CN112249025B

CN112249025B - Method, device, equipment and medium for identifying longitudinal gradient of vehicle running road

Info

Publication number: CN112249025B
Application number: CN202011178720.9A
Authority: CN
Inventors: 丁磊; 杨园兴
Original assignee: Human Horizons Shanghai Internet Technology Co Ltd
Current assignee: Human Horizons Shanghai Internet Technology Co Ltd
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2022-04-08
Anticipated expiration: 2040-10-29
Also published as: CN112249025A

Abstract

The invention discloses a method, a device, equipment and a medium for identifying the longitudinal gradient of a vehicle running road, wherein the method comprises the following steps: acquiring state parameters of a vehicle, wherein the state parameters at least comprise wheel speed, longitudinal acceleration and motor torque; determining a longitudinal gradient value of a current running road of the vehicle according to motion parameters of the vehicle, wherein the motion parameters at least comprise wheel speed and longitudinal acceleration; determining the current motion intensity of the vehicle according to the motion intensity determination parameters of the vehicle, wherein the motion intensity determination parameters comprise at least one of longitudinal acceleration and motor torque; determining a current filtering parameter corresponding to the current motion intensity of the vehicle based on a corresponding relation between a preset motion intensity and the filtering parameter; and taking the current filtering parameter as a filtering coefficient, and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value. The embodiment of the invention can accurately identify the longitudinal gradient of the running road of the vehicle.

Description

Method, device, equipment and medium for identifying longitudinal gradient of vehicle running road

Technical Field

The invention relates to the technical field of automobiles, in particular to a method, a device, equipment and a medium for identifying the longitudinal gradient of a running road of a vehicle.

Background

The longitudinal gradient of the road is one of important parameters in the field of vehicle control, and has important significance for improving the intellectualization and the informatization of the automobile. At present, the wheel speed and the longitudinal acceleration of a vehicle are generally collected by a wheel speed sensor and a longitudinal acceleration sensor of the vehicle, and then the longitudinal gradient of a road on which the vehicle runs is identified based on the wheel speed and the longitudinal acceleration. However, in the process of implementing the present invention, the inventor finds that, during the running process of the vehicle, the vehicle is entirely shaken or jittered due to the emergency acceleration and deceleration, which directly affects the accuracy of the measurement result of the longitudinal acceleration sensor, and thus affects the accuracy of the road longitudinal gradient identification, whereas the prior art does not consider the influence of the intensity of the vehicle motion on the road longitudinal gradient identification, and therefore the accuracy is low.

Disclosure of Invention

The embodiment of the invention provides a method, a device, equipment and a medium for identifying the longitudinal gradient of a vehicle running road, which can carry out filtering processing on the longitudinal gradient value of the vehicle running road according to the current movement intensity of the vehicle, so that the identification precision of the longitudinal gradient of the vehicle running road is improved.

An embodiment of the invention provides a method for identifying a longitudinal gradient of a running road of a vehicle, which comprises the following steps:

acquiring state parameters of a vehicle, wherein the state parameters at least comprise wheel speed, longitudinal acceleration and motor torque;

determining a longitudinal gradient value of a current running road of the vehicle according to motion parameters of the vehicle, wherein the motion parameters at least comprise the wheel speed and the longitudinal acceleration;

determining the current movement intensity of the vehicle according to a movement intensity determination parameter of the vehicle, wherein the movement intensity determination parameter comprises at least one of the longitudinal acceleration and the motor torque;

determining a current filtering parameter corresponding to the current movement intensity of the vehicle based on a corresponding relation between a preset movement intensity and the filtering parameter;

and taking the current filtering parameter as a filtering coefficient, and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value.

As a refinement of the above solution, the motion parameters include a first motion parameter and a second motion parameter;

then, the determining the longitudinal gradient value of the current driving road of the vehicle according to the motion parameter of the vehicle specifically includes:

calculating an actual acceleration of the vehicle based on the first motion parameter, the first motion parameter including at least the wheel speed;

calculating the component of the gravity acceleration along the current driving road of the vehicle according to the second motion parameter, wherein the second motion parameter at least comprises the longitudinal acceleration and the actual acceleration;

and determining the longitudinal gradient value of the current running road of the vehicle according to the component of the gravity acceleration along the current running road of the vehicle.

As an improvement of the above scheme, the state parameters further include a heading angle rate and a front wheel steering angle; the first motion parameters further comprise the course angle rate and the front wheel steering angle;

then, the calculating the actual acceleration of the vehicle according to the first motion parameter specifically includes:

according to the course angle rate, the front wheel steering angle and preset structural parameters of the vehicle, performing lateral component removal processing on the wheel speed to obtain the longitudinal wheel speed of the vehicle; wherein the structural parameters include a front axle to center of mass distance, a rear axle to center of mass distance, and a wheel track;

determining a longitudinal vehicle speed of the vehicle according to a longitudinal wheel speed of the vehicle;

and obtaining the actual acceleration of the vehicle by carrying out derivation on the longitudinal speed of the vehicle.

As a modification of the above, the wheel speeds include a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed;

the longitudinal wheel speeds comprise a left front wheel longitudinal wheel speed, a right front wheel longitudinal wheel speed, a left rear wheel longitudinal wheel speed and a right rear wheel longitudinal wheel speed;

the left front wheel longitudinal wheel speed VX _ FL _ CAL, the left front wheel speed VX _ FL, the course angle rate Yaw, the front wheel steering angle Ang, the front axle to center of mass distance L1, the rear axle to center of mass distance L2, and the wheel Track satisfy the following relationships:

VX_FL_CAL＝{Vx_FL+[(L1+L2)*Yaw*sin(Ang)]}/cos(Ang)+Yaw*Track/2；

the right front wheel longitudinal wheel speed VX _ FR _ CAL, the right front wheel speed VX _ FR, the Yaw rate Yaw, the front wheel steering angle Ang, the front axle to center of mass distance L1, the rear axle to center of mass distance L2, and the wheel Track satisfy the following relationship:

VX_FR_CAL＝{Vx_FR-[(L1+L2)*Yaw*sin(Ang)]}/cos(Ang)-Yaw*Track/2；

the left rear wheel longitudinal wheel speed VX _ RL _ CAL, the left rear wheel speed VX _ RL, the course angular rate Yaw and the wheel Track satisfy the following relations:

VX_RL_CAL＝Vx_RL+Yaw*Track/2；

the right rear wheel longitudinal wheel speed VX _ RR _ CAL, the right rear wheel speed VX _ RR, the course angular rate Yaw and the wheel Track satisfy the following relations:

VX_RR_CAL＝Vx_RR-Yaw*Track/2。

as an improvement of the above scheme, the state parameters further include a pitch angle acceleration of the vehicle body; the second motion parameter further comprises the pitch angle acceleration of the vehicle body;

wherein the vehicle body pitch angle acceleration is obtained by:

acquiring the height of a left front suspension, the height of a right front suspension, the height of a left rear suspension and the height of a right rear suspension of the vehicle through a left front suspension sensor, a right front suspension sensor, a left rear suspension sensor and a right rear suspension sensor of the vehicle respectively;

determining a vehicle body pitch angle of the vehicle according to the left front suspension height, the right front suspension height, the left rear suspension height, the right rear suspension height and a preset front and rear suspension distance of the vehicle;

and calculating the product of the pitch angle of the vehicle body and the gravity acceleration of the vehicle to obtain the current pitch angle acceleration of the vehicle body.

As a refinement of the above, the state parameter further includes a master cylinder pressure;

then, the method further comprises:

determining the current motion state of the vehicle according to the motion state determination parameter of the vehicle; wherein the motion state determination parameter includes at least one of the longitudinal acceleration, the actual acceleration, and the motor torque, and the motion state includes an acceleration state and a deceleration state;

if the vehicle is currently in an acceleration state, determining parameters of the intensity of motion of the vehicle as including the longitudinal acceleration, the actual acceleration and the motor torque;

and if the vehicle is in a deceleration state at present, determining the parameters of the intensity of movement of the vehicle as including the longitudinal acceleration, the master cylinder pressure, the actual acceleration and the motor torque.

As an improvement of the above scheme, the determining the current intensity of motion of the vehicle according to the intensity of motion determination parameter of the vehicle specifically includes:

the motor torque is subjected to derivation to obtain a torque gradient of the vehicle;

if the vehicle is in a deceleration state at present, determining a current first type acceleration and deceleration degree value corresponding to the torque gradient and the master cylinder pressure of the vehicle based on a preset corresponding relation between the master cylinder pressure and the torque gradient and the first type acceleration and deceleration degree value;

if the vehicle is currently in an acceleration state, determining a current first type acceleration and deceleration degree value corresponding to the torque gradient of the vehicle based on a corresponding relation between a preset torque gradient and the first type acceleration and deceleration degree value;

determining a current second type acceleration and deceleration degree value corresponding to the longitudinal acceleration of the vehicle based on a corresponding relation between a preset longitudinal acceleration and the second type acceleration and deceleration degree value;

calculating a derivative of the longitudinal acceleration of the vehicle and a derivative of the actual acceleration of the vehicle, respectively;

subtracting the derivative of the actual acceleration of the vehicle from the derivative of the longitudinal acceleration of the vehicle to obtain an acceleration gradient of the vehicle;

determining a current third type acceleration and deceleration degree value corresponding to the acceleration gradient of the vehicle based on a corresponding relation between a preset acceleration gradient and the third type acceleration and deceleration degree value;

if the vehicle is currently in an acceleration state, determining the total acceleration degree value of the vehicle according to the corresponding relation among the current first type acceleration and deceleration degree value, the current second type acceleration and deceleration degree value and the current third type acceleration and deceleration degree value on the basis of the corresponding relation among the preset first type acceleration and deceleration degree value, the second type acceleration and deceleration degree value, the third type acceleration and deceleration degree value and the total acceleration degree value, and determining the current movement intensity degree of the vehicle according to the total acceleration degree value of the vehicle on the basis of the corresponding relation between the preset total acceleration degree value and the movement intensity degree;

if the vehicle is in a deceleration state at present, determining the total deceleration degree value of the vehicle according to the corresponding relation between the preset first type acceleration and deceleration degree value, the preset second type acceleration and deceleration degree value, the preset third type acceleration and deceleration degree value and the total deceleration degree value on the basis of the corresponding relation between the preset first type acceleration and deceleration degree value, the preset second type acceleration and deceleration degree value and the preset third type acceleration and deceleration degree value, and determining the current movement intensity degree of the vehicle according to the total deceleration degree value of the vehicle on the basis of the corresponding relation between the preset total deceleration degree value and the movement intensity degree.

Another embodiment of the present invention provides an apparatus for recognizing a longitudinal gradient of a road on which a vehicle travels, including:

the state parameter acquiring module is used for acquiring state parameters of the vehicle, wherein the state parameters at least comprise wheel speed, longitudinal acceleration and motor torque;

the longitudinal gradient value calculation module is used for determining the longitudinal gradient value of the current running road of the vehicle according to the motion parameters of the vehicle, wherein the motion parameters at least comprise the wheel speed and the longitudinal acceleration;

the motion intensity determination module is used for determining the current motion intensity of the vehicle according to a motion intensity determination parameter of the vehicle, and the motion intensity determination parameter comprises at least one of the longitudinal acceleration and the motor torque;

the filtering parameter determining module is used for determining a current filtering parameter corresponding to the current motion intensity of the vehicle based on the corresponding relation between the preset motion intensity and the filtering parameter;

and the filtering processing module is used for taking the current filtering parameter as a filtering coefficient and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value.

Another embodiment of the present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method for identifying the longitudinal gradient of the road on which the vehicle travels according to any one of the above.

Another embodiment of the present invention also provides a computer-readable storage medium including a stored computer program, wherein when the computer program runs, a device in which the computer-readable storage medium is located is controlled to execute the method for identifying the longitudinal gradient of the road on which the vehicle travels according to any one of the above items.

Compared with the prior art, the method, the device, the equipment and the medium for identifying the longitudinal gradient of the road on which the vehicle runs provided by the embodiment of the invention determine the longitudinal gradient value of the current road on which the vehicle runs according to the acquired motion parameters of the vehicle; determining the current movement intensity of the vehicle according to the acquired determination parameter of the movement intensity of the vehicle; determining a current filtering parameter corresponding to the current movement intensity of the vehicle based on a corresponding relation between a preset movement intensity and the filtering parameter; and taking the current filtering parameter as a filtering coefficient, and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value, thereby realizing the identification of the longitudinal gradient of the vehicle running road. Based on the analysis, the embodiment can perform filtering processing on the calculated longitudinal gradient value of the current running road of the vehicle according to the current movement intensity of the vehicle, so that the influence of the movement intensity of the vehicle on the identification of the longitudinal gradient of the road is reduced, and the identification precision of the longitudinal gradient of the running road of the vehicle is improved.

Drawings

FIG. 1 is a schematic flow chart illustrating a method for identifying a longitudinal gradient of a vehicle traveling on a road according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a method for identifying a longitudinal gradient of a road on which a vehicle is traveling according to another embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an apparatus for identifying a longitudinal gradient of a road on which a vehicle travels according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a terminal device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a flowchart of a method for identifying a longitudinal gradient of a driving road of a vehicle according to an embodiment of the present invention is shown.

The embodiment of the invention provides a method for identifying the longitudinal gradient of a vehicle running road, which comprises the following steps:

s11, acquiring the state parameters of the vehicle; wherein the state parameters include at least wheel speed, longitudinal acceleration and motor torque.

For example, it may be specifically that the wheel speed and the longitudinal acceleration of the vehicle are acquired by a wheel speed sensor and a longitudinal acceleration sensor of the vehicle, respectively.

S12, determining the longitudinal gradient value of the current running road of the vehicle according to the motion parameters of the vehicle, wherein the motion parameters at least comprise the wheel speed and the longitudinal acceleration.

For example, when the vehicle runs on a slope, the longitudinal acceleration Ax _ sensor measured by the longitudinal acceleration sensor of the vehicle body includes a component g × sin (a) of the gravitational acceleration along the current running road of the vehicle, and the actual acceleration Ax _ cal derived from the vehicle speed of the vehicle does not include this information, so that the longitudinal gradient can be estimated by using the difference between the two, wherein g × sin (a) is Ax _ sensor-Ax _ cal. Specifically, the current speed of the vehicle may be calculated according to the current wheel speed of the vehicle, and then the current speed of the vehicle is differentiated to obtain the current actual acceleration of the vehicle. It should be noted that there are various methods for calculating the vehicle speed according to the wheel speed, such as an average wheel speed method or a maximum vehicle speed method, and the method is not limited herein.

And S13, determining the current motion intensity of the vehicle according to the motion intensity determination parameters of the vehicle, wherein the motion intensity determination parameters comprise at least one of the longitudinal acceleration and the motor torque.

The intensity of the motion refers to the intensity of acceleration and deceleration of the vehicle during running. During the running process of the vehicle, the longitudinal acceleration of the vehicle can reflect the movement intensity of the vehicle, and the greater the longitudinal acceleration, the greater the movement intensity of the vehicle is. And when the vehicle decelerates, the motor is in an energy recovery state, the torque of the motor is a negative value, the more the negative value increases, the more serious the braking is, and the larger the intensity of the motion of the vehicle is, and similarly, when the vehicle accelerates, the faster the torque increases, the larger the intensity of the violence of the driver stepping on the accelerator is, and the larger the intensity of the motion of the vehicle is. Thus, the current severity of the movement of the vehicle may be determined from at least one of said longitudinal acceleration and said motor torque.

It should be noted that the intensity of the movement of the vehicle may be divided according to actual needs, and is not limited herein, and for example, the intensity of the movement of the vehicle may include not intensity, slightly intensity, moderately intensity, and heavily intensity.

And S14, determining the current filter parameter corresponding to the current movement intensity of the vehicle based on the corresponding relation between the preset movement intensity and the filter parameter.

It should be noted that, the correspondence between the intensity of motion and the filter parameter may be set according to the influence of the intensity of motion of the vehicle on the identification of the longitudinal gradient of the road in an actual situation, and is not limited herein. Illustratively, according to the intensive studies of the influence of the intensity of motion of the vehicle on the identification of the longitudinal gradient of the road by the inventor, the correspondence relationship between the intensity of motion and the filter parameter may be specifically set as: when the intensity degree of the motion of the vehicle is not intense, the filtering parameter is 0.8; when the motion intensity of the vehicle is mild and severe, the filtering parameter is 0.3; when the intensity degree of the motion of the vehicle is moderate and intense, the filtering parameter is 0.1; when the motion intensity of the vehicle is severe, the filtering parameter is 0.03.

And S15, taking the current filtering parameter as a filtering coefficient, and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value.

For example, the filtering process may be performed in various ways, and is not limited herein. As an example, the current filtering parameter may be used as a filtering coefficient of a first-order recursive discrete filter, and the longitudinal gradient value is filtered by the first-order recursive discrete filter, so as to obtain the target longitudinal gradient value, where a formula used by the first-order recursive discrete filter is: y [ N ] - [ a x [ N ] + (1-a) × y [ N-1], a sampling frequency f ═ 50Hz, and a cutoff frequency (a x f)/(2pi), where y [ N ] represents a target longitudinal slope value output by the filter at time N, x [ N ] represents a longitudinal slope value input to the filter at time N, and y [ N-1] represents a target longitudinal slope value output by the filter at time N-1.

According to the method for identifying the longitudinal gradient of the vehicle running road, provided by the embodiment of the invention, the longitudinal gradient value of the current running road of the vehicle is determined according to the acquired motion parameters of the vehicle; determining the current movement intensity of the vehicle according to the acquired determination parameter of the movement intensity of the vehicle; determining a current filtering parameter corresponding to the current movement intensity of the vehicle based on a corresponding relation between a preset movement intensity and the filtering parameter; and taking the current filtering parameter as a filtering coefficient, and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value, thereby realizing the identification of the longitudinal gradient of the vehicle running road. Based on the analysis, the embodiment can perform filtering processing on the calculated longitudinal gradient value of the current running road of the vehicle according to the current movement intensity of the vehicle, so that the influence of the movement intensity of the vehicle on the identification of the longitudinal gradient of the road is reduced, and the identification precision of the longitudinal gradient of the running road of the vehicle is improved.

As one of the alternative embodiments, the motion parameters include a first motion parameter and a second motion parameter.

Then, referring to fig. 2, the step S12 specifically includes:

s121, calculating the actual acceleration of the vehicle according to the first motion parameter, wherein the first motion parameter at least comprises the wheel speed.

It should be noted that the actual acceleration refers to an acceleration that does not include a component of the gravitational acceleration along the current travel road. Specifically, the current speed of the vehicle may be calculated according to the current wheel speed of the vehicle, and then the current speed of the vehicle is differentiated to obtain the current actual acceleration of the vehicle.

And S122, calculating the component of the gravity acceleration along the current running road of the vehicle according to the second motion parameter, wherein the second motion parameter at least comprises the longitudinal acceleration and the actual acceleration.

For example, when the vehicle runs on a slope, the longitudinal acceleration Ax _ sensor measured by the longitudinal acceleration sensor of the vehicle body includes a component g × sin (a) of the gravitational acceleration along the current running road of the vehicle, and the actual acceleration Ax _ cal derived from the vehicle speed of the vehicle does not include this information, so that the longitudinal gradient can be estimated by using the difference between the two, wherein g × sin (a) is Ax _ sensor-Ax _ cal.

And S123, determining the longitudinal gradient value of the current running road of the vehicle according to the component of the gravity acceleration along the current running road of the vehicle.

Further, the state parameters also comprise a course angle speed and a front wheel steering angle; the first motion parameters further comprise the course angle rate and the front wheel steering angle;

then, the step S121 specifically includes:

s1211, according to the course angle rate, the front wheel steering angle and preset structural parameters of the vehicle, performing lateral component removing processing on the wheel speed to obtain the longitudinal wheel speed of the vehicle; wherein the structural parameters include a front axle to center of mass distance, a rear axle to center of mass distance, and a wheel track;

s1212, determining the longitudinal speed of the vehicle according to the longitudinal wheel speed of the vehicle;

s1213, conducting derivation on the longitudinal speed of the vehicle to obtain the actual acceleration of the vehicle.

Illustratively, the course angular rate may specifically be acquired by a course angular rate sensor on the vehicle body; the front wheel steering angle can be obtained by acquiring the steering wheel angle and calculating according to the steering wheel angle and the steering transmission ratio.

It should be noted that, due to reasons such as steering, the wheel speed is not always in the same direction as the vehicle speed, and when the wheel speed includes a lateral component, the actual longitudinal acceleration cannot be accurately reflected, so that in the embodiment, when the vehicle speed is calculated, the lateral component of the wheel speed is removed according to the course angular rate, the front wheel steering angle and the preset structural parameters of the vehicle, so that the wheel speed only has a longitudinal component, that is, the longitudinal wheel speed, the longitudinal vehicle speed is determined according to the longitudinal wheel speed, and then the longitudinal vehicle speed is derived, thereby obtaining the actual acceleration, and effectively improving the accuracy of the actual acceleration, thereby further improving the accuracy of identifying the longitudinal gradient of the traveling road of the vehicle.

Specifically, the wheel speeds include a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed;

VX_FL_CAL＝{Vx_FL+[(L1+L2)*Yaw*sin(Ang)]}/cos(Ang)+Yaw*Track/2；

VX_FR_CAL＝{Vx_FR-[(L1+L2)*Yaw*sin(Ang)]}/cos(Ang)-Yaw*Track/2；

VX_RL_CAL＝Vx_RL+Yaw*Track/2；

VX_RR_CAL＝Vx_RR-Yaw*Track/2。

further, the state parameters further comprise vehicle body pitch angle acceleration; the second motion parameter further comprises the pitch acceleration of the vehicle body.

It should be noted that the suspension attitude of the vehicle may cause an error in the slope estimation, and therefore, in the embodiment, the influence of the vehicle body inclination angle on the road slope estimation is considered, the vehicle body longitudinal inclination angle acceleration caused by the height of the suspension is eliminated, and the accuracy of the component of the gravity acceleration along the current running road of the vehicle can be improved, so that the accuracy of the identification of the vehicle running road longitudinal slope is further improved.

Specifically, the component of the gravitational acceleration along the current road on which the vehicle is traveling and the longitudinal gradient value satisfy the following relationship:

a＝arcsin([Ax_sensor-Ax_cal-Ax_body]/g)

wherein a represents the longitudinal gradient value, [ Ax _ sensor-Ax _ cal-Ax _ body ] represents a component of the gravitational acceleration along the road on which the vehicle is currently traveling, g represents the gravitational acceleration, Ax _ sensor represents the longitudinal acceleration, Ax _ cal represents the actual acceleration, and Ax _ body represents the body pitch angle acceleration.

Specifically, the vehicle body pitch angle acceleration is obtained by:

Wherein the vehicle body pitch angle AANG1, the front left suspension height H _ FL, the front right suspension height H _ FR, the rear left suspension height H _ RL, the rear right suspension height H _ RR and the front-rear suspension distance L satisfy the following relationships:

further, the state parameter further includes a master cylinder pressure;

then, referring to fig. 2, the method further comprises:

s21, determining the current motion state of the vehicle according to the motion state determination parameters of the vehicle; wherein the motion state determination parameter includes at least one of the longitudinal acceleration, the actual acceleration, and the motor torque, and the motion state includes an acceleration state and a deceleration state;

s22, if the vehicle is in an acceleration state at present, determining the motion intensity degree judgment parameters of the vehicle as comprising the longitudinal acceleration, the actual acceleration and the motor torque;

and S23, if the vehicle is in a deceleration state at present, determining the parameters of the intensity of movement of the vehicle as including the longitudinal acceleration, the master cylinder pressure, the actual acceleration and the motor torque.

It should be noted that any one of the longitudinal acceleration, the actual acceleration and the motor torque may reflect the motion state of the vehicle, and when the longitudinal acceleration, the actual acceleration or the motor torque is a negative value, it indicates that the vehicle is in a deceleration state, and when the longitudinal acceleration, the actual acceleration or the motor torque is a positive value, it indicates that the vehicle is in an acceleration state.

It is understood that the actual acceleration can also indicate the intensity of the movement of the vehicle, similar to the longitudinal acceleration, and will not be described herein. When the vehicle is in a deceleration state, the greater the master cylinder pressure, the deeper the brake is stepped on by the driver, and the higher the intensity of the movement.

In the embodiment, the motion state of the vehicle is determined according to the motion state determination parameter of the vehicle, and then the motion intensity determination parameter of the vehicle is accurately determined according to the motion state of the vehicle, so that the accuracy of motion intensity determination can be improved, and the accuracy of longitudinal gradient identification is improved.

Further, the step S13 specifically includes:

s131, performing derivation on the motor torque to obtain a torque gradient of the vehicle;

s132, if the vehicle is in a deceleration state at present, determining a current first type acceleration and deceleration degree value corresponding to the torque gradient and the master cylinder pressure of the vehicle based on the corresponding relation among preset master cylinder pressure, torque gradient and the first type acceleration and deceleration degree value;

s133, if the vehicle is currently in an acceleration state, determining a current first type acceleration and deceleration degree value corresponding to the torque gradient of the vehicle based on a corresponding relation between a preset torque gradient and the first type acceleration and deceleration degree value;

s134, determining a current second type acceleration and deceleration degree value corresponding to the longitudinal acceleration of the vehicle based on the corresponding relation between the preset longitudinal acceleration and the second type acceleration and deceleration degree value;

s135, respectively calculating a derivative of the longitudinal acceleration of the vehicle and a derivative of the actual acceleration of the vehicle;

s136, subtracting the derivative of the actual acceleration of the vehicle from the derivative of the longitudinal acceleration of the vehicle to obtain the acceleration gradient of the vehicle;

s137, determining a current third type acceleration and deceleration degree value corresponding to the acceleration gradient of the vehicle based on the corresponding relation between the preset acceleration gradient and the third type acceleration and deceleration degree value;

s138, if the vehicle is currently in an acceleration state, determining the total acceleration degree value of the vehicle according to the corresponding relation among the preset first type acceleration and deceleration degree value, the preset second type acceleration and deceleration degree value and the current third type acceleration and deceleration degree value on the basis of the corresponding relation among the preset first type acceleration and deceleration degree value, the preset second type acceleration and deceleration degree value, the preset third type acceleration and deceleration degree value and the total acceleration degree value of the vehicle;

s139, if the vehicle is in a deceleration state at present, determining the total deceleration degree value of the vehicle according to the corresponding relation among the preset first type acceleration and deceleration degree value, the preset second type acceleration and deceleration degree value, the preset third type acceleration and deceleration degree value and the total deceleration degree value based on the corresponding relation among the preset first type acceleration and deceleration degree value, the preset second type acceleration and deceleration degree value and the preset third type acceleration and deceleration degree value, and determining the current motion intensity of the vehicle according to the total deceleration degree value of the vehicle based on the corresponding relation between the preset total deceleration degree value and the motion intensity.

It should be noted that, in the specific implementation, the corresponding relationship between the master cylinder pressure, the torque gradient and the first type of acceleration/deceleration degree value, the corresponding relationship between the longitudinal acceleration and the second type of acceleration/deceleration degree value, the corresponding relationship between the acceleration gradient and the third type of acceleration/deceleration degree value, the corresponding relationship between the first type of acceleration/deceleration degree value, the second type of acceleration/deceleration degree value, the corresponding relationship between the third type of acceleration/deceleration degree value and the total acceleration/deceleration degree value, the corresponding relationship between the total acceleration degree value and the degree of movement, and the corresponding relationship between the total deceleration degree value and the degree of movement may all be set according to the actual calibration, and are not intended to be limiting herein.

It should be noted that, when the vehicle is in a deceleration state, the master cylinder pressure and the torque gradient can comprehensively reflect the severity of the braking behavior of the driver, and therefore, the first type deceleration degree value determined according to the master cylinder pressure and the torque gradient can reflect the influence of the braking behavior of the driver on the severity of the deceleration of the vehicle. When the vehicle is in an acceleration state, the torque gradient can reflect the severity of the accelerator stepping action of the driver, so that the first type deceleration degree value determined according to the torque gradient can reflect the influence of the accelerator stepping action of the driver on the acceleration severity of the vehicle. The magnitude of the longitudinal acceleration reflects the intensity of acceleration and deceleration of the vehicle to some extent. In addition, since the error between the longitudinal acceleration and the actual acceleration is caused by the severe acceleration and deceleration behavior, the error between the longitudinal acceleration and the actual acceleration can well reflect the severity of the acceleration and deceleration of the vehicle, and the inventor of the present invention has studied and found that the asynchronism between the gradients of the longitudinal acceleration and the actual acceleration can relatively closely reflect the error between the longitudinal acceleration and the actual acceleration, so that the present embodiment obtains an acceleration gradient that can reflect the error between the longitudinal acceleration and the actual acceleration by subtracting the derivative of the actual acceleration (the gradient of the actual acceleration) and the derivative of the longitudinal acceleration (the gradient of the longitudinal acceleration), and determines the third type acceleration and deceleration value according to the obtained acceleration gradient. Based on the above analysis, in this embodiment, if the vehicle is currently in a deceleration state, the current total deceleration degree value of the vehicle is determined through three dimensions, namely, the master cylinder pressure and torque gradient, the longitudinal acceleration and the acceleration gradient, if the vehicle is currently in an acceleration state, the current total acceleration degree value of the vehicle is determined through three dimensions, namely, the torque gradient, the longitudinal acceleration and the acceleration gradient, and then the current intensity of movement of the vehicle is determined according to the current total acceleration degree value or the total deceleration degree value of the vehicle, so that the accuracy of identifying the current intensity of movement of the vehicle can be effectively improved, and the accuracy of identifying the longitudinal gradient of the running road of the vehicle is further improved.

In a specific embodiment, the preset corresponding relationship between the master cylinder pressure, the torque gradient and the first type acceleration and deceleration degree value is shown in table 1, referring to table 1, the master cylinder pressure is divided into four levels, the torque gradient is divided into four levels, in the specific implementation, the maximum value of the first type acceleration and deceleration degree values corresponding to the two levels is taken as the final first type acceleration and deceleration degree value considered in the whole, for example, when the master cylinder pressure of the vehicle is 0, the energy recovery torque gradient is-30, the first type acceleration and deceleration degree value is taken as 1.3; the corresponding relation between the preset torque gradient and the first type acceleration and deceleration degree value is shown in table 2; the corresponding relation between the preset longitudinal acceleration and the second type acceleration and deceleration degree value is shown in table 3; the correspondence between the preset acceleration gradient and the third type acceleration-deceleration value is shown in table 4.

Preferably, after the weights of the first type acceleration and deceleration degree value, the second type acceleration and deceleration degree value and the third type acceleration and deceleration degree value are measured and calibrated according to the actual situation, the corresponding relationship among the first type acceleration and deceleration degree value, the second type acceleration and deceleration degree value, the third type acceleration and deceleration degree value and the total deceleration degree value is set as the first type acceleration and deceleration degree value, the second type acceleration and deceleration degree value and the third type acceleration and deceleration degree value, and the corresponding relationship among the first type acceleration and deceleration degree value, the second type acceleration and deceleration degree value, the third type acceleration and deceleration degree value and the total acceleration degree value is set as the first type acceleration and deceleration degree value, the second type acceleration and deceleration degree value and the third type acceleration degree value. It will be appreciated that a greater value of the total acceleration or deceleration of the vehicle indicates more intense vehicle motion.

Correspondingly, through calibration, it is found that the corresponding relationship between the preset total deceleration degree value and the movement intensity is specifically as follows: when the total deceleration degree value is less than 5.4, the movement intensity of the vehicle is not intense; when the total deceleration degree value is more than or equal to 5.4 and less than 7.2, the violent degree of the movement of the vehicle is mild violent; when the total deceleration degree value is more than or equal to 7.2 and less than 10.4, the intensity of the movement of the vehicle is moderate and intense; when the total deceleration degree value is less than or equal to 10.4, the movement intensity of the vehicle is severe. The preset corresponding relationship between the total acceleration degree value and the exercise intensity is specifically as follows: when the total acceleration degree value is less than 5.5, the movement intensity of the vehicle is not intense; when the total acceleration degree value is more than or equal to 5.5 and less than 9, the violent degree of the movement of the vehicle is mild violent; when the total acceleration degree value is more than or equal to 9 and less than 12, the intensity of the movement of the vehicle is moderate and intense; when the total acceleration degree value is less than or equal to 12, the movement intensity of the vehicle is severe.

TABLE 1

TABLE 2

TABLE 3

TABLE 4

Correspondingly, the embodiment of the invention also provides a device for identifying the longitudinal gradient of the vehicle running road, which can implement all the processes of the method for identifying the longitudinal gradient of the vehicle running road.

Fig. 3 is a schematic structural diagram of an apparatus for identifying a longitudinal gradient of a driving road of a vehicle according to an embodiment of the present invention.

The embodiment of the invention provides a device for identifying the longitudinal gradient of a running road of a vehicle, which comprises:

a state parameter obtaining module 21, configured to obtain a state parameter of a vehicle; wherein the state parameters include at least wheel speed, longitudinal acceleration, and motor torque;

a longitudinal gradient value calculation module 22, configured to determine a longitudinal gradient value of a current road on which the vehicle is traveling according to motion parameters of the vehicle, where the motion parameters at least include the wheel speed and the longitudinal acceleration;

a motion intensity determination module 23, configured to determine a current motion intensity of the vehicle according to a motion intensity determination parameter of the vehicle, where the motion intensity determination parameter includes at least one of the longitudinal acceleration and the motor torque;

the filtering parameter determining module 24 is configured to determine a current filtering parameter corresponding to the current motion intensity of the vehicle based on a preset correspondence between the motion intensity and the filtering parameter;

and the filtering processing module 25 is configured to perform filtering processing on the longitudinal gradient value by using the current filtering parameter as a filtering coefficient, so as to obtain a target longitudinal gradient value.

The principle of the device for identifying the longitudinal gradient of the vehicle running road is the same as that of the embodiment of the method, and the description is omitted.

According to the device for identifying the longitudinal gradient of the vehicle running road, provided by the embodiment of the invention, the longitudinal gradient value of the current running road of the vehicle is determined according to the acquired motion parameters of the vehicle; determining the current movement intensity of the vehicle according to the acquired determination parameter of the movement intensity of the vehicle; determining a current filtering parameter corresponding to the current movement intensity of the vehicle based on a corresponding relation between a preset movement intensity and the filtering parameter; and taking the current filtering parameter as a filtering coefficient, and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value, thereby realizing the identification of the longitudinal gradient of the vehicle running road. Based on the analysis, the embodiment can perform filtering processing on the calculated longitudinal gradient value of the current running road of the vehicle according to the current movement intensity of the vehicle, so that the influence of the movement intensity of the vehicle on the identification of the longitudinal gradient of the road is reduced, and the identification precision of the longitudinal gradient of the running road of the vehicle is improved.

As one of the alternative embodiments, the motion parameters include a first motion parameter and a second motion parameter, the first motion parameter includes at least the wheel speed, and the second motion parameter includes at least the longitudinal acceleration and the actual acceleration;

then, the longitudinal gradient value calculating module specifically includes:

an actual acceleration calculation unit configured to calculate an actual acceleration of the vehicle based on the first motion parameter;

the gravity acceleration component calculation unit is used for calculating the component of the gravity acceleration along the current running road of the vehicle according to the second motion parameter;

and the gradient value calculation unit is used for determining the longitudinal gradient value of the current running road of the vehicle according to the component of the gravity acceleration along the current running road of the vehicle.

then, the actual acceleration calculation unit is specifically configured to:

VX_FL_CAL＝{Vx_FL+[(L1+L2)*Yaw*sin(Ang)]}/cos(Ang)+Yaw*Track/2；

VX_FR_CAL＝{Vx_FR-[(L1+L2)*Yaw*sin(Ang)]}/cos(Ang)-Yaw*Track/2；

VX_RL_CAL＝Vx_RL+Yaw*Track/2；

VX_RR_CAL＝Vx_RR-Yaw*Track/2。

further, the state parameters further comprise vehicle body pitch angle acceleration; the second motion parameter further comprises the pitch angle acceleration of the vehicle body;

wherein the vehicle body pitch angle acceleration is obtained by:

Further, the state parameter further includes a master cylinder pressure;

then, the device also comprises a motion state determining module and a motion intensity judging parameter determining module;

the motion state determining module is used for determining the current motion state of the vehicle according to the motion state judgment parameter of the vehicle; wherein the motion state determination parameter includes at least one of the longitudinal acceleration, the actual acceleration, and the motor torque, and the motion state includes an acceleration state and a deceleration state;

the motion intensity determination parameter determination module is specifically configured to:

Further, the exercise intensity determination module is specifically configured to:

The terminal device provided by the embodiment of the invention comprises a processor 31, a memory 32 and a computer program which is stored in the memory 32 and configured to be executed by the processor 31, wherein the processor 31 realizes the method for identifying the longitudinal gradient of the running road of the vehicle according to any one of the above embodiments when executing the computer program.

The processor 31, when executing the computer program, implements the steps in the above-described embodiment of the method for identifying a longitudinal gradient of a vehicle travel road, such as all the steps of the method for identifying a longitudinal gradient of a vehicle travel road shown in fig. 1. Alternatively, the processor 31 may implement the functions of the modules/units in the above-described embodiment of the device for identifying the longitudinal gradient of the vehicle traveling road when executing the computer program, for example, the functions of the modules of the device for identifying the longitudinal gradient of the vehicle traveling road shown in fig. 3.

Illustratively, the computer program may be divided into one or more modules, which are stored in the memory 32 and executed by the processor 31 to accomplish the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device. For example, the computer program may be divided into a state parameter acquisition module, a longitudinal gradient value calculation module, a motion intensity determination module, a filtering parameter determination module, and a filtering processing module, and each module has the following specific functions: the state parameter acquiring module is used for acquiring state parameters of the vehicle, wherein the state parameters at least comprise wheel speed, longitudinal acceleration and motor torque; the longitudinal gradient value calculation module is used for determining the longitudinal gradient value of the current running road of the vehicle according to the motion parameters of the vehicle, wherein the motion parameters at least comprise the wheel speed and the longitudinal acceleration; the motion intensity determination module is used for determining the current motion intensity of the vehicle according to a motion intensity determination parameter of the vehicle, and the motion intensity determination parameter comprises at least one of the longitudinal acceleration and the motor torque; the filtering parameter determining module is used for determining a current filtering parameter corresponding to the current motion intensity of the vehicle based on the corresponding relation between the preset motion intensity and the filtering parameter; and the filtering processing module is used for taking the current filtering parameter as a filtering coefficient and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value.

The terminal device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The terminal device may include, but is not limited to, a processor 31, a memory 32. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a terminal device and does not constitute a limitation of a terminal device, and may include more or less components than those shown, or combine certain components, or different components, for example, the terminal device may also include input output devices, network access devices, buses, etc.

The Processor 31 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 31 is a control center of the terminal device and connects various parts of the whole terminal device by using various interfaces and lines.

The memory 32 can be used for storing the computer programs and/or modules, and the processor 31 can implement various functions of the terminal device by running or executing the computer programs and/or modules stored in the memory 32 and calling the data stored in the memory 32. The memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the terminal device, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

Wherein, the terminal device integrated module/unit can be stored in a computer readable storage medium if it is implemented in the form of software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.

It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. A method for identifying a longitudinal gradient of a road on which a vehicle is traveling, comprising:

acquiring state parameters of a vehicle, wherein the state parameters at least comprise wheel speed, longitudinal acceleration, course angle rate, front wheel steering angle and motor torque;

calculating the actual acceleration of the vehicle according to a first motion parameter, wherein the first motion parameter comprises the wheel speed, the course angle rate and the front wheel steering angle;

calculating a component of the gravity acceleration along the current driving road of the vehicle according to a second motion parameter, wherein the second motion parameter comprises the longitudinal acceleration and the actual acceleration;

according to the component, determining a longitudinal gradient value of the current running road of the vehicle;

taking the current filtering parameter as a filtering coefficient, and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value;

wherein said calculating an actual acceleration of said vehicle based on said first motion parameter comprises:

according to the course angle rate Yaw, the front wheel steering angle Ang and preset structural parameters of the vehicle, performing lateral component removal processing on the wheel speed to obtain the longitudinal wheel speed of the vehicle; wherein the structural parameters include a front axle to centroid distance L1, a rear axle to centroid distance L2, and a Track; the wheel speeds include a front left wheel speed Vx _ FL, a front right wheel speed Vx _ FR, a rear left wheel speed Vx _ RL, a rear right wheel speed Vx _ RR, the longitudinal wheel speeds include a front left wheel longitudinal wheel speed Vx _ FL _ CAL, a front right wheel longitudinal wheel speed Vx _ FR _ CAL, a rear left wheel longitudinal wheel speed Vx _ RL _ CAL, and a rear right wheel longitudinal wheel speed Vx _ RR _ CAL, Vx _ FL _ CAL { Vx _ FL + [ (L1+ L2) Yaw sin ang }/(cos) (ang) + Track/2, Vx _ FR _ CAL { Vx _ FR- [ (L1+ L2) Yaw sin (ang)/(g) /) ack) -yard (Yaw/RR, Vx _ RL _ CAL + CAL 2;

2. The method for identifying a longitudinal gradient of a road on which a vehicle is traveling according to claim 1, wherein the state parameters further include a body pitch angle acceleration; the second motion parameter further comprises the pitch angle acceleration of the vehicle body;

wherein the vehicle body pitch angle acceleration is obtained by:

3. The method of identifying a longitudinal gradient of a road on which a vehicle is traveling according to claim 1, characterized in that the state parameters further include a master cylinder pressure;

then, the method further comprises:

4. The method for identifying the longitudinal gradient of the traveling road of the vehicle as claimed in claim 3, wherein the determining the current intensity of motion of the vehicle according to the intensity of motion determination parameter of the vehicle specifically comprises:

5. An apparatus for identifying a longitudinal gradient of a road on which a vehicle is traveling, comprising:

the state parameter acquisition module is used for acquiring state parameters of the vehicle, wherein the state parameters at least comprise wheel speed, longitudinal acceleration, course angle rate, front wheel steering angle and motor torque;

the filtering processing module is used for taking the current filtering parameter as a filtering coefficient and carrying out filtering processing on the longitudinal gradient value to obtain a target longitudinal gradient value;

wherein, the longitudinal gradient value calculating module specifically comprises:

an actual acceleration calculation unit for calculating an actual acceleration of the vehicle based on a first motion parameter, the first motion parameter including the wheel speed, the course angle rate, and the front wheel steering angle;

a gravity acceleration component calculation unit, configured to calculate a component of a gravity acceleration along a current driving road of the vehicle according to a second motion parameter, where the second motion parameter includes the longitudinal acceleration and the actual acceleration;

the gradient value calculation unit is used for determining the longitudinal gradient value of the current running road of the vehicle according to the component;

the actual acceleration calculation unit is specifically configured to:

6. A terminal device characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the method for identifying a longitudinal gradient of a road on which a vehicle travels according to any one of claims 1 to 4 when executing the computer program.

7. A computer-readable storage medium, comprising a stored computer program, wherein when the computer program is run, the computer-readable storage medium controls a device to execute the method for identifying a longitudinal gradient of a road on which a vehicle travels according to any one of claims 1 to 4.