Information determination method and device

Abstract

The invention provides an information determination method and device, and the method is applied to the field of vehicles, and comprises the steps: obtaining a first initial acceleration and a first motion acceleration of a vehicle under a whole vehicle coordinate system, the first initial acceleration being an acceleration of the vehicle in a flat ground static state, and the first motion acceleration being an acceleration of the vehicle in a flat ground static state; the first motion acceleration is the acceleration of the vehicle in a motion state, initial inclination information possibly existing when the vehicle is in a flat ground static state can be determined based on the first initial acceleration, and motion inclination information existing in the actual driving process of the vehicle can be determined based on the first motion acceleration; the real-time inclination information of the vehicle is confirmed by collecting the acceleration of the vehicle, and the motion inclination information is corrected according to the initial inclination information, so that the calculation of the inclination information in the motion process is more accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, and more particularly, to a method and device for information determination in the field of vehicles. BACKGROUND

[0002] With the increasing demand for economy and power performance and operability of traditional vehicles and new energy vehicles, these performances need more accurate vehicle information to ensure, and vehicle inclination information (or referred to as whole vehicle slope information) also provides help for the realization of more functions, such as slope starting, slope parking and shift schedule correction in different modes, which need an accurate slope feedback.

[0003] In the existing slope calculation method, there is a slope synchronized with high-precision map navigation, but real-time slope cannot be obtained in an offline state, and information will be lost when driving into an unpositioned road. When the vehicle has acceleration, the slope calculation value will have a large misjudgment by using a slope sensor to obtain the inclination information of the vehicle. Therefore, it is urgent to propose a method capable of obtaining real-time and accurate vehicle inclination information. SUMMARY

[0004] The present application provides a method and device for information determination, which can obtain the inclination information of the vehicle in real time and improve the calculation accuracy of the vehicle inclination information.

[0005] In a first aspect, a method for information determination is provided, which comprises: obtaining a first initial acceleration and a first motion acceleration of a vehicle in a whole vehicle coordinate system; determining initial inclination information of the vehicle based on the first initial acceleration, and determining motion inclination information of the vehicle based on the first motion acceleration; correcting the motion inclination information based on the initial inclination information to obtain vehicle inclination information of the vehicle.

[0006] In the above technical solution, a method for determining vehicle inclination information is provided, wherein the whole vehicle coordinate system is a reference coordinate system used to describe the motion state and attitude of the whole vehicle, which usually takes the vehicle itself as a reference to describe the position, direction and motion state of the vehicle in space. By obtaining the first initial acceleration and the first motion acceleration of the vehicle in the whole vehicle coordinate system, the first initial acceleration is the acceleration of the vehicle in a flat and static state, and the first motion acceleration is the acceleration of the vehicle in a motion state. The initial inclination information that may exist when the vehicle is in a flat and static state can be determined based on the first initial acceleration, and the motion inclination information that exists in the actual driving process of the vehicle can be determined based on the first motion acceleration. The real-time inclination information of the vehicle is confirmed by acceleration, and further, the motion inclination information is corrected according to the initial inclination information, so that the inclination information calculation in the motion process is more accurate.

[0007] In some possible implementation manners, in combination with the first aspect, the first initial acceleration and the first motion acceleration of the vehicle in the vehicle coordinate system are obtained by: in response to the vehicle being in a flat ground static state, obtaining a second initial acceleration collected by an acceleration collection device in the vehicle; in response to the vehicle being in a motion state, obtaining a second motion acceleration collected by the acceleration collection device; converting the second initial acceleration into the first initial acceleration of the vehicle in the vehicle coordinate system, and converting the second motion acceleration into the first motion acceleration of the vehicle in the vehicle coordinate system.

[0008] In the technical solution, how to obtain the first initial acceleration and the first motion acceleration in the vehicle coordinate system is specifically proposed. When the vehicle is in a flat ground static state, the acceleration collection device can obtain an initial acceleration due to installation position, factory setting, or the like. The initial acceleration collected by the acceleration collection device is converted into acceleration in the vehicle coordinate system as the first initial acceleration of the vehicle. Similarly, when the vehicle is in a motion state, the second motion acceleration of the vehicle is obtained by the acceleration collection device and is converted into motion acceleration in the vehicle coordinate system. The acceleration collection device can be installed at any position in the vehicle, and the acceleration of the vehicle can be accurately confirmed through coordinate conversion.

[0009] In some possible implementation manners, in combination with the first aspect and the above implementation manners, the second initial acceleration is converted into the first initial acceleration of the vehicle in the vehicle coordinate system, and the second motion acceleration is converted into the first motion acceleration of the vehicle in the vehicle coordinate system by: determining a coordinate axis deviation angle between an acceleration collection device coordinate system of the acceleration collection device and the vehicle coordinate system; and converting the second initial acceleration into the first initial acceleration of the vehicle in the vehicle coordinate system and converting the second motion acceleration into the first motion acceleration of the vehicle in the vehicle coordinate system based on the coordinate axis deviation angle.

[0010] In the technical solution, a specific conversion manner of the vehicle coordinate system is specifically proposed. The acceleration collected by the acceleration collection device is a value in the acceleration collection device coordinate system. The coordinate axis deviation angle is obtained by determining the deviation angle between each coordinate axis of the acceleration collection device reference coordinate system and each coordinate axis of the vehicle coordinate system. The second initial acceleration collected by the acceleration collection device is converted into the first initial acceleration of the vehicle in the vehicle coordinate system, and the second motion acceleration collected by the acceleration collection device is converted into the first motion acceleration of the vehicle in the vehicle coordinate system based on the coordinate axis deviation angle.

[0011] In a possible implementation manner of the first aspect, the initial inclination information of the vehicle is determined based on the first initial acceleration, including: determining initial pitch angle information of the vehicle based on the initial acceleration in the first direction and the initial acceleration in the second direction.

[0012] In the technical solution, the determination process of the initial inclination information being the initial pitch angle information is specifically proposed. The pitch angle refers to the inclination angle of the front-rear direction of the vehicle, that is, the inclination degree of the vehicle head or tail relative to the horizontal plane. The first initial acceleration includes the initial acceleration in the first direction and the initial acceleration in the second direction, the first direction being the forward direction of the vehicle, and the second direction being the longitudinal direction of the vehicle. The initial pitch angle information of the vehicle can be determined according to the initial acceleration collected in the first direction and the initial acceleration collected in the second direction.

[0013] In a possible implementation manner of the first aspect, the motion inclination information of the vehicle is determined based on the first motion acceleration, including: obtaining a vehicle speed change value, determining a forward acceleration based on the vehicle speed change value; subtracting the forward acceleration from the first direction motion acceleration to obtain an actual acceleration in the first direction; and generating motion pitch angle information of the vehicle based on the actual acceleration in the first direction and the motion acceleration in the second direction.

[0014] In the technical solution, the scheme of determining the motion pitch angle information according to the first motion acceleration is proposed. By obtaining the vehicle speed change value, determining the forward acceleration based on the vehicle speed change value, and subtracting the forward acceleration of the vehicle in the first direction from the motion acceleration measured in the first direction, the influence of the acceleration of the vehicle in motion on the measurement of the pitch angle can be excluded. The motion pitch angle information of the vehicle is determined based on the actual acceleration in the first direction and the motion acceleration in the second direction, thereby improving the accuracy of the pitch angle information of the vehicle.

[0015] In a possible implementation manner of the first aspect, the vehicle speed change value is obtained, and the forward acceleration is determined based on the vehicle speed change value, including: continuously obtaining vehicle speed information of the vehicle at a preset time interval; determining vehicle speed change values between the vehicle speed information according to the time sequence of obtaining the vehicle speed information; and determining the forward acceleration based on the vehicle speed change values.

[0016] In the technical solution, the confirmation scheme of the vehicle speed change value is proposed. By continuously collecting the vehicle speed information at a preset time interval, the vehicle speed change information is calculated according to the difference between two adjacent vehicle speed information, and one or more vehicle speed change values obtained at a preset time interval can timely capture the change of acceleration, thereby providing more accurate forward acceleration of the vehicle.

[0017] In some possible implementation manners, based on the first initial acceleration, the initial inclination information of the vehicle is determined, including: based on the initial acceleration in the second direction and the initial acceleration in the third direction, initial roll angle information of the vehicle is determined.

[0018] In the technical solution, the determination process is provided when the initial inclination information is initial roll angle information. The roll angle refers to the degree of lateral inclination of the vehicle relative to the horizontal plane, that is, the inclination angle of the left and right sides of the vehicle body. The first initial acceleration includes the initial acceleration in the second direction and the initial acceleration in the third direction. The second direction is the longitudinal direction of the vehicle, and the third direction is the left-right direction of the vehicle. The initial roll angle information of the vehicle can be determined based on the initial acceleration in the second direction and the initial acceleration in the third direction.

[0019] In some possible implementation manners, based on the first initial acceleration, the initial inclination information of the vehicle is determined, including: based on the initial acceleration in the second direction and the initial acceleration in the third direction, initial roll angle information of the vehicle is determined.

[0020] In the technical solution, the determination process is provided when the initial inclination information is initial roll angle information. The roll angle refers to the degree of lateral inclination of the vehicle relative to the horizontal plane, that is, the inclination angle of the left and right sides of the vehicle body. The first initial acceleration includes the initial acceleration in the second direction and the initial acceleration in the third direction. The second direction is the longitudinal direction of the vehicle, and the third direction is the left-right direction of the vehicle. The initial roll angle information of the vehicle can be determined based on the initial acceleration in the second direction and the initial acceleration in the third direction.

[0021] In some possible implementation manners, based on the first initial acceleration, the initial inclination information of the vehicle is determined, including: based on the initial acceleration in the second direction and the initial acceleration in the third direction, initial roll angle information of the vehicle is determined.

[0022] In the technical solution, the determination process is provided when the initial inclination information is initial roll angle information. The roll angle refers to the degree of lateral inclination of the vehicle relative to the horizontal plane, that is, the inclination angle of the left and right sides of the vehicle body. The first initial acceleration includes the initial acceleration in the second direction and the initial acceleration in the third direction. The second direction is the longitudinal direction of the vehicle, and the third direction is the left-right direction of the vehicle. The initial roll angle information of the vehicle can be determined based on the initial acceleration in the second direction and the initial acceleration in the third direction.

[0023] In a second aspect, an information determination apparatus is provided, which includes:

[0024] The acquisition unit is configured to acquire a first initial acceleration and a first motion acceleration of the vehicle in a whole vehicle coordinate system; the first initial acceleration is an acceleration of the vehicle in a flat ground static state; and the first motion acceleration is an acceleration of the vehicle in a motion state.

[0025] The calculation unit is configured to determine initial inclination information of the vehicle based on the first initial acceleration, and determine motion inclination information of the vehicle based on the first motion acceleration.

[0026] The correction unit is configured to correct the motion inclination information based on the initial inclination information to obtain vehicle inclination information of the vehicle.

[0027] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is configured to store executable program code, and the processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation manner of the first aspect.

[0028] In a fourth aspect, a computer program product is provided, which includes computer program code. When the computer program code is run on a computer, the computer is caused to execute the method in the first aspect or any possible implementation manner of the first aspect.

[0029] In a fifth aspect, a computer readable storage medium is provided, which stores computer program code. When the computer program code is run on a computer, the computer is caused to execute the method in the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a scene schematic diagram of a method for information determination provided by an embodiment of the present application;

[0031] Figure 2 is a flow schematic diagram of a method for information determination provided by an embodiment of the present application;

[0032] Figure 3 is an example schematic diagram of a method for information determination provided by an embodiment of the present application;

[0033] Figure 4 is an example schematic diagram of a method for information determination provided by an embodiment of the present application;

[0034] Figure 5 is a flow schematic diagram of a method for information determination provided by an embodiment of the present application;

[0035] Figure 6is an example schematic diagram of a method for information determination provided by an embodiment of the present application.

[0036] Figure 7 is an example schematic diagram of a method for information determination provided by an embodiment of the present application.

[0037] Figure 8 is an example schematic diagram of a method for information determination provided by an embodiment of the present application.

[0038] Figure 9 is a structural schematic diagram of an apparatus for information determination provided by an embodiment of the present application.

[0039] Figure 10 is a structural schematic diagram of a vehicle provided by an embodiment of the present application.

[0040] Figure 11 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0042] Hereinafter, the terms "first", "second" are only used for description purposes, and cannot be understood as implying or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features.

[0043] Figure 1 is a schematic diagram of a scene for a method for information determination provided by an embodiment of the present application.

[0044] For example, as Figure 1As shown in the figure, when the vehicle 101 is driving on the slope 102, the vehicle tilt information is usually needed to assist vehicle control, which can include the tilt angle and the tilt direction of the vehicle relative to the horizontal plane. In the related art, the vehicle uses a slope sensor to obtain the vehicle tilt information. However, when the vehicle is in motion, the slope sensor may be disturbed by additional disturbances such as acceleration, vibration and impact. These disturbances can cause the sensor reading to deviate from the actual slope value. At the same time, the slope sensor has strict installation requirements. When installing the slope sensor, it needs to be ensured that it is installed in a horizontal position to ensure the accuracy of the measurement result, so the whole vehicle needs to be determined to coordinate the installation position.

[0045] Based on the above situation, the embodiment of the present application provides a method for determining information. The first initial acceleration and the first motion acceleration of the vehicle in the whole vehicle coordinate system are obtained. The first initial acceleration is the acceleration of the vehicle in a flat and static state, and the first motion acceleration is the acceleration of the vehicle in a motion state. Based on the first initial acceleration, the initial tilt information that may exist when the vehicle is in a flat and static state can be determined. Based on the first motion acceleration, the motion tilt information that exists in the actual driving process of the vehicle can be determined. The acceleration of the vehicle is collected to confirm the real-time tilt information of the vehicle, and the motion tilt information is corrected according to the initial tilt information, so that the tilt information calculation in the motion process is more accurate.

[0046] Based on Figure 1 The scene diagram shown below will be combined with Figures 2-8 The method for determining information provided by the embodiment of the present application will be described in detail.

[0047] Please refer to Figure 2 A flowchart of a method for determining information is provided for the embodiment of the present application. As shown in the figure, Figure 2 The method of the embodiment of the present application can include the following steps S101-S103.

[0048] S101, obtaining the first initial acceleration and the first motion acceleration of the vehicle in the whole vehicle coordinate system;

[0049] In an embodiment, the whole vehicle coordinate system is a reference coordinate system used to describe the motion state and attitude of the whole vehicle. It usually takes the vehicle itself as a reference to describe the position, direction and motion state of the vehicle in space. As shown in the figure, Figure 3 As shown in the figure, Figure 3 An example diagram of a method for determining information is provided for the embodiment of the present application, Figure 3The schematic of the vehicle coordinate system is shown. The front of the vehicle is set as the positive direction of the X-axis, the Y-axis is perpendicular to the X-axis and points to the left, and the Z-axis points upward, that is, perpendicular to the ground and points to the sky. A first initial acceleration and a first motion acceleration of the vehicle in the vehicle coordinate system are obtained. The first initial acceleration is the acceleration of the vehicle in a flat ground static state, and the first motion acceleration is the acceleration of the vehicle in a motion state. The vehicle in a flat ground static state is a state in which the vehicle is horizontal and completely stationary. For example, when the vehicle is shipped, the vehicle can be tested on flat ground to obtain the first initial acceleration, which can include the initial acceleration of each axis in the vehicle coordinate system. The vehicle in a motion state is a state in which the vehicle is in motion. For example, when the vehicle starts to travel, the real-time acceleration of the vehicle can be collected as the first motion acceleration. Similarly, the first motion acceleration can include the motion acceleration of each axis in the vehicle coordinate system.

[0050] In a possible implementation, the acceleration sensor can be used to obtain the acceleration of each axis of the vehicle in different states to obtain the first initial acceleration and the first motion acceleration.

[0051] S102, determining initial inclination information of the vehicle based on the first initial acceleration, and determining motion inclination information of the vehicle based on the first motion acceleration;

[0052] In an embodiment, the first initial acceleration can be used to determine the initial inclination information that may exist when the vehicle is in a flat ground static state. In the flat ground static state, the acceleration sensor can sense the acceleration, and according to the direction and value of the acceleration, the initial inclination information such as the inclination angle of the vehicle relative to the horizontal plane can be determined. It can be understood that when the first initial acceleration exists, it does not mean that the vehicle is inclined, but that the acceleration sensor in the vehicle is deviated.

[0053] The first motion acceleration can be used to determine the motion inclination information that exists in the actual driving process of the vehicle. In the actual driving process of the vehicle, the acceleration sensor can sense the acceleration of the vehicle in the motion process, including the acceleration along the longitudinal and lateral directions of the vehicle. By measuring these accelerations, the inclination of the vehicle in the motion process can be inferred. For example, when the vehicle climbs uphill, the lateral or longitudinal acceleration is generated, and by analyzing the changes of these accelerations, the inclination of the vehicle can be determined.

[0054] S103, correcting the motion inclination information based on the initial inclination information to obtain vehicle inclination information of the vehicle.

[0055] In an embodiment, since the motion inclination information can be the inclination information containing the initial inclination information, the motion inclination information needs to be corrected according to the initial inclination information, so as to obtain more accurate vehicle inclination information. For example, the motion inclination information can be subtracted from the initial inclination information, so as to obtain the vehicle inclination information.

[0056] In the embodiment of the present application, by acquiring the first initial acceleration and the first motion acceleration of the vehicle in the whole vehicle coordinate system, the first initial acceleration is the acceleration of the vehicle in the flat ground static state, and the first motion acceleration is the acceleration of the vehicle in the motion state. The initial inclination information that can exist when the vehicle is in the flat ground static state can be determined based on the first initial acceleration, and the motion inclination information that exists in the actual driving process of the vehicle can be determined based on the first motion acceleration. The acceleration is used to confirm the real-time inclination information of the vehicle. Further, the motion inclination information is corrected according to the initial inclination information, so that the inclination information calculation in the motion process is more accurate.

[0057] Please refer to Figure 4 , Figure 4 is a flowchart of a method for determining information provided by the embodiment of the present application. As shown in Figure 4 , the method of the embodiment of the present application can include the following steps S201-S211.

[0058] S201, in response to the vehicle being in a flat ground static state, acquiring a second initial acceleration collected by an acceleration collection device in the vehicle;

[0059] Specifically, the vehicle can be installed with a vehicle acceleration collection device. The acceleration collection device can be an acceleration chip, which can be installed on an electronic control unit (ECU) of the vehicle, so as to acquire the acceleration information collected by the acceleration chip through the ECU, and process to obtain the vehicle inclination information. It can be understood that different acceleration chip models have different installation requirements and reference coordinate systems. The reference coordinate system of the chip itself can be determined according to the chip manual, and the acceleration collection can be performed. Please refer to Figure 5 , Figure 5 is an example schematic diagram of a method for determining information provided by the embodiment of the present application, which is determined according to the direction of gravitational acceleration, for example, the gravitational acceleration is placed on the X0 axis, and the X0 axis outputs g in the positive direction. Similarly, the Y0 axis and the Z0 axis also represent the positive direction when they are positive. When the vehicle is in a static flat ground state, the acceleration collection device is controlled to work, and the second initial acceleration collected by the acceleration collection device is acquired. The second initial acceleration is a value collected according to the reference coordinate system of the acceleration collection device.

[0060] S202, in response to the vehicle being in a motion state, acquiring a second motion acceleration collected by the acceleration collection device;

[0061] Specifically, when the vehicle is in motion, a second motion acceleration collected by the acceleration collection device is acquired.

[0062] S203, converting the second initial acceleration into a first initial acceleration of the vehicle in the vehicle coordinate system, and converting the second motion acceleration into a first motion acceleration of the vehicle in the vehicle coordinate system;

[0063] Specifically, since the values of the second initial acceleration and the second motion acceleration are not acquired with reference to the vehicle coordinate system, it is necessary to perform coordinate conversion according to the transformation relationship between the two coordinate systems. The second initial acceleration collected by the acceleration collection device is converted into the first initial acceleration of the vehicle in the vehicle coordinate system based on the transformation relationship, and the second motion acceleration is converted into the first motion acceleration of the vehicle in the vehicle coordinate system based on the transformation relationship.

[0064] In an embodiment, converting the second initial acceleration into the first initial acceleration of the vehicle in the vehicle coordinate system, and converting the second motion acceleration into the first motion acceleration of the vehicle in the vehicle coordinate system comprises the following steps S2031-S2032:

[0065] S2031, determining a coordinate axis deviation angle between the collection device coordinate system of the acceleration collection device and the vehicle coordinate system;

[0066] Specifically, the coordinate axis deviation angle between the collection device coordinate system of the acceleration collection device and the vehicle coordinate system can be determined first. Assuming that both coordinate systems are three-axis coordinate systems, the coordinate axis deviation angle between each coordinate axis can be determined.

[0067] Please refer to Figure 6 , Figure 6 For an example of a method of determining information provided by an embodiment of the present application, it is assumed that the angles of the collection device coordinate system X0, Y0 and Z0 to the vehicle coordinate system X are θ x , θ y and θ z , respectively. Similarly, the angles of the collection device coordinate system X0, Y0 and Z0 to the vehicle coordinate system Y are α x , α y and α z , respectively; and the angles of the collection device coordinate system X0, Y0 and Z0 to the vehicle coordinate system Z are β x , β y and β z , respectively.

[0068] S2032, convert the second initial acceleration into a first initial acceleration in a whole vehicle coordinate system of the vehicle and convert the second motion acceleration into a first motion acceleration in the whole vehicle coordinate system based on the coordinate axis deviation angle.

[0069] Specifically, according to the determined coordinate axis deviation angle, the X value, the Y value and the Z value in the current coordinate system are calculated from the collected values of the acceleration collection device according to the following conversion equations:

[0070] X=X0*cosθ x +Y0*cosθ y +Z0*cosθ z

[0071] Y=X0*cosα x +Y0*cosα y +Z0*cosα z

[0072] Z=X0*cosβ x +Y0*cosβ y +Z0*cosβ z

[0073] S204, determine initial pitch angle information of the vehicle based on the initial acceleration in the first direction and the initial acceleration in the second direction;

[0074] In an embodiment, when the initial inclination information is the initial pitch angle information, the first initial acceleration includes the initial acceleration in the first direction and the initial acceleration in the second direction, the first direction is the forward direction of the vehicle, and the second direction is the longitudinal direction of the vehicle. The pitch angle refers to the inclination angle of the front-to-back direction of the vehicle, i.e., the inclination degree of the vehicle head or tail relative to the horizontal plane. The first arctangent value is calculated according to the initial acceleration in the first direction and the initial acceleration in the second direction, and the first arctangent value is determined as the initial pitch angle information of the vehicle. Please refer to Figure 7 , Figure 7 An example schematic diagram of a method for determining information provided by an embodiment of the present application is shown in the following figure. The initial acceleration in the first direction is X L , the initial acceleration in the second direction is Z L , and the corresponding initial pitch angle information λ is obtained according to the following formula:

[0075] When X L > 0, it is a downhill state, and the following formula is used for calculation:

[0076]

[0077] When X L < 0, it is an uphill state, and the following formula is used for calculation:

[0078]

[0079] S205, obtaining a vehicle speed change value of the vehicle, and determining a forward acceleration based on the vehicle speed change value;

[0080] In an embodiment, the motion inclination information is motion pitch angle information, and the first motion acceleration includes a first direction motion acceleration and a second direction motion acceleration, the first direction being a forward direction of the vehicle, and the second direction being a longitudinal direction of the vehicle. When the motion pitch angle information is confirmed, because the vehicle has an acceleration during driving, the acceleration collected by the acceleration collection device is affected. Therefore, the vehicle speed change value of the vehicle is obtained to obtain the forward acceleration of the vehicle. The forward acceleration refers to an acceleration value in the first direction of the vehicle.

[0081] For example, the forward acceleration of the vehicle can be calculated according to the vehicle speed change value of 100 ms, which has a certain filtering effect and changes in time. The vehicle acceleration a is calculated according to the following formula:

[0082] a=(V-V -100 )*10

[0083] Wherein, V is a current vehicle speed value of the vehicle; V -100 is a vehicle speed value of the vehicle 100 ms ago; and 10 is a conversion coefficient, the vehicle speed change of 100 ms being converted to the acceleration of 1 s.

[0084] In an embodiment, obtaining the vehicle speed change value of the vehicle and determining the forward acceleration based on the vehicle speed change value includes the following steps S2051-S2053:

[0085] S2051, continuously obtaining vehicle speed information of the vehicle according to a preset time interval;

[0086] Specifically, the vehicle speed information of the vehicle can be obtained according to a preset time interval. The preset time interval can be selected according to actual conditions, for example, 100 ms. That is, the vehicle speed information is collected every 100 ms, and at least two vehicle speed information is obtained to calculate the forward acceleration. For example, the vehicle speed information can be obtained every 100 ms within 1 s, and the forward acceleration is determined according to the vehicle speed change value within 1 s.

[0087] S2052, determining a vehicle speed change value between the vehicle speed information according to the acquisition time sequence of the vehicle speed information;

[0088] Specifically, after obtaining at least two vehicle speed information, a vehicle speed change value between the vehicle speed information is calculated according to the time sequence of obtaining the vehicle speed information. For example, the vehicle speed information obtained in the time sequence is V0...V 10 , then the vehicle speed change value is: V1-V0, V2-V1, V3-V2...V 10 -V9.

[0089] S2053, determining the forward acceleration based on the vehicle speed change value.

[0090] Specifically, the vehicle speed change value can be averaged to obtain the forward acceleration a = ((V1-V0) + (V2-V1) +... (V 10 -V9)) / 10.

[0091] S206, subtracting the forward acceleration from the movement acceleration in the first direction to obtain the actual acceleration in the first direction;

[0092] Specifically, the forward acceleration is the acceleration of the vehicle in the first direction, therefore, the movement acceleration measured in the first direction is subtracted from the forward acceleration of the vehicle in the first direction to obtain the actual acceleration in the first direction. Assuming that the movement acceleration in the first direction is X and the forward acceleration is a, then the actual acceleration is X-a. In this way, the influence of the acceleration of the vehicle in motion on the pitch angle measurement can be excluded.

[0093] S207, generating the movement pitch angle information of the vehicle based on the actual acceleration in the first direction and the movement acceleration in the second direction;

[0094] Specifically, the second inverse tangent function value is calculated through the actual acceleration in the first direction and the movement acceleration in the second direction, and the second inverse tangent function value is determined as the movement pitch angle information of the vehicle. For example, assuming that the actual acceleration in the first direction is X and the movement acceleration in the second direction is Z, then the movement pitch angle information i can be calculated according to the following formula:

[0095] When X>0, it is calculated according to the following formula:

[0096]

[0097] When X<0, it is calculated according to the following formula:

[0098]

[0099] S208, subtracting the movement pitch angle information from the initial pitch angle information to obtain the pitch angle information of the vehicle;

[0100] In one embodiment, when the vehicle tilt information is pitch angle information, the initial pitch angle information is subtracted from the moving pitch angle information to obtain the actual pitch angle information.

[0101] S209, determine the initial roll angle information of the vehicle based on the initial acceleration in the second direction and the initial acceleration in the third direction;

[0102] In one embodiment, when the initial tilt information is the initial roll angle information, the first initial acceleration includes an initial acceleration in a second direction and an initial acceleration in a third direction. The second direction is the longitudinal direction of the vehicle, and the third direction is the left-right direction of the vehicle. The initial roll angle information of the vehicle can be determined by the initial acceleration in the second direction and the initial acceleration in the third direction. The roll angle refers to the degree of roll of the vehicle relative to the horizontal plane, i.e., the tilt angle of the left and right sides of the vehicle body. A third arctangent function value is calculated based on the initial acceleration in the second direction and the initial acceleration in the third direction, and this third arctangent function value is determined as the initial roll angle information of the vehicle. Please refer to [link to relevant documentation]. Figure 8 Figure 8 is a schematic diagram illustrating an example of an information determination method provided in an embodiment of this application, where the acceleration in the third direction, i.e., Y... L The initial acceleration in the second direction is also known as Z. L .

[0103] When Y L When the value is greater than 0, it indicates a leftward tilt, calculated using the following formula:

[0104]

[0105] When Y L When <0, it is a rightward tilt state, calculated according to the following formula:

[0106]

[0107] S210, determine the vehicle's roll angle information based on the motion acceleration in the second direction and the motion acceleration in the third direction;

[0108] In one embodiment, when the motion tilt information is motion roll angle information, the second motion acceleration includes motion acceleration in a second direction and motion acceleration in a third direction. The second direction is the longitudinal direction of the vehicle, and the third direction is the left-right direction of the vehicle. A fourth arctangent function value is calculated based on the motion acceleration in the second direction and the motion acceleration in the third direction, and this fourth arctangent function value is determined as the vehicle's motion roll angle information. Specifically, let q be the motion roll angle information; if q > 0, it is a right roll; if q < 0, it is a left roll. When Y > 0, it is calculated according to the following formula:

[0109]

[0110] When Y < 0, the following formula is used to calculate:

[0111]

[0112] S211, subtract the initial roll angle information from the motion roll angle information to obtain the roll angle information of the vehicle.

[0113] In an embodiment, when the vehicle inclination information is the roll angle information, the motion roll angle information is subtracted from the initial roll angle information to eliminate measurement errors to obtain the actual roll angle information.

[0114] In the embodiment of the present application, the second initial acceleration collected by the acceleration collection device in the vehicle is acquired in response to the vehicle being in a flat ground static state; the second motion acceleration collected by the acceleration collection device is acquired in response to the vehicle being in a motion state; the second initial acceleration is converted into the first initial acceleration of the vehicle in the whole vehicle coordinate system, and the second motion acceleration is converted into the first motion acceleration of the vehicle in the whole vehicle coordinate system, so that the acceleration collection device can be installed at any position of the vehicle to confirm the vehicle acceleration in a flexible manner through coordinate conversion; when the initial inclination information is the initial pitch angle information, the first initial acceleration includes the initial acceleration in the first direction and the initial acceleration in the second direction, and the initial pitch angle information of the vehicle can be determined according to the initial acceleration collected in the first direction and the initial acceleration collected in the second direction; the vehicle speed change value is acquired, the forward acceleration is determined based on the vehicle speed change value, the motion acceleration in the first direction is subtracted by the forward acceleration to obtain the actual acceleration in the first direction, the influence of the acceleration of the vehicle in motion on the pitch angle measurement is excluded, the motion pitch angle information of the vehicle is generated based on the actual acceleration in the first direction and the motion acceleration in the second direction, the information accuracy of the motion pitch angle information is improved, and the motion pitch angle information is subtracted from the initial pitch angle information to obtain the pitch angle information of the vehicle, so as to realize accurate measurement of the pitch angle of the vehicle. When the initial inclination information is the initial roll angle information, the first initial acceleration includes the initial acceleration in the second direction and the initial acceleration in the third direction, and the initial roll angle information of the vehicle can be determined through the initial acceleration in the second direction and the initial acceleration in the third direction. Similarly, the motion roll angle information of the vehicle can be determined according to the motion acceleration in the second direction and the motion acceleration in the third direction, and the roll angle information of the vehicle is obtained by subtracting the initial roll angle information from the motion roll angle information, so that the vehicle inclination information obtained in the static state and the dynamic state has good calculation accuracy.

[0115] Based on the scene schematic diagram of Figure 1 , the following will be combined with Figure 9The device for determining information provided by the embodiments of the present application is described in detail. It should be noted that Figure 9 The device for determining information in the embodiments of the present application is used to execute the method shown in the embodiments of the present application Figures 2-8 For the convenience of description, only the parts related to the embodiments of the present application are shown, and the specific technical details are not disclosed, please refer to the embodiments shown in the present application Figures 2-8 .

[0116] Please refer to Figure 9 , which shows the structural schematic diagram of the device for determining information provided by an exemplary embodiment of the present application. The information determination device can be realized by software, hardware or combination of the two to become all or part of the device. The device 1 includes an acquisition unit 11, a calculation unit 12 and a correction unit 13.

[0117] The acquisition unit 11 is used to acquire the first initial acceleration and the first motion acceleration of the vehicle in the whole vehicle coordinate system; the first initial acceleration is the acceleration of the vehicle in the flat ground static state; the first motion acceleration is the acceleration of the vehicle in the motion state;

[0118] The calculation unit 12 is used to determine the initial inclination information of the vehicle based on the first initial acceleration, and determine the motion inclination information of the vehicle based on the first motion acceleration;

[0119] The correction unit 13 is used to correct the motion inclination information based on the initial inclination information to obtain the vehicle inclination information of the vehicle.

[0120] Optionally, the acquisition unit 11 is specifically used to acquire the second initial acceleration collected by the acceleration collection device in the vehicle in response to the vehicle being in the flat ground static state;

[0121] In response to the vehicle being in the motion state, the second motion acceleration collected by the acceleration collection device is acquired;

[0122] The second initial acceleration is converted into the first initial acceleration of the vehicle in the whole vehicle coordinate system, and the second motion acceleration is converted into the first motion acceleration of the vehicle in the whole vehicle coordinate system.

[0123] Optionally, the acquisition unit 11 is specifically used to determine the coordinate axis deviation angle between the collection device coordinate system of the acceleration collection device and the whole vehicle coordinate system;

[0124] Based on the coordinate axis deviation angle, the second initial acceleration is converted into the first initial acceleration of the vehicle in the whole vehicle coordinate system, and the second motion acceleration is converted into the first motion acceleration in the whole vehicle coordinate system.

[0125] Optionally, the initial inclination information is initial pitch angle information, the first initial acceleration includes a first-direction initial acceleration and a second-direction initial acceleration, the first direction is a forward direction of the vehicle, and the second direction is a longitudinal direction of the vehicle, and the calculation unit 12 is specifically configured to determine the initial pitch angle information of the vehicle based on the first-direction initial acceleration and the second-direction initial acceleration.

[0126] Optionally, the motion inclination information is motion pitch angle information, the first motion acceleration includes a first-direction motion acceleration and a second-direction motion acceleration, the first direction is a forward direction of the vehicle, and the second direction is a longitudinal direction of the vehicle, and the calculation unit 12 is specifically configured to obtain a vehicle speed change value of the vehicle, and determine a forward acceleration based on the vehicle speed change value.

[0127] The first-direction motion acceleration is subtracted from the forward acceleration to obtain an actual first-direction acceleration.

[0128] The motion inclination information of the vehicle is generated based on the actual first-direction acceleration and the second-direction motion acceleration.

[0129] Optionally, the calculation unit 12 is specifically configured to continuously obtain the vehicle speed information of the vehicle at preset time intervals.

[0130] The vehicle speed change values between the vehicle speed information are determined in the order of obtaining time of the vehicle speed information.

[0131] The forward acceleration is determined based on the vehicle speed change values.

[0132] Optionally, the initial inclination information is initial roll angle information, the first initial acceleration includes a second-direction initial acceleration and a third-direction initial acceleration, the second direction is a longitudinal direction of the vehicle, and the third direction is a left-right direction of the vehicle, and the calculation unit 12 is specifically configured to determine the initial roll angle information of the vehicle based on the second-direction initial acceleration and the third-direction initial acceleration.

[0133] Optionally, the motion inclination information is motion roll angle information, the second motion acceleration includes a second-direction motion acceleration and a third-direction motion acceleration, the second direction is a longitudinal direction of the vehicle, and the third direction is a left-right direction of the vehicle, and the calculation unit 12 is specifically configured to determine the motion roll angle information of the vehicle based on the second-direction motion acceleration and the third-direction motion acceleration.

[0134] Optionally, the correction unit 13 is specifically configured to subtract the motion inclination information from the initial inclination information to obtain vehicle inclination information of the vehicle.

[0135] The above-mentioned sequence numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments. In some cases, the actions or steps recited in the claims can be executed in an order different from the order in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are possible or can be advantageous.

[0136] Please refer to Figure 10 A structural diagram of a vehicle is provided for the embodiments of the present application. As shown in the figure, the vehicle 500 includes a processor 501 and a memory 502. The processor 501 is electrically connected to the memory 502. Figure 10

[0137] The processor 501 is the control center of the vehicle 500, and can include one or more processing cores. The processor 501 connects various parts of the vehicle 500 through various interfaces and lines, executes various functions of the vehicle 500 and processes data by running or calling computer programs stored in the memory 502 and calling data stored in the memory 502, thereby overall controlling the vehicle 500. Optionally, the processor 501 can be realized in at least one of the hardware forms of Digital Signal Processing (DSP), Field Programmable Gate Array (FPGA), Programmable Logic Array (PLA). The processor 501 can integrate one or a combination of CPU, Graphics Processing Unit (GPU) and modem. Among them, the CPU mainly processes operating systems, user pages and application programs, etc.; the GPU is responsible for rendering and drawing display content; the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 501, but be realized by a separate communication chip.

[0138] ​The memory 502 can be used to store software programs and modules, and the processor 501 executes various functional applications and data processing by running the computer programs and modules stored in the memory 502. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, computer programs required by at least one function, etc.; and the data storage area can store data created according to the use of the vehicle 500, etc.

[0139] In addition, the memory 502 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory 502 can also include a memory controller to provide access for the processor 501 to the memory 502.

[0140] In the embodiment, the processor 501 in the vehicle 500 loads the instructions corresponding to the processes of one or more computer programs into the memory 502, and the processor 501 runs the computer programs stored in the memory 502 to implement various functions according to the following steps:

[0141] Obtain a first initial acceleration and a first motion acceleration of the vehicle in a whole-vehicle coordinate system; the first initial acceleration is an acceleration of the vehicle in a flat ground static state; and the first motion acceleration is an acceleration of the vehicle in a motion state;

[0142] Determine initial inclination information of the vehicle based on the first initial acceleration, and determine motion inclination information of the vehicle based on the first motion acceleration;

[0143] Correct the motion inclination information based on the initial inclination information to obtain vehicle inclination information of the vehicle.

[0144] Optionally, when the processor 501 executes the step of obtaining the first initial acceleration and the first motion acceleration of the vehicle in the whole-vehicle coordinate system, it specifically executes:

[0145] In response to the vehicle being in a flat ground static state, obtain a second initial acceleration collected by an acceleration collection device in the vehicle;

[0146] In response to the vehicle being in a motion state, obtain a second motion acceleration collected by the acceleration collection device;

[0147] Convert the second initial acceleration into the first initial acceleration of the vehicle in the whole-vehicle coordinate system, and convert the second motion acceleration into the first motion acceleration of the vehicle in the whole-vehicle coordinate system.

[0148] Optionally, the processor 501, in the execution of the conversion of the second initial acceleration into the first initial acceleration of the vehicle in the whole vehicle coordinate system and the conversion of the second motion acceleration into the first motion acceleration of the vehicle in the whole vehicle coordinate system, specifically executes:

[0149] determining a coordinate axis deviation angle between the acquisition device coordinate system of the acceleration acquisition device and the whole vehicle coordinate system;

[0150] based on the coordinate axis deviation angle, converting the second initial acceleration into the first initial acceleration of the vehicle in the whole vehicle coordinate system and converting the second motion acceleration into the first motion acceleration of the vehicle in the whole vehicle coordinate system.

[0151] Optionally, the initial inclination information is initial pitch angle information; the first initial acceleration includes an initial acceleration in a first direction and an initial acceleration in a second direction; the first direction is the forward direction of the vehicle; and the second direction is the longitudinal direction of the vehicle. In the execution of the determination of the initial inclination information of the vehicle based on the first initial acceleration, the processor 501 specifically executes:

[0152] determining the initial pitch angle information of the vehicle based on the initial acceleration in the first direction and the initial acceleration in the second direction.

[0153] Optionally, the motion inclination information is motion pitch angle information; the first motion acceleration includes a motion acceleration in a first direction and a motion acceleration in a second direction; the first direction is the forward direction of the vehicle; and the second direction is the longitudinal direction of the vehicle. In the execution of the determination of the motion inclination information of the vehicle based on the first motion acceleration, the processor 501 specifically executes:

[0154] obtaining a vehicle speed change value of the vehicle, and determining a forward acceleration based on the vehicle speed change value;

[0155] subtracting the forward acceleration from the motion acceleration in the first direction to obtain an actual acceleration in the first direction;

[0156] generating the motion pitch angle information of the vehicle based on the actual acceleration in the first direction and the motion acceleration in the second direction.

[0157] Optionally, in the execution of the obtaining of the vehicle speed change value of the vehicle and the determination of the forward acceleration based on the vehicle speed change value, the processor 501 specifically executes:

[0158] continuously obtaining vehicle speed information of the vehicle at a preset time interval;

[0159] determining vehicle speed change values between the vehicle speed information in the order of the acquisition time of the vehicle speed information.

[0160] determine the forward acceleration based on the vehicle speed change value.

[0161] Optionally, the initial inclination information is initial roll angle information; the first initial acceleration includes an initial acceleration in a second direction and an initial acceleration in a third direction; the second direction is a longitudinal direction of the vehicle; the third direction is a left-right direction of the vehicle, and the processor 501 specifically performs, when determining the initial inclination information of the vehicle based on the first initial acceleration:

[0162] determining the initial roll angle information of the vehicle based on the initial acceleration in the second direction and the initial acceleration in the third direction.

[0163] Optionally, the motion inclination information is motion roll angle information; the second motion acceleration includes a motion acceleration in a second direction and a motion acceleration in a third direction; the second direction is a longitudinal direction of the vehicle; the third direction is a left-right direction of the vehicle, and the processor 501 specifically performs, when determining the motion inclination information of the vehicle based on the first motion acceleration:

[0164] determining the motion roll angle information of the vehicle based on the motion acceleration in the second direction and the motion acceleration in the third direction.

[0165] Optionally, the processor 501 specifically performs, when correcting the motion inclination information based on the initial inclination information to obtain the vehicle inclination information of the vehicle:

[0166] subtracting the motion inclination information from the initial inclination information to obtain the vehicle inclination information of the vehicle.

[0167] Please refer to Figure 11 , an embodiment of the present application provides a structural schematic diagram of a vehicle. As shown in the figure, the vehicle 500 includes a processor 501, a memory 502, a display screen 503, a camera assembly 504, a navigation device 505, a sensor 506 and a power supply 507. Wherein, the processor 501 is electrically connected with the display 503, the camera assembly 504, the navigation device 505, the sensor 506 and the power supply 507 respectively. Figure 11

[0168] The display screen 503 can be used to display information input by a user or information provided to the user and various graphical user interfaces of the vehicle 500, which can be composed of images, texts, icons, videos and any combination thereof.

[0169] ​The camera assembly 504 can include image processing circuitry, which can be implemented using hardware and / or software components, and can include various processing units defining an image signal processing (ISP) pipeline. The image processing circuitry can include at least a plurality of cameras, an image signal processor (ISP processor), control logic, and an image memory, etc. Each camera can include at least one or more lenses and an image sensor. The image sensor can include a color filter array (e.g., a Bayer filter). The image sensor can capture light intensity and wavelength information for each imaging pixel of the image sensor and provide a set of raw image data that can be processed by the image signal processor.

[0170] The navigation device 505 can be used to obtain vehicle location information and plan a driving route. The planned route information is provided to the vehicle 500 for displaying the navigation path in the display screen 503 or for automatic driving control of the vehicle 500.

[0171] The sensor 506 is used to collect information of the vehicle 500 itself, information of a user, or external environment information. For example, the sensor 506 can include one or more of a vibration sensor, a temperature sensor, a distance sensor, a magnetic field sensor, a light sensor, an acceleration sensor, a fingerprint sensor, a Hall sensor, a position sensor, a gyroscope, an inertial sensor, a posture sensor, a barometer, a heart rate sensor, etc.

[0172] The power supply 507 is used to supply power to various components of the vehicle 500. In some embodiments, the power supply 507 can be logically connected to the processor 501 through a power management system, so that the power management system can be used to manage charging, discharging, and power consumption management, etc.

[0173] It should be understood that the apparatus provided by the embodiments of the present application is used to execute the above-mentioned method for determining information, and thus can achieve the same effects as the above-mentioned implementation method.

[0174] In the case of an integrated unit, the apparatus can include a processing module and a storage module. When the apparatus is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute related program codes, etc.

[0175] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules, and circuits described in combination with the disclosure. The processor can also be a combination of implementing computing functions, such as including one or more microprocessor combinations, a combination of digital signal processing (DSP) and microprocessor, etc. The storage module can be a memory.

[0176] In addition, the device provided by the embodiments of the present application can be a chip, a component or a module, the chip can include a connected processor and a memory; the memory is used to store instructions, when the processor calls and executes the instructions, the chip can execute the information determination method provided by the above embodiments.

[0177] The embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores computer program codes, when the computer program codes run on the computer, the computer program codes make the computer execute the related method steps to realize the information determination method provided by the above embodiments.

[0178] The embodiments of the present application also provide a computer program product, when the computer program product runs on the computer, the computer program product makes the computer execute the related steps to realize the information determination method provided by the above embodiments.

[0179] The device, the computer readable storage medium, the computer program product or the chip provided by the embodiments of the present application are used to execute the corresponding method provided above, so the beneficial effects achieved by the device, the computer readable storage medium, the computer program product or the chip can refer to the beneficial effects of the corresponding method provided above, which will not be repeated here.

[0180] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity, only the above division of functional modules is taken as an example, in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0181] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented by other ways. For example, the device embodiments described above are only schematic, the division of the modules or units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different parts can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0182] The above description is provided as an enabling teaching of the application and is not intended to limit its scope in any way. Any modification of the application in keeping with the spirit thereof that is made within the scope of the application as claimed should be considered as being within the purview of the application.

Claims

1. A method for determining information, characterized in that, The method includes: Obtain the vehicle's first initial acceleration and first kinetic acceleration in the vehicle coordinate system; the first initial acceleration is the acceleration of the vehicle when it is stationary on flat ground; the first kinetic acceleration is the acceleration of the vehicle when it is in motion. The initial tilt information of the vehicle is determined based on the first initial acceleration, and the motion tilt information of the vehicle is determined based on the first motion acceleration. The motion tilt information is corrected based on the initial tilt information to obtain the vehicle tilt information.

2. The method according to claim 1, characterized in that, The acquisition of the vehicle's first initial acceleration and first motion acceleration in the vehicle coordinate system includes: In response to the vehicle being stationary on flat ground, the second initial acceleration collected by the acceleration acquisition device in the vehicle is acquired; In response to the vehicle being in motion, the second motion acceleration collected by the acceleration acquisition device is obtained; The second initial acceleration is converted into the first initial acceleration of the vehicle in the whole vehicle coordinate system, and the second motion acceleration is converted into the first motion acceleration of the vehicle in the whole vehicle coordinate system.

3. The method according to claim 2, characterized in that, The step of converting the second initial acceleration into the first initial acceleration of the vehicle in the whole vehicle coordinate system, and converting the second kinetic acceleration into the first kinetic acceleration of the vehicle in the whole vehicle coordinate system, includes: Determine the coordinate axis deviation angle between the coordinate system of the acceleration acquisition device and the coordinate system of the vehicle. Based on the coordinate axis deviation angle, the second initial acceleration is converted into the first initial acceleration in the vehicle's whole coordinate system, and the second motion acceleration is converted into the first motion acceleration in the vehicle's whole coordinate system.

4. The method according to claim 1, characterized in that, The initial tilt information is the initial pitch angle information; The first initial acceleration includes initial acceleration in a first direction and initial acceleration in a second direction; The first direction is the direction of travel of the vehicle; The second direction is the longitudinal direction of the vehicle; Determining the initial tilt information of the vehicle based on the first initial acceleration includes: The initial pitch angle information of the vehicle is determined based on the initial acceleration in the first direction and the initial acceleration in the second direction.

5. The method according to claim 1, characterized in that, The motion tilt information is the motion pitch angle information; The first acceleration includes acceleration in a first direction and acceleration in a second direction; The first direction is the direction of travel of the vehicle; The second direction is the longitudinal direction of the vehicle; The step of determining the vehicle's tilt information based on the first acceleration includes: Obtain the vehicle speed change value, and determine the forward acceleration based on the vehicle speed change value; Subtract the forward acceleration from the acceleration in the first direction to obtain the actual acceleration in the first direction; The vehicle's pitch angle information is generated based on the actual acceleration in the first direction and the motion acceleration in the second direction.

6. The method according to claim 5, characterized in that, The step of obtaining the vehicle speed change value and determining the forward acceleration based on the vehicle speed change value includes: The vehicle speed information is continuously acquired at preset time intervals; The vehicle speed change value between the vehicle speed information is determined according to the acquisition time sequence of the vehicle speed information; The forward acceleration is determined based on the change in vehicle speed.

7. The method according to claim 1, characterized in that, The initial tilt information is the initial tilt angle information; The first initial acceleration includes an initial acceleration in the second direction and an initial acceleration in the third direction; The second direction is the longitudinal direction of the vehicle; The third direction is the left and right direction of the vehicle; Determining the initial tilt information of the vehicle based on the first initial acceleration includes: The initial roll angle information of the vehicle is determined based on the initial acceleration in the second direction and the initial acceleration in the third direction.

8. The method according to claim 1, characterized in that, The motion tilt information is the motion tilt angle information; The second motion acceleration includes motion acceleration in the second direction and motion acceleration in the third direction; The second direction is the longitudinal direction of the vehicle; The third direction is the left and right direction of the vehicle; The step of determining the vehicle's tilt information based on the first acceleration includes: The vehicle's roll angle information is determined based on the motion acceleration in the second direction and the motion acceleration in the third direction.

9. The method according to claim 1, characterized in that, The step of correcting the motion tilt information based on the initial tilt information to obtain the vehicle tilt information includes: Subtract the initial tilt information from the motion tilt information to obtain the vehicle tilt information.

10. An information determination device, characterized in that, The device includes: The acquisition unit is used to acquire the first initial acceleration and the first motion acceleration of the vehicle in the whole vehicle coordinate system; the first initial acceleration is the acceleration of the vehicle when it is stationary on flat ground; the first motion acceleration is the acceleration of the vehicle when it is in motion. The calculation unit is used to determine the initial tilt information of the vehicle based on the first initial acceleration, and to determine the motion tilt information of the vehicle based on the first motion acceleration. The correction unit is used to correct the motion tilt information based on the initial tilt information to obtain the vehicle tilt information of the vehicle.

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