicle speed is less than the preset vehicle speed and the second relationship indicating that the duration is greater than the preset duration; a second determination submodule, for determining that the latching result is that the vehicle does not meet the latching condition in response to the first relationship indicating that the current vehicle speed is greater than or equal to the preset vehicle speed and the second relationship indicating that the duration is less than or equal to the preset duration.

[0122] Optionally, the slope determination device 400 of the road where the vehicle is located may include: a second acquisition unit, used to obtain a first component acceleration corresponding to the initial vehicle speed, wherein the first component acceleration is obtained by converting the initial vehicle speed, and the first component acceleration is used to represent the acceleration corresponding to the initial vehicle speed in the longitudinal direction of the road; the second determination unit 406 may include: a fourth determination module, used to trigger, in response to the latching result indicating that the vehicle meets the latching condition, to maintain the current longitudinal acceleration as the initial longitudinal acceleration, and maintain the current vehicle speed as the initial vehicle speed, and determine the longitudinal slope based on the initial longitudinal acceleration and the first component acceleration.

[0123] Optionally, the fourth determination module may include: a third determination submodule, configured to determine a first acceleration difference between the initial longitudinal acceleration and the first component acceleration; and a first processing submodule, configured to perform slope processing on the first acceleration difference to obtain the longitudinal slope.

[0124] Optionally, the slope determination device 400 of the road where the vehicle is located may include: a second acquisition unit, used to obtain a second component acceleration corresponding to the current vehicle speed, wherein the second component acceleration is obtained by converting the current vehicle speed, and the second component acceleration is used to represent the acceleration corresponding to the current vehicle speed in the longitudinal direction of the road; the third determination unit 408 may include: a fifth determination module, used to determine the longitudinal slope based on the current longitudinal acceleration and the second component acceleration in response to the latching result indicating that the vehicle does not meet the latching condition.

[0125] Optionally, the fifth determination module may include: a fourth determination submodule, configured to determine a second acceleration difference between the current longitudinal acceleration and the second component acceleration; and a second processing submodule, configured to perform slope processing on the second acceleration difference to obtain the longitudinal slope.

[0126] Optionally, the slope determination device 400 for the road where the vehicle is located may include: an adjustment unit for adjusting the preset vehicle speed and the preset time according to the type of vehicle, so that the adjusted preset vehicle speed is used to indicate the critical vehicle speed for judging whether the type of vehicle meets the locking condition, and the adjusted preset time is used to indicate the critical time for judging whether the type of vehicle meets the locking condition; a fourth determination unit for determining that the vehicle with the locking result of type meets the locking condition in response to the current vehicle speed being less than the adjusted preset vehicle speed and the duration being greater than the adjusted preset time; a fifth determination unit for determining that the vehicle with the locking result of type does not meet the locking condition in response to the current vehicle speed being greater than or equal to the adjusted preset vehicle speed and the duration being less than or equal to the adjusted preset time.

[0127] In this embodiment, the following units are provided in the slope determination device of the road where the vehicle is located: a first acquisition unit, used to obtain the current speed of the vehicle under the current road conditions, and the duration for which the vehicle maintains the current speed, wherein the current speed is the driving speed of the vehicle at the current moment, and the current road conditions are used to represent the surrounding environment of the road where the vehicle is located; a first determination unit, used to determine the latching result of the vehicle based on the current speed and the duration, wherein the latching result is used to indicate whether the vehicle meets the latching condition, and the latching condition is used to trigger the current longitudinal acceleration to be maintained at the initial longitudinal acceleration, and the current speed to be maintained at the initial speed, the current longitudinal acceleration is the longitudinal acceleration of the vehicle at the current moment, the initial longitudinal acceleration is the longitudinal acceleration of the vehicle at the initial moment, and the initial speed is the vehicle The driving speed at the initial moment, the current moment is later than the initial moment; the second determination unit is used to trigger the maintenance of the current longitudinal acceleration as the initial longitudinal acceleration, and the maintenance of the current vehicle speed as the initial vehicle speed in response to the latching result indicating that the vehicle meets the latching condition, and determine the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed; the third determination unit is used to determine the longitudinal slope based on the current longitudinal acceleration and the current vehicle speed in response to the latching result indicating that the vehicle does not meet the latching condition, wherein the current longitudinal acceleration is different from the initial longitudinal acceleration, thereby achieving the purpose of locking the slope of the vehicle, thereby solving the technical problem of low accuracy of the longitudinal slope of the road where the vehicle is located, and further achieving the technical effect of improving the accuracy of the longitudinal slope of the road where the vehicle is located.

[0128] An embodiment of the present application further provides a vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method of each embodiment of the present application is executed when the program is running.

[0129] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present application.

[0130] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present application when executed by a processor.

[0131] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present application is implemented.

[0132] The embodiments of the present application further provide a computer program, which, when executed by a processor, implements the methods in the above-mentioned embodiments of the present application.

[0133] In the above-described embodiments of the present application, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0134] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the above-described device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, which can be electrical or other forms.

[0135] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0136] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0137] The integrated unit, if realized in the form of software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part of the prior art or the whole or part of the technical solutions can be embodied in the form of software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk and various program code storage media.

[0138] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining the slope of a road on which a vehicle is located, characterized in that: include: Obtaining the current speed of the vehicle under current road conditions, and the duration for which the vehicle maintains the current speed, wherein the current speed is the vehicle's current speed, and the current road conditions represent the surrounding environment of the road on which the vehicle is located; Determining a latch result of the vehicle based on the current vehicle speed and the duration, wherein the latch result is used to indicate whether the vehicle satisfies a latch condition, the latch condition is used to trigger maintaining the current longitudinal acceleration at the initial longitudinal acceleration and maintaining the current vehicle speed at the initial vehicle speed, the current longitudinal acceleration being the longitudinal acceleration of the vehicle at the current moment, the initial longitudinal acceleration being the longitudinal acceleration of the vehicle at the initial moment, the initial vehicle speed being the driving speed of the vehicle at the initial moment, and the current moment being later than the initial moment; In response to the latch result indicating that the vehicle satisfies the latch condition, triggering maintaining the current longitudinal acceleration as the initial longitudinal acceleration, maintaining the current vehicle speed as the initial vehicle speed, and determining the longitudinal gradient of the road based on the initial longitudinal acceleration and the initial vehicle speed; In response to the latch result indicating that the vehicle does not meet the latch condition, the longitudinal gradient is determined based on the current longitudinal acceleration and the current vehicle speed, wherein the current longitudinal acceleration is different from the initial longitudinal acceleration.

2. The method according to claim 1, characterized in that Determining a locking result of the vehicle based on the current vehicle speed and the duration includes: determining a first relationship between the current vehicle speed and a preset vehicle speed, wherein the preset vehicle speed is a critical vehicle speed for determining whether the vehicle satisfies the latching condition; determining a second relationship between the duration and a preset duration, wherein the preset duration is a critical duration for determining whether the vehicle satisfies the locking condition; The latch result is determined based on the first relationship and the second relationship.

3. The method according to claim 2, characterized in that Determining the latch result based on the first relationship and the second relationship includes: In response to the first relationship indicating that the current vehicle speed is less than the preset vehicle speed, and the second relationship indicating that the duration is greater than the preset duration, determining that the latch result is that the vehicle satisfies the latch condition; In response to the first relationship indicating that the current vehicle speed is greater than or equal to the preset vehicle speed, and the second relationship indicating that the duration is less than or equal to the preset duration, the latching result is determined to be that the vehicle does not meet the latching condition.

4. The method according to claim 1, wherein The method further comprises: Obtaining a first component acceleration corresponding to the initial vehicle speed, wherein the first component acceleration is obtained by converting the initial vehicle speed, and the first component acceleration is used to represent the acceleration corresponding to the initial vehicle speed in the longitudinal direction of the road; In response to the latching result indicating that the vehicle meets the latching condition, triggering the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, and the current vehicle speed to be maintained as the initial vehicle speed, and determining the longitudinal slope of the road based on the initial longitudinal acceleration and the initial vehicle speed, including: in response to the latching result indicating that the vehicle meets the latching condition, triggering the current longitudinal acceleration to be maintained as the initial longitudinal acceleration, and the current vehicle speed to be maintained as the initial vehicle speed, and determining the longitudinal slope based on the initial longitudinal acceleration and the first component acceleration.

5. The method according to claim 4, characterized in that Determining the longitudinal gradient based on the initial longitudinal acceleration and the first component acceleration includes: determining a first acceleration difference between the initial longitudinal acceleration and the first component acceleration; Performing slope processing on the first acceleration difference to obtain the longitudinal slope.

6. The method according to claim 1, characterized in that The method further comprises: Obtaining a second component acceleration corresponding to the current vehicle speed, wherein the second component acceleration is obtained by converting the current vehicle speed, and the second component acceleration is used to represent the acceleration corresponding to the current vehicle speed in the longitudinal direction of the road; In response to the latching result indicating that the vehicle does not meet the latching condition, the longitudinal slope is determined based on the current longitudinal acceleration and the current vehicle speed, including: in response to the latching result indicating that the vehicle does not meet the latching condition, the longitudinal slope is determined based on the current longitudinal acceleration and the second component acceleration.

7. The method according to claim 6, characterized in that Determining the longitudinal gradient based on the current longitudinal acceleration and the second component acceleration includes: determining a second acceleration difference between the current longitudinal acceleration and the second component acceleration; Perform slope processing on the second acceleration difference to obtain the longitudinal slope.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: According to the type of the vehicle, the preset vehicle speed and the preset time are adjusted respectively, so that the adjusted preset vehicle speed is used to represent the critical vehicle speed for determining whether the vehicle of the type satisfies the latching condition, and the adjusted preset time is used to represent the critical time for determining whether the vehicle of the type satisfies the latching condition; In response to the current vehicle speed being less than the adjusted preset vehicle speed and the duration being greater than the adjusted preset duration, determining that the latch result is that the type of vehicle meets the latch condition; In response to the current vehicle speed being greater than or equal to the adjusted preset vehicle speed and the duration being less than or equal to the adjusted preset duration, it is determined that the latching result is that the type of vehicle does not meet the latching condition.

9. A vehicle, characterized in that: include: a memory storing an executable program; A processor is used to run the program, wherein when the program is run, the method for determining the slope of the road where the vehicle is located as described in any one of claims 1 to 8 is executed.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the slope determination method of the road where the vehicle is located as described in any one of claims 1 to 8.

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