CN113911127A - Gradient identification method, system and storage medium - Google Patents
Gradient identification method, system and storage medium Download PDFInfo
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- CN113911127A CN113911127A CN202111158345.6A CN202111158345A CN113911127A CN 113911127 A CN113911127 A CN 113911127A CN 202111158345 A CN202111158345 A CN 202111158345A CN 113911127 A CN113911127 A CN 113911127A
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- 230000001133 acceleration Effects 0.000 claims abstract description 73
- 238000012935 Averaging Methods 0.000 claims description 16
- 230000003068 static effect Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a gradient identification method, a system and a storage medium, wherein the method comprises the following steps: when the vehicle is in a parking state, accumulating the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state to obtain an average value; and searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value to obtain the gradient value corresponding to the average value of the longitudinal acceleration. Compared with the prior art, the slope identification method has the advantages that the dynamic slope identification is changed into the static slope identification, the slope identification accuracy is improved, and the problem of inaccurate slope value identification caused by overlarge longitudinal acceleration fluctuation caused by sudden braking on the slope is solved.
Description
Technical Field
The invention relates to the technical field of slope identification, in particular to a slope identification method, a system and a storage medium suitable for an uphill auxiliary function.
Background
The uphill assisting function is usually used for the vehicle to take off on a hill, the function has no need for hill data during the vehicle driving process, and the real-time calculation of the slope value is a great load for a controller.
At present, the scheme of real-time identification is adopted for the slope identification in the uphill auxiliary function, and the acceleration signal is utilized to calculate and identify the slope in real time through methods such as vehicle dynamics. The slope identification scheme not only causes the waste of controller resources, but also has high technical difficulty and inaccurate slope identification under the condition of emergency braking of the vehicle.
Disclosure of Invention
The invention mainly aims to provide a slope identification method, a system and a storage medium, aiming at solving the problem of inaccurate slope identification caused by overlarge longitudinal acceleration fluctuation when a vehicle brakes suddenly.
In order to achieve the above object, the present invention provides a gradient identification method, including the steps of:
when the vehicle is in a parking state, accumulating the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state to obtain an average value;
and searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value to obtain the gradient value corresponding to the average value of the longitudinal acceleration.
The invention further adopts the technical scheme that the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within the preset time range from the moment of the vehicle in the parking state comprises the following steps:
judging whether the vehicle is in a parking state or a driving state;
and if the vehicle is in a parking state, performing the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state when the vehicle is in the parking state.
The invention further adopts the technical scheme that the step of judging whether the vehicle is in a parking state or a driving state further comprises the following steps:
and if the vehicle is in a running state, setting the gradient value to be zero.
The invention further adopts the technical scheme that the step of judging whether the vehicle is in a parking state or a driving state comprises the following steps:
acquiring at least two wheel speed signals of the vehicle;
judging whether the at least two wheel speed signals are effective or not and whether the sum of the at least two wheel speed signals is zero or not;
if so, the vehicle is in a parking state;
if not, the vehicle is in a running state.
According to a further technical scheme, in the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of parking, the preset time is n seconds, and the slope value after n seconds inherits the slope value calculated when n seconds.
The invention further adopts the technical scheme that before the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within the preset time range from the moment when the vehicle is in the parking state, the method further comprises the following steps of:
and calibrating a corresponding relation table of the longitudinal acceleration and the gradient value in advance.
To achieve the above object, the present invention also provides a gradient identification system, which includes a memory, a processor, and a gradient identification program stored on the processor, the gradient identification program, when executed by the processor, performs the following steps:
when the vehicle is in a parking state, accumulating the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state to obtain an average value;
and searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value to obtain the gradient value corresponding to the average value of the longitudinal acceleration.
A further technical solution of the present invention is that, when the processor runs the gradient identification program, the following steps are further executed:
judging whether the vehicle is in a parking state or a driving state;
and if the vehicle is in a parking state, performing the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state when the vehicle is in the parking state.
A further technical solution of the present invention is that, when the processor runs the gradient identification program, the following steps are further executed:
and if the vehicle is in a running state, setting the gradient value to be zero.
To achieve the above object, the present invention also proposes a computer readable storage medium having stored thereon a gradient identification program, which when executed by a processor performs the steps of the method as described above.
The slope identification method, the system and the storage medium have the advantages that: according to the technical scheme, when the vehicle is in a parking state, the longitudinal acceleration signal value of the vehicle is accumulated and averaged within a preset time range from the moment of being in the parking state; the method comprises the steps of searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value, obtaining the gradient value corresponding to the average value of the longitudinal acceleration, changing dynamic gradient identification into static identification, improving the gradient identification accuracy, and solving the problem of inaccurate gradient value identification caused by overlarge longitudinal acceleration fluctuation caused by sudden braking of the ramp.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a first embodiment of a grade identification method of the present invention;
FIG. 2 is a schematic flow chart diagram of a second embodiment of a grade identification method of the present invention;
FIG. 3 is a detailed flowchart of step S00 in FIG. 2;
fig. 4 is a flowchart illustrating a third embodiment of the gradient identification method according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Considering that the slope identification in the uphill auxiliary function adopts a real-time identification scheme at present, the acceleration signal is utilized to calculate and identify the slope in real time through methods such as vehicle dynamics and the like. The slope identification scheme not only wastes controller resources, but also has high technical difficulty and inaccurate slope identification under the condition of emergency braking of the vehicle, so the invention provides a solution.
The technical scheme adopted by the slope identification method is mainly that dynamic slope identification is changed into static slope identification, the slope identification accuracy is improved, the problem that slope value identification is inaccurate due to overlarge longitudinal acceleration fluctuation caused by sudden braking of a slope is solved, pressure maintaining values, release time and slopes can be designed for functions of HHC, AVH and the like, vehicles can be released more smoothly, and user experience is improved. Moreover, the gradient identification method can reduce the operation load of the ESC controller, select a chip with lower computing capability, reduce the cost and achieve the same purpose by using less resources through a simplified algorithm.
Referring to fig. 1, a preferred embodiment of the gradient identification method of the present invention includes the following steps:
and step S10, accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the moment when the vehicle is in the parking state.
The preset time is n seconds, and the slope value after n seconds inherits the slope value calculated when n seconds. The preset time n seconds can be calibrated and adjusted according to actual conditions, and 2 can be taken as a preferred embodiment.
In the present embodiment, in the step S10, when the vehicle is in the stopped state, it is determined whether the vehicle is in the stopped state or in the traveling state before the longitudinal acceleration signal value of the vehicle is cumulatively averaged within a preset time range from the moment when the vehicle is in the stopped state, and if the vehicle is in the stopped state, the step of cumulatively averaging the longitudinal acceleration signal value of the vehicle within the preset time range from the moment when the vehicle is in the stopped state is performed.
Step S20, searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value, and acquiring the gradient value corresponding to the average value of the longitudinal acceleration.
It is understood that, in this embodiment, before the step of cumulatively averaging the longitudinal acceleration signal value of the vehicle within the preset time range from the instant when the vehicle is in the parking state in the step S10, the step includes: and calibrating a corresponding relation table of the longitudinal acceleration and the gradient value in advance.
After the longitudinal acceleration average value is obtained through calculation, the slope value corresponding to the longitudinal acceleration average value can be obtained by searching the pre-calibrated corresponding relation table of the longitudinal acceleration and the slope value.
The correspondence relationship between the longitudinal acceleration and the gradient value calibrated in advance is shown in table 1, for example.
TABLE 1
According to the technical scheme, when the vehicle is in the parking state, the longitudinal acceleration signal value of the vehicle is accumulated and averaged within the preset time range from the moment of being in the parking state; the method comprises the steps of searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value, obtaining the gradient value corresponding to the average value of the longitudinal acceleration, changing dynamic gradient identification into static identification, improving the gradient identification accuracy, and solving the problem of inaccurate gradient value identification caused by overlarge longitudinal acceleration fluctuation caused by sudden braking of the ramp.
Referring to fig. 2, a second embodiment of the gradient identification method according to the present invention is proposed based on the first embodiment shown in fig. 1, and the present embodiment is different from the first embodiment shown in fig. 1 in that, in step S10, before the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the instant when the vehicle is in the parking state, the step includes:
in step S00, it is determined whether the vehicle is in a stopped state or in a running state.
And if the vehicle is in a parking state, performing the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state when the vehicle is in the parking state.
Specifically, referring to fig. 3, the step of determining whether the vehicle is in the parking state or the driving state in step S00 includes:
step S01, at least two wheel speed signals of the vehicle are acquired.
Step S02, determining whether the at least two wheel speed signals are valid and the sum of the at least two wheel speed signals is zero.
And step S03, if yes, the vehicle is in a parking state.
And step S04, if not, the vehicle is in a running state.
According to the technical scheme, whether the vehicle is in the parking state or the running state is judged, when the vehicle is in the parking state, the longitudinal acceleration signal value of the vehicle is accumulated and averaged within the preset time range from the moment when the vehicle is in the parking state, the corresponding relation table of the longitudinal acceleration and the gradient value which are calibrated in advance is searched, the gradient value corresponding to the longitudinal acceleration average value is obtained, the gradient identification accuracy is further improved, and the problem that the gradient value identification is inaccurate due to overlarge longitudinal acceleration fluctuation caused by sudden braking on the ramp is solved instead.
Referring to fig. 4, a third embodiment of the gradient identification method according to the present invention is proposed based on the second embodiment shown in fig. 2, and the present embodiment is different from the second embodiment shown in fig. 2 in that the step of determining whether the vehicle is in the parking state or the driving state at step S00 further includes:
in step S30, if the vehicle is in a running state, the gradient value is set to zero.
According to the technical scheme, whether the vehicle is in a parking state or a running state is judged, when the vehicle is in the parking state, the longitudinal acceleration signal values of the vehicle are accumulated and averaged within a preset time range from the moment when the vehicle is in the parking state, the corresponding relation table of the longitudinal acceleration and the gradient value which is calibrated in advance is searched, the gradient value corresponding to the longitudinal acceleration average value is obtained, if the vehicle is in the running state, the gradient value is set to be zero, the gradient identification accuracy is further improved, and the problem that the gradient value identification is inaccurate due to overlarge longitudinal acceleration fluctuation caused by sudden braking on the gradient is solved instead.
The slope identification method has the beneficial effects that: according to the technical scheme, when the vehicle is in a parking state, the longitudinal acceleration signal value of the vehicle is accumulated and averaged within a preset time range from the moment of being in the parking state; the method comprises the steps of searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value, obtaining the gradient value corresponding to the average value of the longitudinal acceleration, changing dynamic gradient identification into static identification, improving the gradient identification accuracy, and solving the problem of inaccurate gradient value identification caused by overlarge longitudinal acceleration fluctuation caused by sudden braking of the ramp.
To achieve the above object, the present invention also provides a gradient identification system, which includes a memory, a processor, and a gradient identification program stored on the processor, the gradient identification program, when executed by the processor, performs the following steps:
when the vehicle is in a parking state, accumulating the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state to obtain an average value;
and searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value to obtain the gradient value corresponding to the average value of the longitudinal acceleration.
Further, the gradient identification program when executed by the processor further performs the steps of:
judging whether the vehicle is in a parking state or a driving state;
and if the vehicle is in a parking state, performing the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state when the vehicle is in the parking state.
Further, the gradient identification program when executed by the processor further performs the steps of:
and if the vehicle is in a running state, setting the gradient value to be zero.
The slope identification system has the beneficial effects that: according to the technical scheme, when the vehicle is in a parking state, the longitudinal acceleration signal value of the vehicle is accumulated and averaged within a preset time range from the moment of being in the parking state; the method comprises the steps of searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value, obtaining the gradient value corresponding to the average value of the longitudinal acceleration, changing dynamic gradient identification into static identification, improving the gradient identification accuracy, and solving the problem of inaccurate gradient value identification caused by overlarge longitudinal acceleration fluctuation caused by sudden braking of the ramp.
In order to achieve the above object, the present invention further provides a computer-readable storage medium, where a gradient identification program is stored, and the gradient identification program is executed by a processor to perform the steps of the method described above, which is not described herein again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of slope identification, the method comprising the steps of:
when the vehicle is in a parking state, accumulating the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state to obtain an average value;
and searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value to obtain the gradient value corresponding to the average value of the longitudinal acceleration.
2. The gradient identification method according to claim 1, wherein the step of cumulatively averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the instant of being in the stopped state while the vehicle is in the stopped state, is preceded by the step of:
judging whether the vehicle is in a parking state or a driving state;
and if the vehicle is in a parking state, performing the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state when the vehicle is in the parking state.
3. The gradient identification method according to claim 2, wherein the step of determining whether the vehicle is in a stopped state or a running state is followed by further comprising:
and if the vehicle is in a running state, setting the gradient value to be zero.
4. The gradient identification method according to claim 2, wherein the step of determining whether the vehicle is in a stopped state or a running state includes:
acquiring at least two wheel speed signals of the vehicle;
judging whether the at least two wheel speed signals are effective or not and whether the sum of the at least two wheel speed signals is zero or not;
if so, the vehicle is in a parking state;
if not, the vehicle is in a running state.
5. The gradient identification method according to claim 1, wherein in the step of cumulatively averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the instant of being in the stopped state, the preset time is n seconds, and the gradient value after n seconds inherits the gradient value calculated at n seconds.
6. The gradient identification method according to any one of claims 1 to 5, wherein the step of cumulatively averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the instant of being in the stopped state when the vehicle is in the stopped state further comprises:
and calibrating a corresponding relation table of the longitudinal acceleration and the gradient value in advance.
7. A grade identification system, the system comprising a memory, a processor, and a grade identification program stored on the processor, the grade identification program when executed by the processor performing the steps of:
when the vehicle is in a parking state, accumulating the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state to obtain an average value;
and searching a pre-calibrated corresponding relation table of the longitudinal acceleration and the gradient value to obtain the gradient value corresponding to the average value of the longitudinal acceleration.
8. The grade identification system of claim 7, wherein the grade identification program, when executed by the processor, further performs the steps of:
judging whether the vehicle is in a parking state or a driving state;
and if the vehicle is in a parking state, performing the step of accumulating and averaging the longitudinal acceleration signal value of the vehicle within a preset time range from the moment of the parking state when the vehicle is in the parking state.
9. The grade identification system of claim 8, wherein the grade identification program, when executed by the processor, further performs the steps of:
and if the vehicle is in a running state, setting the gradient value to be zero.
10. A computer-readable storage medium, characterized in that a gradient identification program is stored on the computer-readable storage medium, which gradient identification program, when being executed by a processor, performs the steps of the method according to any one of claims 1 to 6.
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Cited By (1)
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| CN113911126A (en) * | 2021-09-30 | 2022-01-11 | 上汽通用五菱汽车股份有限公司 | Gradient identification method, system and storage medium |
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