Vehicle ramp driving compensation method, device and equipment and storage medium
By acquiring the vehicle's acceleration and longitudinal acceleration, and using a preset fitting curve and the LOESS fitting method to calculate the ramp acceleration value, the problem of inaccurate ramp value estimation caused by vehicle pitch acceleration error is solved, thereby improving the real-time performance and accuracy of the vehicle control system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- VOYAH AUTOMOBILE TECH CO LTD
- Filing Date
- 2026-02-06
- Publication Date
- 2026-05-12
AI Technical Summary
In existing technologies, pitch acceleration errors lead to inaccurate slope estimation, affecting the performance of the vehicle control system and making it difficult to meet the requirements of real-time performance and accuracy.
By acquiring the vehicle's acceleration and longitudinal acceleration, the target vehicle's pitch acceleration is calculated using a preset fitting curve and the LOESS fitting method. Then, the ramp acceleration value is calculated, and the compensation driving force is calculated based on the ramp acceleration value to perform drive compensation.
This improves the accuracy of slope value estimation and the performance of the vehicle control system, enabling real-time separation of suspension pitch acceleration and slope signals without relying on complex whole vehicle models, thus enhancing the real-time performance and accuracy of the vehicle control system.
Smart Images
Figure CN122009211A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle data processing, and specifically to a method, apparatus, device, and computer-readable storage medium for hill-start assist compensation of a vehicle. Background Technology
[0002] In the field of vehicle dynamics control, the slope value, as a key state parameter, directly affects the control accuracy and response efficiency of systems such as adaptive cruise control, electronic stability program, and active suspension control. Accurate slope value estimation can help the vehicle dynamically adjust power output, braking distribution, and suspension stiffness, thereby improving driving safety, comfort, and fuel economy. However, in real-world driving scenarios, slope value estimation is easily affected by changes in vehicle attitude, with suspension pitch acceleration being one of the core influencing factors. Current mainstream methods for estimating gradient values rely on dynamic model derivation, requiring the construction of a detailed vehicle dynamic model that includes the suspension, steering, and powertrain systems. This involves collecting multi-dimensional sensor data such as wheel speed, vehicle acceleration, and suspension displacement, combined with complex mechanical equations for numerical calculation. While this method offers high theoretical accuracy, it has significant limitations: Firstly, the detailed vehicle model involves hundreds of dynamic parameters, requiring substantial computational resources and resulting in significant time lag in the estimation process, making it difficult to meet the real-time requirements of vehicle control systems (typically requiring millisecond-level response). Secondly, model parameters are susceptible to road conditions (such as bumpy roads), load changes (such as passenger numbers and cargo weight), and component aging, necessitating frequent calibration to maintain accuracy and increasing engineering application costs. More importantly, when a vehicle accelerates, brakes, or traverses uneven surfaces, the vehicle body experiences significant pitch motion, introducing pitch acceleration errors into the suspension. Traditional dynamic models struggle to distinguish between pitch acceleration and vehicle attitude changes caused by inclines in real time, leading to inaccurate incline estimations. For example, the positive pitch acceleration generated by the vehicle "jumping up" during rapid acceleration can easily be misinterpreted as an uphill incline; conversely, the negative pitch acceleration generated by the vehicle "nodding down" during rapid braking may be misinterpreted as a downhill incline. This bias can directly cause the vehicle control system to make incorrect decisions, such as adaptive cruise control misinterpreting an incline and over-accelerating or decelerating, or the active suspension system misadjusting its stiffness, causing vehicle body swaying. In severe cases, it can even affect the timing of electronic stability program intervention, posing a potential risk to driving safety. Therefore, how to effectively separate suspension pitch acceleration and slope signals without relying on complex vehicle models and reducing computational load, and improve the real-time performance and accuracy of slope value estimation, has become a technical bottleneck that urgently needs to be solved in the field of vehicle dynamic control. Summary of the Invention
[0003] This application provides a method, apparatus, device, and computer-readable storage medium for hill-drive compensation of a vehicle, which can solve the technical problem in the prior art where the vehicle body pitch acceleration has an error, resulting in inaccurate hill-drive value estimation and affecting the performance of the vehicle control system.
[0004] In a first aspect, embodiments of this application provide a method for hill-start assist compensation for a vehicle, characterized in that the method includes: When a vehicle is detected to be on a slope, obtain the current vehicle's acceleration and longitudinal acceleration; Based on the current vehicle's acceleration and longitudinal acceleration, obtain the corresponding target vehicle pitch acceleration; The slope acceleration value is calculated based on the target's pitch acceleration, the acceleration of the vehicle in front, and the longitudinal acceleration. Based on the slope acceleration value, the vehicle's compensating driving force is calculated to compensate for the vehicle's driving force.
[0005] In conjunction with the first aspect, in one implementation, calculating the vehicle's compensating driving force based on the ramp acceleration value to compensate for vehicle movement includes: Obtain the quality of the vehicle; Based on the vehicle's mass and the slope acceleration value, the vehicle's compensating driving force is calculated to compensate for the vehicle's movement.
[0006] In conjunction with the first aspect, in one implementation, calculating the ramp acceleration value based on the target vehicle's pitch acceleration, the acceleration of the preceding vehicle, and its longitudinal acceleration includes: Obtain the first preset formula; Based on the first preset formula and the target vehicle pitch acceleration, the acceleration and longitudinal acceleration of the preceding vehicle, the ramp acceleration value is calculated.
[0007] In conjunction with the first aspect, in one implementation, obtaining the corresponding target vehicle pitch acceleration based on the current vehicle's acceleration and longitudinal acceleration includes: Obtain the preset fitted curve; Based on the current vehicle's acceleration and longitudinal acceleration, the preset fitting curve is queried to obtain the corresponding target vehicle pitch acceleration.
[0008] In conjunction with the first aspect, in one implementation, prior to obtaining the preset fitting curve, the following steps are included: Obtain the vehicle's acceleration and longitudinal acceleration on each slope; Calculate the corresponding vehicle pitch acceleration based on the acceleration and longitudinal acceleration on each of the aforementioned ramps; Based on the acceleration on each of the ramps and the vehicle pitch acceleration, a preset fitting curve is generated.
[0009] In conjunction with the first aspect, in one implementation, generating a preset fitting curve based on the acceleration on each of the ramps and the vehicle pitch acceleration includes: A coordinate system is generated based on the acceleration on each of the aforementioned ramps and the vehicle pitch acceleration; A preset fitting curve is generated by performing LOESS fitting on the data points in the coordinate system.
[0010] In conjunction with the first aspect, in one embodiment, generating a preset fitting curve by performing LOESS fitting on data points in the coordinate system includes: Based on preset smoothing parameters, the neighborhood of each data point in the coordinate system and a preset weight function are determined, and linear regression is performed on the neighborhood of each data point to obtain the target coefficient; Based on the target coefficients and the obtained center data points of the coordinate system, a linear fit is performed to generate a preset fitting curve.
[0011] Secondly, embodiments of this application provide a slope drive compensation device for a vehicle, the vehicle slope drive compensation device comprising: The first acquisition module is used to acquire the current acceleration and longitudinal acceleration of the vehicle when it is detected that the vehicle is on a slope. The second acquisition module is used to acquire the corresponding target vehicle pitch acceleration based on the current vehicle's acceleration and longitudinal acceleration. The calculation module is used to calculate the ramp acceleration value based on the target's pitch acceleration, the acceleration of the vehicle in front, and the longitudinal acceleration. The calculation and compensation module is used to calculate the compensation driving force of the vehicle based on the slope acceleration value, so as to compensate the vehicle's driving force.
[0012] Thirdly, embodiments of this application provide a vehicle hill-start assist device, which includes a processor, a memory, and a vehicle hill-start assist program stored in the memory and executable by the processor. When the vehicle hill-start assist program is executed by the processor, it implements the steps of the vehicle hill-start assist method as described above. Fourthly, embodiments of this application provide a computer-readable storage medium storing a vehicle ramp drive compensation program, wherein when the vehicle ramp drive compensation program is executed by a processor, it implements the steps of the vehicle ramp drive compensation method as described above.
[0013] The beneficial effects of the technical solutions provided in this application include: By acquiring the current vehicle's acceleration and longitudinal acceleration when it is detected that the vehicle is on a slope, obtaining the corresponding target vehicle pitch acceleration based on the current vehicle's acceleration and longitudinal acceleration, calculating the slope acceleration value based on the target vehicle pitch acceleration, the current vehicle's acceleration, and longitudinal acceleration, and calculating the vehicle's compensation driving force based on the slope acceleration value to compensate for the vehicle's movement, this solves the technical problem in related technologies where errors in vehicle pitch acceleration lead to inaccurate slope value estimation, affecting the performance of the vehicle control system. This improves the accuracy of slope value estimation and enhances the performance of the vehicle control system. Attached Figure Description
[0014] Figure 1 This is a flowchart illustrating the first embodiment of the slope drive compensation method for the vehicle described in this application. Figure 2 This is a schematic diagram of the preset fitting curve in this application; Figure 3 This is a schematic diagram of the functional modules of an embodiment of the slope drive compensation device for the vehicle of this application. Figure 4 This is a schematic diagram of the hardware structure of the vehicle's ramp drive compensation device involved in the embodiments of this application. Detailed Implementation
[0015] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.
[0016] First, some of the technical terms used in this application will be explained to help those skilled in the art understand this application.
[0017] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0018] In a first aspect, embodiments of this application provide a method for hill-start assist compensation for vehicles.
[0019] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart of the first embodiment of the slope drive compensation method for the vehicle described in this application. Figure 1 As shown, the vehicle's hill-start compensation method includes: Step S10: When the vehicle is detected to be on a slope, obtain the current acceleration and longitudinal acceleration of the vehicle; As an example, when a vehicle is detected to be on a slope, the current vehicle acceleration and longitudinal acceleration are acquired, where the longitudinal acceleration is measured by a whole-vehicle IMU.
[0020] Step S20: Based on the current vehicle's acceleration and longitudinal acceleration, obtain the corresponding target vehicle pitch acceleration; As an example, after obtaining the current vehicle's acceleration and longitudinal acceleration, the corresponding target vehicle pitch acceleration is obtained, for example, by obtaining a preset formula. ,in, For the current vehicle's acceleration, Given the current longitudinal acceleration of the vehicle, obtain the corresponding target vehicle pitch acceleration. .
[0021] Specifically, a preset fitting curve is obtained; based on the current vehicle's acceleration and longitudinal acceleration, the preset fitting curve is queried to obtain the corresponding target vehicle pitch acceleration.
[0022] Exemplary, obtaining such Figure 2 The preset fitting curve shown is obtained by querying the current vehicle's acceleration and longitudinal acceleration in the preset fitting curve to obtain the target vehicle pitch acceleration corresponding to the current vehicle's acceleration and longitudinal acceleration in the preset fitting curve.
[0023] Step S30: Calculate the ramp acceleration value based on the target body pitch acceleration, the current vehicle acceleration, and the longitudinal acceleration; As an example, the target's pitch acceleration, the current vehicle's acceleration, and the longitudinal acceleration are obtained. The slope acceleration value is calculated by analyzing these three accelerations. For example, the first preset formula is obtained. Calculate the acceleration value of the ramp. ,in, For the current vehicle's acceleration, The current longitudinal acceleration of the vehicle. The target vehicle body pitch acceleration.
[0024] Step S40: Calculate the vehicle's compensating driving force based on the slope acceleration value to compensate for the vehicle's driving force.
[0025] As an example, in calculating the ramp acceleration value Then, obtain the vehicle's mass m, and calculate the ramp acceleration value. Multiply the mass m of the vehicle by the compensation driving force to calculate the vehicle's driving force, and use the compensation driving force to compensate for the vehicle's driving force.
[0026] Specifically, before obtaining the preset fitting curve, the process includes: obtaining the vehicle's acceleration and longitudinal acceleration on each slope; calculating the corresponding vehicle pitch acceleration based on the acceleration and longitudinal acceleration on each slope; and generating the preset fitting curve based on the acceleration on each slope and the vehicle pitch acceleration.
[0027] As an example, the vehicle's acceleration and longitudinal acceleration are acquired on various ramps, where the ramp gradient can be 0 and the number of ramps is unlimited. Based on the acceleration and longitudinal acceleration on each ramp, the corresponding vehicle pitch acceleration is calculated, for example, by obtaining a preset formula. ,in, For acceleration on each slope, Given the longitudinal acceleration on each slope, obtain the corresponding pitch acceleration of the target vehicle body. A coordinate system is generated based on the acceleration at each ramp and the vehicle's pitch acceleration. A pre-defined fitted curve is then generated by fitting the data points in this coordinate system using LOESS. For example, LOESS (Locally Weighted Scatterplot Smoothing) is a non-parametric regression method that fits the data by building a locally weighted regression model around each data point, thus generating a smooth curve. The advantage of this method is that it does not require prior assumptions about the overall distribution of the data; instead, it lets the data "speak for itself," making it suitable for handling complex, non-linear data patterns. Step 1: Select the smoothing parameter (span parameter). ,For example = 0.05. It is the most critical parameter in LOESS, as it controls the smoothness of the fitted curve. The value is between 0 and 1, indicating the value of each data point during local regression. It will consider the proportion of data points in its surrounding area. For example, = 0.05 means for each , choice and We use the most recent 5% of data points to build a local regression model. The smaller the value, the fewer local data points are considered, the more "flexible" the model is, and the easier it is for the curve to fit noise, which may lead to overfitting. A larger value indicates more local data points are considered, resulting in a smoother model, but this may lead to underfitting and the loss of important features from the data. Choosing an appropriate value is crucial. The optimal value is determined through cross-validation.
[0028] Step 2: Determine the neighborhood of each data point. Determine its neighborhood, the number of data points in the neighborhood is (n is the total number of data points, and the result is rounded down). This step involves adjusting the proportion selected in the previous step. This is converted to the specific number of neighborhood points, q. For example, if there are a total of n = 1000 data points, = 0.05, then each The neighborhood q contains 1000 0.05 = 50 data points. The algorithm will measure... Compared with all other data points The distance between them (usually Euclidean distance), then select the distance. The q nearest points are taken as its neighborhood. This neighborhood is sometimes also called a "window".
[0029] Step 3: Define the weight function. Define a weight function, such as a cubic weight function. ,in yes arrive The standardized distance. (k takes all points in the neighborhood). One of the core ideas of LOESS is "local weighting." Although all points in the neighborhood are used for fitting, their importance is different. The closer the point, the better. The fitted value at a certain point should have a greater impact; the value at a certain distance should have a greater impact. The farther the point, the smaller the influence should be. The weighting function is used to achieve this idea. Standardized distance. First, calculate the value of each point in the neighborhood. To the center absolute distance Then find the maximum distance within this neighborhood. (i.e., from the neighborhood boundary point to) (distance). It's the ratio of the distance to each point to this maximum distance. After this processing, all points in the neighborhood... The values are all within the interval [0, 1]. Center Its own =0, neighborhood boundary point =1. Tri-cube Weight Function: This is a commonly used weight function; its graph is a line in... The value at the position = 0 is 1. The curve smoothly descends from =1 to 0. (Formula) Ensured that: when = 0 (i.e., point) (itself), weight , is the maximum weight. When = 1 (i.e., edge points in the neighborhood), weight For 0 < Points with a weight less than 1 have a weight between 0 and 1, with the weight increasing as the distance between them increases. Using this smooth weight function avoids discontinuities or sharp fluctuations in the fitted values at the neighborhood boundaries.
[0030] Step 4: Perform weighted linear regression within the neighborhood. Within the neighborhood of , perform a weighted linear regression, i.e., minimize the weighted sum of squared residuals: Obtain parameter estimates and And then calculate Fitted values at This is the core computational step of the LOESS algorithm. For each point... We all establish a temporary linear regression model that applies only to its neighborhood. .
[0031] Weighted Least Squares (WLS): Ordinary linear regression minimizes... And here it is weighted, that is... This means that when calculating regression coefficients... and At that time, weight Large point (distance) Points that are closer to the center will have a greater weight in the minimization process, while points with smaller weights will have a smaller impact. Solving this weighted least squares problem yields the coefficients of the locally linear model. (Intercept) and (Slope). Calculate the fitted value: obtain and Afterwards, Substitute into this local linear model , and then I got Smooth fitted value at .
[0032] Step 5: Repeat the above process for all data points to form a curve. (i = 1, 2, ..., n) Repeat steps 2 to 4 to obtain a series of fitted values. Connect these ( , The points form a smooth curve. LOESS doesn't build a global model for the entire dataset all at once; instead, it builds a local model for each data point. This process is computationally intensive because it requires performing the complete "neighbor finding -> weight calculation -> regression solution" process for each of the n points. When the fitted values of all points... After all the calculations are completed, they are sorted into... Connecting these elements in sequence creates the final LOESS curve. This curve can flexibly adapt to the local characteristics of the data.
[0033] Step 6: Discretize into data point pairs and store as a lookup table. Discretize the fitted curve into a series of data point pairs ( , This is stored as a lookup table. After step 5, we have obtained the fitted values that correspond one-to-one with the original data points. Therefore, the discretized point pairs are ( , ), ( , ), ..., ( , Storing these point pairs as lookup tables (LUTs) is a common practice, especially in scenarios requiring fast subsequent lookups or applications (e.g., as pre-computed response curves in signal processing, image processing, or numerical simulations). A lookup table can be viewed as a function f(x) ≈ The discretized representation of x. When it is necessary to know the smoothed value corresponding to a certain x value (not necessarily the original data point), it can be obtained quickly by looking up a table (if x happens to be a value in the table) or by interpolation (if x is between two table values).
[0034] Analysis of the operation of the Matlab script smooth(x, y, span, 'loess') The Matlab code you provided, y_smooth = smooth(x, y, span, 'loess'), is an efficient implementation of the LOESS algorithm mentioned above.
[0035] x and y: vectors of independent and dependent variables, respectively.
[0036] span: This parameter corresponds to the one we analyzed above. (Smoothing parameter). Its value can be a scalar between (0, 1) representing a ratio; or an integer between [2, length(x)] representing a fixed number of neighborhood points q. When span is a scalar, Matlab will automatically calculate q = ceil(span). length(x)).
[0037] 'loess': This string specifies that the smoothing method used by the smooth function is LOESS.
[0038] y_smooth: The output is a vector of the same length as y, where each element y_smooth(i) is the original data point. , Fitted values smoothed by the LOESS algorithm .
[0039] In this embodiment, when a vehicle is detected to be on a slope, the current vehicle's acceleration and longitudinal acceleration are obtained; based on the current vehicle's acceleration and longitudinal acceleration, the corresponding target vehicle pitch acceleration is obtained; based on the target vehicle pitch acceleration, the current vehicle's acceleration, and longitudinal acceleration, the slope acceleration value is calculated; based on the slope acceleration value, the vehicle's compensation driving force is calculated to compensate for the vehicle's movement. This solves the technical problem in related technologies where errors in vehicle pitch acceleration lead to inaccurate slope value estimation, affecting the performance of the vehicle control system. It improves the accuracy of slope value estimation and enhances the performance of the vehicle control system.
[0040] Secondly, embodiments of this application also provide a slope drive compensation device for a vehicle.
[0041] In one embodiment, reference is made to Figure 3 , Figure 3 This is a functional block diagram of an embodiment of the slope drive compensation device for the vehicle described in this application. Figure 3 As shown, the vehicle's hill-start assist device includes: The first acquisition module 10 is used to acquire the current acceleration and longitudinal acceleration of the vehicle when it is detected that the vehicle is on a slope. The second acquisition module 20 is used to acquire the corresponding target vehicle pitch acceleration based on the current vehicle's acceleration and longitudinal acceleration. The calculation module 30 is used to calculate the slope acceleration value based on the target body pitch acceleration, the current vehicle acceleration, and the longitudinal acceleration; The calculation and compensation module 40 is used to calculate the compensation driving force of the vehicle based on the slope acceleration value, so as to compensate the vehicle's driving force.
[0042] Furthermore, in one embodiment, the calculation and compensation module 40 is used for: Obtain the quality of the vehicle; Based on the vehicle's mass and the slope acceleration value, the vehicle's compensating driving force is calculated to compensate for the vehicle's movement.
[0043] Furthermore, in one embodiment, the computing module 30 is used for: Obtain the first preset formula; Based on the first preset formula and the target vehicle pitch acceleration, the current vehicle acceleration, and the longitudinal acceleration, the ramp acceleration value is calculated.
[0044] Furthermore, in one embodiment, the second acquisition module 20 is used for: Obtain the preset fitted curve; Based on the current vehicle's acceleration and longitudinal acceleration, the preset fitting curve is queried to obtain the corresponding target vehicle pitch acceleration.
[0045] Furthermore, in one embodiment, the vehicle's hill-start assist device further includes a new module for: Obtain the vehicle's acceleration and longitudinal acceleration on each slope; Calculate the corresponding vehicle pitch acceleration based on the acceleration and longitudinal acceleration on each of the aforementioned ramps; Based on the acceleration on each of the ramps and the vehicle pitch acceleration, a preset fitting curve is generated.
[0046] Furthermore, in one embodiment, the vehicle's hill-start assist device further includes a new module for: A coordinate system is generated based on the acceleration on each of the aforementioned ramps and the vehicle pitch acceleration; A preset fitting curve is generated by performing LOESS fitting on the data points in the coordinate system.
[0047] Furthermore, in one embodiment, the vehicle's hill-start assist device further includes a new module for: Based on preset smoothing parameters, the neighborhood of each data point in the coordinate system and a preset weight function are determined, and linear regression is performed on the neighborhood of each data point to obtain the target coefficient; Based on the target coefficients and the obtained center data points of the coordinate system, a linear fit is performed to generate a preset fitting curve.
[0048] The functions of each module in the above-mentioned vehicle's slope drive compensation device correspond to the steps in the above-mentioned vehicle's slope drive compensation method embodiment, and their functions and implementation processes will not be described in detail here.
[0049] Thirdly, embodiments of this application provide a vehicle hill-start compensation device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.
[0050] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of a vehicle's hill-start assist device according to an embodiment of this application. In this embodiment, the vehicle's hill-start assist device may include a processor, a memory, a communication interface, and a communication bus.
[0051] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.
[0052] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the vehicle's hill-start assist device, as well as interfaces used for interconnecting the vehicle's hill-start assist device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.
[0053] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.
[0054] The processor can be a general-purpose processor, which can call the vehicle's hill-start compensation program stored in memory and execute the vehicle's hill-start compensation method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the vehicle's hill-start compensation program is called can be referred to in the various embodiments of the vehicle's hill-start compensation method of this application, and will not be repeated here.
[0055] Those skilled in the art will understand that Figure 4The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0056] Fourthly, embodiments of this application also provide a computer-readable storage medium.
[0057] The present application provides a computer-readable storage medium storing a vehicle ramp drive compensation program, wherein when the vehicle ramp drive compensation program is executed by a processor, it implements the steps of the vehicle ramp drive compensation method as described above.
[0058] The method implemented when the vehicle's hill-start compensation procedure is executed can be referred to in various embodiments of the hill-start compensation method for vehicles in this application, and will not be repeated here.
[0059] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0060] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.
[0061] In the description of the embodiments in this application, terms such as "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a specific manner.
[0062] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.
[0063] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.
[0064] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.
[0065] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A method for hill-start assist compensation for vehicles, characterized in that, The slope drive compensation method for the vehicle includes: When a vehicle is detected to be on a slope, obtain the current vehicle's acceleration and longitudinal acceleration; Based on the current vehicle's acceleration and longitudinal acceleration, obtain the corresponding target vehicle pitch acceleration; The ramp acceleration value is calculated based on the target's pitch acceleration, the current vehicle's acceleration, and the longitudinal acceleration. Based on the slope acceleration value, the vehicle's compensating driving force is calculated to compensate for the vehicle's driving force.
2. The slope drive compensation method for vehicles as described in claim 1, characterized in that, The step of calculating the vehicle's compensating driving force based on the ramp acceleration value to compensate for the vehicle's driving force includes: Obtain the quality of the vehicle; Based on the vehicle's mass and the slope acceleration value, the vehicle's compensating driving force is calculated to compensate for the vehicle's movement.
3. The slope drive compensation method for vehicles as described in claim 1, characterized in that, The step of calculating the ramp acceleration value based on the target vehicle pitch acceleration, the current vehicle acceleration, and the longitudinal acceleration includes: Obtain the first preset formula; Based on the first preset formula and the target vehicle pitch acceleration, the current vehicle acceleration, and the longitudinal acceleration, the ramp acceleration value is calculated.
4. The slope drive compensation method for vehicles as described in claim 1, characterized in that, The step of obtaining the corresponding target vehicle pitch acceleration based on the current vehicle's acceleration and longitudinal acceleration includes: Obtain the preset fitted curve; Based on the current vehicle's acceleration and longitudinal acceleration, the preset fitting curve is queried to obtain the corresponding target vehicle pitch acceleration.
5. The slope drive compensation method for vehicles as described in claim 4, characterized in that, Before obtaining the preset fitting curve, the following steps are included: Obtain the vehicle's acceleration and longitudinal acceleration on each slope; Calculate the corresponding vehicle pitch acceleration based on the acceleration and longitudinal acceleration on each of the aforementioned ramps; Based on the acceleration on each of the ramps and the vehicle pitch acceleration, a preset fitting curve is generated.
6. The slope drive compensation method for a vehicle as described in claim 5, characterized in that, The process of generating a preset fitting curve based on the acceleration on each of the ramps and the vehicle pitch acceleration includes: A coordinate system is generated based on the acceleration on each of the aforementioned ramps and the vehicle pitch acceleration; A preset fitting curve is generated by performing LOESS fitting on the data points in the coordinate system.
7. The slope drive compensation method for a vehicle as described in claim 6, characterized in that, The step of generating a preset fitting curve by performing LOESS fitting on the data points in the coordinate system includes: Based on preset smoothing parameters, the neighborhood of each data point in the coordinate system and a preset weight function are determined, and linear regression is performed on the neighborhood of each data point to obtain the target coefficient; Based on the target coefficients and the obtained center data points of the coordinate system, a linear fit is performed to generate a preset fitting curve.
8. A slope drive compensation device for a vehicle, characterized in that, The vehicle's hill-start assist device includes: The first acquisition module is used to acquire the current acceleration and longitudinal acceleration of the vehicle when it is detected that the vehicle is on a slope. The second acquisition module is used to acquire the corresponding target vehicle pitch acceleration based on the current vehicle's acceleration and longitudinal acceleration. The calculation module is used to calculate the slope acceleration value based on the target's pitch acceleration, the current vehicle's acceleration, and longitudinal acceleration. The calculation and compensation module is used to calculate the compensation driving force of the vehicle based on the slope acceleration value, so as to compensate the vehicle's driving force.
9. A slope drive compensation device for a vehicle, characterized in that, The vehicle's hill-start assist device includes a processor, a memory, and a vehicle hill-start assist program stored in the memory and executable by the processor, wherein when the vehicle hill-start assist program is executed by the processor, it implements the steps of the vehicle hill-start assist method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle ramp drive compensation program, wherein when the vehicle ramp drive compensation program is executed by a processor, it implements the steps of the vehicle ramp drive compensation method as described in any one of claims 1 to 7.