Slope recognition method, device, apparatus, and program product

Abstract

This invention discloses a slope recognition method, apparatus, device, and program product, relating to the field of hybrid electric vehicle control technology. The method includes: acquiring the current vehicle speed, current lateral sampled acceleration, current longitudinal sampled acceleration, and current vertical sampled acceleration; querying the corresponding current estimated longitudinal acceleration based on the current vehicle speed; calculating the composite gravitational acceleration based on the current lateral sampled acceleration, current longitudinal sampled acceleration, and current vertical sampled acceleration; calculating the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current estimated longitudinal acceleration; and calculating the target slope based on the current longitudinal acceleration component and the composite gravitational acceleration. The technical solution of this invention avoids the dependence of slope recognition on the gear shifting process, improving the applicability and recognition efficiency of slope recognition.

Description

Technical Field

[0001] This invention relates to the field of hybrid electric vehicle control technology, and in particular to a slope recognition method, device, equipment, and program product. Background Technology

[0002] Existing slope identification methods estimate vehicle resistance by shifting gears and calculate driving force using engine torque before shifting. They then use the calculated acceleration from these two processes to estimate the slope and load. However, this method requires a gear shift, making it unsuitable for CVT (Continuously Variable Transmission) or gearbox-less vehicles. Summary of the Invention

[0003] This invention provides a slope recognition method, apparatus, equipment, and program product, which avoids the dependence of slope recognition on the gear shifting process and improves the applicability and recognition efficiency of slope recognition.

[0004] According to one aspect of the present invention, a slope identification method is provided, the method comprising: Obtain the current vehicle speed, current lateral sampling acceleration, current longitudinal sampling acceleration, and current vertical sampling acceleration; Based on the current vehicle speed, query the corresponding current estimated longitudinal acceleration; Calculate the composite gravitational acceleration based on the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration; Calculate the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration; The target slope is calculated based on the current longitudinal acceleration component and the combined gravitational acceleration.

[0005] According to another aspect of the present invention, a slope recognition device is provided, the device comprising: The current vehicle data acquisition module is used to acquire the current vehicle speed, current lateral sampling acceleration, current longitudinal sampling acceleration, and current vertical sampling acceleration. The current longitudinal estimated acceleration query module is used to query the corresponding current longitudinal estimated acceleration based on the current vehicle speed; The composite gravitational acceleration calculation module is used to calculate the composite gravitational acceleration based on the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration. The current longitudinal acceleration component calculation module is used to calculate the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration; The target slope identification module is used to calculate the target slope based on the current longitudinal acceleration component and the combined gravitational acceleration.

[0006] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the slope recognition method according to any embodiment of the present invention.

[0007] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the slope recognition method according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the slope recognition method according to any embodiment of the present invention.

[0009] The technical solution of this invention improves the accuracy of the current longitudinal estimated acceleration by querying the corresponding current longitudinal estimated acceleration based on the current vehicle speed, thus avoiding the inaccuracy of directly calculating the current longitudinal estimated acceleration based on the current vehicle speed. Furthermore, it calculates the composite gravitational acceleration based on the current lateral sampled acceleration, current longitudinal sampled acceleration, and current vertical sampled acceleration; calculates the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration; and calculates the target slope based on the current longitudinal acceleration component and the composite gravitational acceleration. This avoids the dependence of slope recognition on the gear shifting process, improving the applicability and efficiency of slope recognition.

[0010] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of a slope identification method provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the slope vector relationship provided in Embodiment 1 of the present invention; Figure 3 This is a flowchart of a slope identification method provided in Embodiment 2 of the present invention; Figure 4 This is a flowchart of a slope identification method provided in Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of the structure of a slope recognition device according to Embodiment 3 of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device that implements the slope recognition method of this invention. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0015] Example 1 Figure 1 This is a flowchart of a slope recognition method provided in Embodiment 1 of the present invention. This embodiment of the present invention is applicable to situations requiring the recognition of a vehicle's driving slope. The method can be executed by a slope recognition device, which can be implemented in hardware and / or software, and can be configured in an electronic device that performs slope recognition functionality.

[0016] See Figure 1The slope identification method shown includes: S101. Obtain the current vehicle speed, current lateral sampling acceleration, current longitudinal sampling acceleration, and current vertical sampling acceleration.

[0017] The current vehicle is the one used for slope recognition. The current vehicle speed is the vehicle's speed at the current moment. The current lateral sampled acceleration is the sampled value of the current vehicle's lateral angular velocity at the current moment. The current lateral sampled acceleration is the sampled value of the acceleration in the lateral direction on the ramp plane. The current longitudinal sampled acceleration is the sampled value of the current vehicle's longitudinal acceleration at the current moment. The current longitudinal sampled acceleration is the sampled value of the acceleration in the longitudinal direction on the ramp plane. The current vertical sampled acceleration is the sampled value of the current vehicle's vertical angular velocity at the current moment. The current vertical sampled acceleration is the sampled value of the acceleration in the vertical direction on the ramp plane.

[0018] Specifically, the vehicle speed sensor collects the current vehicle speed at the current moment. The accelerometer collects the current lateral, longitudinal, and vertical acceleration samples of the current vehicle at the current moment.

[0019] S102. Based on the current vehicle speed, query the corresponding current longitudinal estimated acceleration.

[0020] The current longitudinal estimated acceleration is the longitudinal acceleration of the current vehicle retrieved based on the current vehicle speed. In comparison, the current longitudinal sampled acceleration is a sampled value of the current vehicle's longitudinal acceleration; the current longitudinal estimated acceleration is a retrieved value of the current vehicle's longitudinal angular velocity. Optionally, there can be a preset correspondence between the current vehicle speed and the current longitudinal estimated acceleration. Based on this pre-calibrated correspondence, the corresponding current longitudinal estimated acceleration can be retrieved using the current vehicle speed. This avoids errors caused by direct calculation.

[0021] Specifically, based on the current vehicle speed, the system queries the pre-defined correspondence between the vehicle speed and the longitudinal estimated acceleration to determine the corresponding current longitudinal estimated acceleration.

[0022] S103. Calculate the combined gravitational acceleration based on the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration.

[0023] The composite gravitational acceleration is the combined value of the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration.

[0024] Specifically, the gravitational acceleration synthesis formula can be used to synthesize the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration to obtain the synthesized gravitational acceleration.

[0025] For example, the following formula can be used to represent the formula for the composition of gravitational acceleration: ; In the formula, Indicates the resultant gravitational acceleration; Indicates the current lateral sampling acceleration; Indicates the current longitudinal sampling acceleration; This indicates the current vertical sampling acceleration.

[0026] S104. Calculate the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration.

[0027] In comparison, the current longitudinal sampling acceleration is the longitudinal acceleration collected by the vehicle's accelerometer, and it includes the component of the composite gravitational acceleration in the longitudinal direction of the ramp plane. The current longitudinal estimated acceleration, on the other hand, is obtained by querying a pre-defined correspondence between vehicle speed and the estimated longitudinal acceleration, and it does not include the component of the composite gravitational acceleration in the longitudinal direction of the ramp plane. The current longitudinal acceleration component is the difference between the current longitudinal sampling acceleration and the current longitudinal estimated acceleration. Essentially, the current longitudinal acceleration component characterizes the component of the composite gravitational acceleration in the longitudinal direction of the ramp plane.

[0028] Specifically, the difference between the current longitudinal sampled acceleration and the current longitudinal estimated acceleration is calculated to obtain the current longitudinal acceleration component.

[0029] S105. Calculate the target slope based on the current longitudinal acceleration component and the combined gravitational acceleration.

[0030] The target slope is the gradient of the incline that the vehicle is currently traveling on at the current moment. For example, the slope vector relationship is as follows: Figure 2 As shown, This represents the current longitudinal acceleration component; This is the resultant gravitational acceleration; This represents the current longitudinal sampling acceleration; This is the current longitudinal estimated acceleration.

[0031] Specifically, the slope calculation formula can be used to calculate the target slope based on the current longitudinal acceleration component and the resultant acceleration.

[0032] For example, the following formula can be used to represent the slope calculation formula: ; In the formula, The target slope; This represents the current longitudinal acceleration component; This is the composite gravitational acceleration.

[0033] In an optional embodiment of the present invention, calculating the target slope based on the current longitudinal acceleration component and the resultant gravitational acceleration includes: calculating the target slope angle based on the current longitudinal acceleration component and the resultant gravitational acceleration; and calculating the target slope based on the target slope angle.

[0034] The target slope angle is the angle between the ramp plane and the horizontal plane at the current moment the vehicle is traveling on. The target slope is the ratio between the vertical distance the vehicle has risen vertically and the horizontal distance it has traveled on the ramp plane at the current moment.

[0035] Specifically, the slope angle calculation formula can be used to calculate the target slope angle based on the current longitudinal acceleration component and the resultant gravitational acceleration. The slope calculation formula can also be used to calculate the target slope based on the target slope angle.

[0036] For example, the following formula can be used to represent the formula for calculating the slope angle: ; In the formula, The angle between the target slopes; This represents the current longitudinal acceleration component; This is the composite gravitational acceleration.

[0037] For example, the following formula can be used to represent the slope calculation formula: ; In the formula, The target slope; The angle between the target slope and the slope.

[0038] This scheme improves the interpretability of the target slope calculation process and further enhances the accuracy of the target slope calculation by first calculating the target slope angle based on the current longitudinal acceleration component and the combined gravitational acceleration, and then calculating the target slope based on the target slope angle.

[0039] In an optional embodiment of the present invention, calculating the target slope angle based on the current longitudinal acceleration component and the composite gravitational acceleration includes: obtaining the slope sensor installation error; and calculating the target slope angle based on the current longitudinal acceleration component, the composite gravitational acceleration, and the slope sensor installation error.

[0040] The installation error of a slope sensor is the error between the actual installation state and the ideal state of the slope sensor. For example, the installation error of a slope sensor may include pitch error, roll error, and / or yaw error.

[0041] Specifically, the pre-calibrated slope sensor installation error can be obtained. A slope angle calculation formula that takes into account the slope sensor installation error can be used to calculate the target slope angle based on the current longitudinal acceleration component, the combined gravitational acceleration, and the slope sensor installation error.

[0042] For example, the following formula can be used to represent the formula for calculating the slope angle considering the installation error of the slope sensor: ; In the formula, The angle between the target slopes; This represents the current longitudinal acceleration component; This is the resultant gravitational acceleration; This is due to installation error of the slope sensor.

[0043] This solution takes into account the installation error of the slope sensor during the calculation of the target slope angle, further improving the accuracy of the target slope angle and the target slope.

[0044] In an optional embodiment of the present invention, after calculating the target slope, the method further includes: performing low-pass filtering on the target slope and updating the target slope.

[0045] Specifically, a slope low-pass filtering formula can be used to perform low-pass filtering on the target slope and update the target slope.

[0046] For example, the following formula can be used to represent the slope low-pass filter formula: ; In the formula, The target slope after low-pass filtering; For example, slope filtering coefficients ; The target slope.

[0047] This solution improves the accuracy of the target slope by applying a low-pass filter.

[0048] In an optional embodiment of the present invention, after calculating the target slope, the method further includes: performing precision processing on the target slope and updating the target slope.

[0049] Specifically, a precision processing formula can be used to process the target slope and update the target slope.

[0050] For example, the following formula can be used to represent the precision processing formula: ; In the formula, The target slope after precision processing; The function is used for rounding; The target slope; For example, the frequency division coefficient. The corresponding precision is one decimal place.

[0051] This solution improves the applicability of the target slope by refining and updating it, reducing the computational load in subsequent applications, and increasing the efficiency of data processing.

[0052] The technical solution of this invention improves the accuracy of the current longitudinal estimated acceleration by querying the corresponding current longitudinal estimated acceleration based on the current vehicle speed, thus avoiding the inaccuracy of directly calculating the current longitudinal estimated acceleration based on the current vehicle speed. Furthermore, it calculates the composite gravitational acceleration based on the current lateral sampled acceleration, current longitudinal sampled acceleration, and current vertical sampled acceleration; calculates the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration; and calculates the target slope based on the current longitudinal acceleration component and the composite gravitational acceleration. This avoids the dependence of slope recognition on the gear shifting process, improving the applicability and efficiency of slope recognition.

[0053] Example 2 Figure 3 This is a flowchart of a slope recognition method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment of the present invention specifies "querying the corresponding current longitudinal estimated acceleration based on the current vehicle speed" as "querying the first correspondence between pre-calibrated vehicle speed and delay factor based on the current vehicle speed to determine the current delay factor; and querying the second correspondence between pre-stored delay factor and longitudinal sampled acceleration based on the current delay factor to determine the current longitudinal estimated acceleration." This approach considers the delay factor and introduces the first correspondence between pre-calibrated vehicle speed and delay factor, as well as the second correspondence between pre-stored delay factor and longitudinal sampled acceleration, thereby improving the query efficiency and accuracy of the current longitudinal estimated acceleration. It should be noted that parts not detailed in this embodiment of the present invention can be found in the descriptions of other embodiments.

[0054] See Figure 3 The slope identification method shown includes: S301. Obtain the current vehicle speed, current lateral sampling acceleration, current longitudinal sampling acceleration, and current vertical sampling acceleration.

[0055] S302. Based on the current vehicle speed, query the first correspondence between the pre-calibrated vehicle speed and the delay factor to determine the current delay factor.

[0056] The first correspondence is the pre-defined correspondence between vehicle speed and delay factor. For example, the first correspondence may take the form of a curve or an array. The current delay factor is the delay factor corresponding to the current vehicle speed.

[0057] Specifically, based on the current vehicle speed, the first correspondence between the pre-calibrated vehicle speed and the delay factor can be queried to determine the current delay factor corresponding to the current vehicle speed.

[0058] S303. Based on the current delay factor, query the second correspondence between the pre-stored delay factor and the longitudinal sampling acceleration to determine the current longitudinal estimated acceleration.

[0059] The second correspondence is the pre-stored correspondence between the delay factor and the longitudinal sampling acceleration. For example, the second correspondence may take the form of a curve or an array.

[0060] Specifically, for the current delay factor, the second correspondence between the pre-stored delay factor and the longitudinal sampling acceleration can be queried to determine the current estimated longitudinal acceleration corresponding to the current delay factor.

[0061] S304. Calculate the combined gravitational acceleration based on the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration.

[0062] S305. Calculate the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration.

[0063] S306. Calculate the target slope based on the current longitudinal acceleration component and the combined gravitational acceleration.

[0064] The technical solution of this invention determines the current delay factor by querying a pre-calibrated first correspondence between the vehicle speed and the delay factor based on the current vehicle speed, and then determines the current longitudinal estimated acceleration by querying a pre-stored second correspondence between the delay factor and the longitudinal sampling acceleration based on the current delay factor. By considering the delay factor and introducing the pre-calibrated first correspondence between the vehicle speed and the delay factor, as well as the pre-stored second correspondence between the delay factor and the longitudinal sampling acceleration, the query efficiency and accuracy of the current longitudinal estimated acceleration are improved.

[0065] In an optional embodiment of the present invention, before determining the current delay factor by querying a pre-calibrated first correspondence between vehicle speed and delay factor based on the current vehicle speed, the method further includes: acquiring the historical sampled vehicle speed and historical longitudinal sampled acceleration of the current vehicle at least two historical moments, and determining the target vehicle speed based on each historical sampled vehicle speed; calculating the historical estimated longitudinal acceleration based on the historical sampled vehicle speeds of adjacent historical moments, and determining the target estimated longitudinal acceleration based on each historical estimated longitudinal acceleration; calculating the historical correlation between the historical longitudinal sampled acceleration and the historical estimated longitudinal acceleration; determining the delay factor corresponding to the target vehicle speed and the delay factor corresponding to the target estimated longitudinal acceleration based on the delay corresponding to the maximum value of the historical correlation; generating a first correspondence between vehicle speed and delay factor based on each target vehicle speed and its corresponding delay factor; and generating a second correspondence between delay factor and longitudinal sampled acceleration based on the delay factor corresponding to each target estimated longitudinal acceleration.

[0066] The historical timeframe refers to the data collection timeframe prior to the current timeframe. For example, the historical timeframe can be the data collection timeframe within a preset time period, starting from the timeframe preceding the current timeframe. The historical sampled vehicle speed is the vehicle speed of the current vehicle at a historical timeframe. The historical longitudinal sampled acceleration is the sampled value of the longitudinal acceleration of a vehicle at a historical timeframe. The historical longitudinal sampled acceleration is the sampled value of the acceleration in the longitudinal direction along the ramp plane. The target vehicle speed is the statistical result of all historical vehicle speeds. For example, the target vehicle speed can be the average of all historical vehicle speeds. The historical longitudinal estimated acceleration is the calculated value of the longitudinal acceleration obtained based on the historical vehicle speeds of adjacent historical timeframes. The target longitudinal estimated acceleration is the statistical result of all historical longitudinal estimated accelerations. For example, the target longitudinal estimated acceleration can be the average of all historical longitudinal estimated accelerations.

[0067] Historical correlation is the cross-correlation between historical longitudinal sampling acceleration and historical longitudinal estimated acceleration. Historical correlation characterizes the degree of correlation between historical longitudinal sampling acceleration and historical longitudinal estimated acceleration. The delay factor is the delay corresponding to the maximum historical correlation between historical longitudinal sampling acceleration and historical longitudinal estimated acceleration. In other words, the delay factor is used to characterize the optimal value of the delay between historical longitudinal sampling acceleration and historical longitudinal estimated acceleration.

[0068] Specifically, the vehicle speed is obtained by measuring the vehicle speed acceleration at least two historical moments, and the longitudinal acceleration of the vehicle is obtained by measuring the acceleration of the vehicle at least two historical moments.

[0069] Specifically, the target vehicle speed can be obtained by calculating the average of the historical sampled vehicle speeds. The estimated historical longitudinal acceleration can be obtained by differentiating the historical sampled vehicle speeds at adjacent historical moments. Finally, the estimated target longitudinal acceleration can be obtained by calculating the average of the estimated historical longitudinal accelerations.

[0070] Specifically, a correlation calculation formula can be used to calculate the historical correlation between historical longitudinal sampling acceleration and historical longitudinal estimated acceleration.

[0071] For example, the following formula can be used to represent the correlation calculation formula: ; In the formula, The historical correlation between historical longitudinal sampled acceleration and historical longitudinal estimated acceleration; For delay; The total amount at any historical moment; A historic moment; Historical longitudinal sampling acceleration; This is a historical longitudinal estimate of acceleration.

[0072] Specifically, the delay corresponding to the maximum historical correlation is determined as the delay factor corresponding to the target vehicle speed and the delay factor corresponding to the target longitudinal estimated acceleration.

[0073] Specifically, based on the target vehicle speed and its corresponding delay factor, a first correspondence between vehicle speed and delay factor is generated. Based on the delay factor corresponding to the longitudinal estimated acceleration of each target, a second correspondence between delay factor and longitudinal sampled acceleration is generated.

[0074] This solution improves the query efficiency of the current longitudinal sampling acceleration by pre-determining the first correspondence between vehicle speed and delay factor and the second correspondence between delay factor and longitudinal sampling acceleration.

[0075] Based on the above embodiments, Figure 4 A preferred embodiment of a slope identification method is provided. See also Figure 4 The slope identification method includes: S401, Collect current vehicle speed.

[0076] Specifically, the current vehicle speed is obtained by the vehicle speed sensor.

[0077] For example, the current vehicle speed is .

[0078] S402, Collect current acceleration.

[0079] Specifically, the lateral sampling acceleration of the vehicle in three directions is collected by the accelerometer. Current longitudinal sampling acceleration and current vertical sampling acceleration .in, This represents the current longitudinal sampling acceleration.

[0080] For example, the current vehicle speed is collected by an acceleration sensor. , and Acceleration in three directions.

[0081] Optionally, a low-pass filter formula for the sampling acceleration can be used to filter the current lateral sampling acceleration. Current longitudinal sampling acceleration and current vertical sampling acceleration Perform low-pass filtering separately and update the current lateral sampling acceleration. Current longitudinal sampling acceleration and current vertical sampling acceleration .

[0082] For example, the following formula can be used to represent the low-pass filter formula for sampling acceleration: ; ; ; In the formula, This is the current lateral sampling acceleration after low-pass filtering; This represents the current lateral sampling acceleration; This is the current longitudinal sampling acceleration after low-pass filtering; This represents the current longitudinal sampling acceleration; This represents the current vertical sampling acceleration after low-pass filtering. This represents the current vertical sampling acceleration; , and These are the filter coefficients for low-pass filtering of sampling acceleration.

[0083] See the example above, for , , The process of low-pass filtering is as follows: ; ; .

[0084] Among them, the filter coefficients of the sampling acceleration low-pass filter processing .

[0085] S403, Calculate the combined gravitational acceleration.

[0086] Specifically, the formula for the synthesis of gravitational acceleration is used to measure the current lateral sampling acceleration. Current longitudinal sampling acceleration and current vertical sampling acceleration The composite gravitational acceleration is obtained by performing a synthesis.

[0087] For example, the following formula can be used to represent the formula for the composition of gravitational acceleration: ; In the formula, Indicates the resultant gravitational acceleration; This is the current lateral sampling acceleration after low-pass filtering; This is the current longitudinal sampling acceleration after low-pass filtering; This represents the current vertical sampling acceleration after low-pass filtering.

[0088] Referring to the example above, the process of calculating the resultant gravitational acceleration is as follows: .

[0089] S404: Obtain the current delay factor from the current vehicle speed.

[0090] Specifically, based on the current vehicle speed, the calibration curve of the first preset relationship between vehicle speed and delay factor can be queried to determine the current delay factor corresponding to the current vehicle speed.

[0091] For example, Table 1 shows the first preset relationship between vehicle speed and delay factor. Taking the example above, the current vehicle speed is According to Table 1, the current delay factor is 2.

[0092] The process of determining the calibration curve of the first preset relationship between vehicle speed and delay factor, and the second correspondence between delay factor and longitudinal sampling acceleration, includes: Specifically, in offline mode, N sampling points can be captured, for example The sampling points include historical vehicle speeds and historical longitudinal sampling accelerations at historical moments.

[0093] Specifically, the historical vehicle speed at adjacent historical moments can be differentiated to obtain the estimated historical longitudinal acceleration.

[0094] Specifically, a low-pass filtering formula for estimated acceleration can be used to perform low-pass filtering on the historical longitudinal estimated acceleration and update the historical longitudinal estimated acceleration.

[0095] For example, the following formula can be used to represent the low-pass filter formula for estimating acceleration: ; In the formula, This is the historical longitudinal estimated acceleration after low-pass filtering; To estimate the filter coefficients for acceleration low-pass filtering; This is a historical longitudinal estimate of acceleration.

[0096] Referring to the example above, the historical vehicle speeds at adjacent historical moments... and Differential calculations yielded the historical longitudinal estimated acceleration. And the historical longitudinal estimation acceleration of the previous historical moment. The vehicle's filtered acceleration is obtained by performing low-pass filtering. The corresponding low-pass filtering process is as follows: .

[0097] Among them, the filter coefficients of the sampling acceleration low-pass filter processing .

[0098] Specifically, the target vehicle speed is determined based on the average historical vehicle speed of N sampling points. The target longitudinal sampling acceleration is determined based on the average historical longitudinal sampling acceleration of N sampling points.

[0099] Specifically, a correlation calculation formula can be used to calculate the historical correlation between the historical longitudinal estimated acceleration of the current vehicle at the target speed and the historical longitudinal sampled acceleration.

[0100] For example, the following formula can be used to represent the correlation calculation formula: ; In the formula, The historical correlation between historical longitudinal sampled acceleration and historical longitudinal estimated acceleration; For delay; The total amount at any historical moment; A historic moment; This is the historical longitudinal estimated acceleration after low-pass filtering; This represents the historical longitudinal sampling acceleration after low-pass filtering.

[0101] Specifically, the delay corresponding to the maximum historical correlation is determined as the delay factor corresponding to the target vehicle speed and the delay factor corresponding to the target longitudinal estimated acceleration.

[0102] Specifically, by repeating the above steps, the delay factor T under different target vehicle speeds and the delay factor T under different target longitudinal estimated accelerations are obtained.

[0103] Specifically, based on the first preset correspondence between the target vehicle speed and the delay factor T, a calibration curve is generated with the delay factor T as the abscissa and the target vehicle speed as the ordinate. Based on the second pre-defined correspondence between the target longitudinal estimated acceleration and the delay factor T, a two-dimensional array Z is designed to cyclically store M historical longitudinal estimated accelerations and the second correspondence between the delay factors, for example... .

[0104] S405. Obtain the current longitudinal estimated acceleration from the current delay factor.

[0105] Specifically, based on the current delay factor, the two-dimensional array Z corresponding to the second correspondence between the delay factor and the longitudinal sampling acceleration can be queried to obtain the current longitudinal estimated acceleration corresponding to the current longitudinal sampling acceleration.

[0106] For example, Table 2 shows the second correspondence between the delay factor and the longitudinal sampling acceleration. Referring to the example above, with a current delay factor of 2, and consulting Table 2, we can see that the current estimated longitudinal acceleration corresponding to the current longitudinal sampling acceleration is... Assume that the two-dimensional array Z stores .

[0107] S406. Calculate the current longitudinal acceleration component.

[0108] Specifically, the longitudinal acceleration component can be calculated using the formula for calculating the longitudinal sampled acceleration and the current longitudinal estimated acceleration to obtain the current longitudinal acceleration component.

[0109] For example, the following formula can be used to represent the formula for calculating the longitudinal acceleration component: ; In the formula, This represents the current longitudinal acceleration component; This represents the historical longitudinal sampling acceleration after low-pass filtering. This is the current longitudinal estimated acceleration.

[0110] See the example above, by and The current longitudinal acceleration component is calculated. The specific calculation process is as follows: .

[0111] S407. Calculate the target slope angle.

[0112] Specifically, a slope angle calculation formula that takes into account the installation error of the slope sensor can be used to calculate the target slope angle based on the current longitudinal acceleration component, the combined gravitational acceleration, and the installation error of the slope sensor.

[0113] For example, the following formula can be used to represent the formula for calculating the slope angle considering the installation error of the slope sensor: ; In the formula, The angle between the target slopes; This represents the current longitudinal acceleration component; This is the resultant gravitational acceleration; This is due to installation error of the slope sensor.

[0114] Referring to the example above, the resultant gravitational acceleration With the current longitudinal acceleration component The target slope angle is calculated. The calculation process is as follows: .

[0115] in, This is due to installation error of the slope sensor.

[0116] S408. Calculate the target slope.

[0117] Specifically, the slope calculation formula can be used to calculate the target slope based on the included angle of the target slope.

[0118] For example, the following formula can be used to represent the slope calculation formula: ; In the formula, The target slope; The angle between the target slope and the slope.

[0119] Referring to the example above, the target slope is calculated from the included angle of the target slope. The calculation process is as follows: .

[0120] Optionally, a precision processing formula can be used to round the target slope and multiply it by the frequency division coefficient to obtain the target slope with one decimal place.

[0121] For example, the following formula can be used to represent the precision processing formula: ; In the formula, The target slope after precision processing; The function is used for rounding; The target slope is represented by 0.1, which is the frequency division coefficient with a precision of one decimal place.

[0122] Referring to the example above, for the target slope Precision processing is performed to obtain the target slope with one decimal place. For example, first rounding down and then multiplying by the frequency division coefficient, the specific processing steps are as follows: .

[0123] Optionally, a slope low-pass filtering formula can be used to perform low-pass filtering on the target slope and update the target slope.

[0124] For example, the following formula can be used to represent the slope low-pass filter formula: ; In the formula, The target slope after low-pass filtering; For example, slope filtering coefficients ; This is the target slope after precision processing.

[0125] Referring to the example above, the target slope after precision processing. Perform low-pass filtering to obtain the target slope after low-pass filtering. The processing procedure is as follows: ; Among them, the slope filtering coefficient .

[0126] This invention proposes a dynamic slope recognition method based on acceleration signal alignment. It adopts acceleration sampling and vehicle speed differential calculation, which integrates the advantages of dynamic calculation and sensor calculation. It also innovatively proposes a time alignment method, which significantly improves the accuracy of dynamic slope calculation. At the same time, this method avoids the real-time problem caused by calculating driving resistance using gear shift gaps. It does not require a gear shift cycle and can obtain the slope value at the moment of starting.

[0127] Example 3 Figure 5 This is a schematic diagram of a slope recognition device provided in Embodiment 3 of the present invention. This embodiment of the present invention is applicable to situations requiring the recognition of vehicle driving slope. The device can execute a slope recognition method and can be implemented in hardware and / or software. The device can be configured in an electronic device that performs slope recognition functionality.

[0128] See Figure 5The slope recognition device shown includes: a current vehicle data acquisition module 501, a current longitudinal estimated acceleration query module 502, a composite gravity acceleration calculation module 503, a current longitudinal acceleration component calculation module 504, and a target slope recognition module 505. Specifically, the current vehicle data acquisition module 501 is used to acquire the current vehicle speed, current lateral sampling acceleration, current longitudinal sampling acceleration, and current vertical sampling acceleration; the current longitudinal estimated acceleration query module 502 is used to query the corresponding current longitudinal estimated acceleration based on the current vehicle speed; the composite gravity acceleration calculation module 503 is used to calculate the composite gravity acceleration based on the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration; the current longitudinal acceleration component calculation module 504 is used to calculate the current longitudinal acceleration component based on the current longitudinal sampling acceleration and the current longitudinal estimated acceleration; and the target slope recognition module 505 is used to calculate the target slope based on the current longitudinal acceleration component and the composite gravity acceleration.

[0129] The technical solution of this invention improves the accuracy of the current longitudinal estimated acceleration by querying the corresponding current longitudinal estimated acceleration based on the current vehicle speed, thus avoiding the inaccuracy of directly calculating the current longitudinal estimated acceleration based on the current vehicle speed. Furthermore, it calculates the composite gravitational acceleration based on the current lateral sampled acceleration, current longitudinal sampled acceleration, and current vertical sampled acceleration; calculates the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration; and calculates the target slope based on the current longitudinal acceleration component and the composite gravitational acceleration. This avoids the dependence of slope recognition on the gear shifting process, improving the applicability and efficiency of slope recognition.

[0130] In an optional embodiment of the present invention, the current longitudinal estimated acceleration query module 502 includes: a current delay factor determination unit, configured to determine the current delay factor by querying a first correspondence between a pre-calibrated vehicle speed and a delay factor based on the current vehicle speed; and a current longitudinal estimated acceleration query unit, configured to determine the current longitudinal estimated acceleration by querying a second correspondence between a pre-stored delay factor and a longitudinal sampled acceleration based on the current delay factor.

[0131] In an optional embodiment of the present invention, the current longitudinal estimated acceleration query module 502 further includes: a target vehicle speed determination unit, configured to, before querying the first correspondence between the pre-calibrated vehicle speed and the delay factor based on the current vehicle speed and determining the current delay factor, acquire the historical sampled vehicle speed and historical longitudinal sampled acceleration of the current vehicle at least two historical moments, and determine the target vehicle speed based on each of the historical sampled vehicle speeds; and a target longitudinal estimated acceleration determination unit, configured to, calculate the historical longitudinal estimated acceleration based on the historical sampled vehicle speeds of adjacent historical moments, and determine the target longitudinal estimated acceleration based on each of the historical longitudinal estimated accelerations. The historical correlation determination unit is used to calculate the historical correlation between the historical longitudinal sampling acceleration and the historical longitudinal estimated acceleration; the delay factor determination unit is used to determine the delay factor corresponding to the target vehicle speed and the delay factor corresponding to the target longitudinal estimated acceleration based on the delay corresponding to the maximum value of the historical correlation; the first correspondence generation unit is used to generate a first correspondence between vehicle speed and delay factor based on each target vehicle speed and its corresponding delay factor; the second correspondence generation unit is used to generate a second correspondence between delay factor and longitudinal sampling acceleration based on the delay factor corresponding to each target longitudinal estimated acceleration.

[0132] In an optional embodiment of the present invention, the target slope identification module 505 includes: a target slope angle calculation unit, used to calculate the target slope angle based on the current longitudinal acceleration component and the combined gravitational acceleration; and a target slope calculation unit, used to calculate the target slope based on the target slope angle.

[0133] In an optional embodiment of the present invention, the target slope angle calculation unit includes: a slope sensor installation error acquisition subunit, used to acquire the slope sensor installation error; and a target slope angle calculation subunit, used to calculate the target slope angle based on the current longitudinal acceleration component, the combined gravitational acceleration, and the slope sensor installation error.

[0134] In an optional embodiment of the present invention, the device further includes a target slope filtering processing module, configured to perform low-pass filtering processing on the target slope after calculating the target slope, and update the target slope.

[0135] In an optional embodiment of the present invention, the device further includes a target slope accuracy processing module, used to perform accuracy processing on the target slope after the target slope is calculated, and to update the target slope.

[0136] The slope recognition device provided in the embodiments of the present invention can execute the slope recognition method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0137] The acquisition, storage, and application of the current vehicle speed, current lateral sampling acceleration, current longitudinal sampling acceleration, current vertical sampling acceleration, historical sampling vehicle speed at least two historical moments, historical longitudinal sampling acceleration, and slope sensor installation error involved in the technical solutions of this invention all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0138] Example 4 Figure 6 A schematic diagram of an electronic device 600 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0139] like Figure 6 As shown, the electronic device 600 includes at least one processor 601 and a memory, such as a read-only memory (ROM) 602 or a random access memory (RAM) 603, communicatively connected to the at least one processor 601. The memory stores computer programs executable by the at least one processor. The processor 601 can perform various appropriate actions and processes based on the computer program stored in the ROM 602 or loaded into the RAM 603 from storage unit 608. The RAM 603 may also store various programs and data required for the operation of the electronic device 600. The processor 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0140] Multiple components in electronic device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, etc.; output unit 607, such as various types of displays, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows electronic device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0141] Processor 601 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 601 performs the various methods and processes described above, such as slope recognition methods.

[0142] In some embodiments, the slope identification method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by processor 601, one or more steps of the slope identification method described above may be performed. Alternatively, in other embodiments, processor 601 may be configured to perform the slope identification method by any other suitable means (e.g., by means of firmware).

[0143] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0144] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0145] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0146] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0147] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0148] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability.

[0149] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0150] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A slope identification method, characterized in that, The method includes: Obtain the current vehicle speed, current lateral sampling acceleration, current longitudinal sampling acceleration, and current vertical sampling acceleration; Based on the current vehicle speed, query the corresponding current estimated longitudinal acceleration; Calculate the composite gravitational acceleration based on the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration; Calculate the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration; The target slope is calculated based on the current longitudinal acceleration component and the combined gravitational acceleration.

2. The method according to claim 1, characterized in that, The step of querying the corresponding current longitudinal estimated acceleration based on the current vehicle speed includes: Based on the current vehicle speed, query the first correspondence between the pre-calibrated vehicle speed and the delay factor to determine the current delay factor; Based on the current delay factor, query the second correspondence between the pre-stored delay factor and the longitudinal sampling acceleration to determine the current estimated longitudinal acceleration.

3. The method according to claim 2, characterized in that, Before determining the current delay factor by querying the pre-calibrated first correspondence between the vehicle speed and the delay factor based on the current vehicle speed, the method further includes: Obtain the historical sampled vehicle speed and historical longitudinal sampled acceleration of the current vehicle at least two historical moments when it is offline, and determine the target vehicle speed based on the historical sampled vehicle speeds. Based on the historical sampled vehicle speeds at adjacent historical moments, calculate the historical longitudinal estimated acceleration, and based on each of the historical longitudinal estimated accelerations, determine the target longitudinal estimated acceleration; Calculate the historical correlation between the historical longitudinal sampled acceleration and the historical longitudinal estimated acceleration; Based on the delay corresponding to the maximum value of the historical correlation, determine the delay factor corresponding to the target vehicle speed and the delay factor corresponding to the target longitudinal estimated acceleration; Based on each target vehicle speed and its corresponding delay factor, a first correspondence between vehicle speed and delay factor is generated; Based on the delay factor corresponding to the longitudinal estimated acceleration of each target, a second correspondence between the delay factor and the longitudinal sampled acceleration is generated.

4. The method according to claim 1, characterized in that, The step of calculating the target slope based on the current longitudinal acceleration component and the combined gravitational acceleration includes: Calculate the target slope angle based on the current longitudinal acceleration component and the combined gravitational acceleration; Calculate the target slope based on the target slope angle.

5. The method according to claim 4, characterized in that, The step of calculating the target slope angle based on the current longitudinal acceleration component and the combined gravitational acceleration includes: Obtain the installation error of the slope sensor; The target slope angle is calculated based on the current longitudinal acceleration component, the combined gravitational acceleration, and the slope sensor installation error.

6. The method according to claim 1 or 4, characterized in that, Following the calculation of the target slope, the following is also included: The target slope is then low-pass filtered and updated.

7. The method according to claim 1 or 4, characterized in that, Following the calculation of the target slope, the following is also included: The target slope is then processed for accuracy and updated.

8. A slope recognition device, characterized in that, The device includes: The current vehicle data acquisition module is used to acquire the current vehicle speed, current lateral sampling acceleration, current longitudinal sampling acceleration, and current vertical sampling acceleration. The current longitudinal estimated acceleration query module is used to query the corresponding current longitudinal estimated acceleration based on the current vehicle speed; The composite gravitational acceleration calculation module is used to calculate the composite gravitational acceleration based on the current lateral sampling acceleration, the current longitudinal sampling acceleration, and the current vertical sampling acceleration. The current longitudinal acceleration component calculation module is used to calculate the current longitudinal acceleration component based on the current longitudinal sampled acceleration and the current longitudinal estimated acceleration; The target slope identification module is used to calculate the target slope based on the current longitudinal acceleration component and the combined gravitational acceleration.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the slope identification method according to any one of claims 1-7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the slope recognition method according to any one of claims 1-7.

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