CN117681882A - Gradient sensor detection method and device, vehicle and storage medium - Google Patents
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Abstract
The invention discloses a gradient sensor detection method, a gradient sensor detection device, a vehicle and a storage medium. The gradient sensor detection method comprises the following steps: after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read through the gradient sensor, a plurality of vehicle speed values of the vehicle are obtained through a whole vehicle controller, and the current altitude change value of the vehicle is determined according to the vehicle speed values and the gradient values; and acquiring an actual altitude change value of the vehicle through the whole vehicle controller, and judging whether the gradient sensor has measurement deviation according to the current altitude change value and the actual altitude change value. The invention solves the problems that the current gradient sensor has drift to cause measurement deviation or jump error so as to influence the normal operation of the vehicle, realizes accurate judgment of the measurement reliability of the gradient sensor and ensures the normal operation of the vehicle.
Description
Technical Field
The present invention relates to the field of gradient sensor detection technologies, and in particular, to a gradient sensor detection method, a gradient sensor detection device, a vehicle, and a storage medium.
Background
AMT gearboxes are one type of automatic gearboxes that are improved on the basis of conventional manual gear type gearboxes. AMT gearbox standard gradient sensor, the decision gearbox gear shift strategy and load calculation are decided by current slope, so gradient sensor accuracy is crucial to vehicle operation.
At present, a gradient sensor has common drift in the running process of a vehicle, so that the problems of measurement deviation, jump error and the like of the gradient sensor are caused, and normal control, oil consumption, dynamic performance and the like of the running of the vehicle are affected.
Disclosure of Invention
The invention provides a gradient sensor detection method, a gradient sensor detection device, a vehicle and a storage medium, and aims to solve the problem that the normal operation of the vehicle is affected due to measurement deviation or jump errors caused by drift of a current gradient sensor.
According to an aspect of the present invention, there is provided a gradient sensor detection method including:
after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read through the gradient sensor, a plurality of vehicle speed values of the vehicle are obtained through a whole vehicle controller, and the current altitude change value of the vehicle is determined according to the vehicle speed values and the gradient values;
and acquiring an actual altitude change value of the vehicle through the whole vehicle controller, and judging whether the gradient sensor has measurement deviation according to the current altitude change value and the actual altitude change value.
Optionally, the condition for detecting the gradient sensor is satisfied that the current acceleration value of the vehicle is in a set acceleration range, and the current speed value of the vehicle is in a set speed range.
Optionally, reading a plurality of gradient values of the vehicle by the gradient sensor, and obtaining a plurality of vehicle speed values of the vehicle by the whole vehicle controller includes:
and reading a plurality of gradient values of the vehicle in the set time length through a gradient sensor, and acquiring a plurality of vehicle speed values of the vehicle in the set time length in real time through a whole vehicle controller.
Optionally, determining the current altitude change value of the vehicle according to the vehicle speed value and the gradient value includes:
determining the actual driving mileage of the vehicle within a set time length according to a plurality of vehicle speed values;
and determining the current altitude change value of the vehicle according to the actual driving mileage and a plurality of gradient values.
Optionally, the acquiring, by the vehicle controller, the actual altitude change value of the vehicle includes:
and acquiring an actual altitude change value of the vehicle within a set time length through the whole vehicle controller.
Optionally, determining whether the measurement deviation occurs to the gradient sensor according to the current altitude change value and the actual altitude change value includes:
and if the difference value of the current altitude change value and the actual altitude change value exceeds a set altitude change threshold value, judging that the gradient sensor has measurement deviation.
Optionally, the gradient sensor detection method further includes:
and after judging that the gradient sensor has measurement deviation, determining a gradient sensor adjustment coefficient according to the current altitude change value and the actual altitude change value so as to update the gradient value read by the gradient sensor through the gradient sensor adjustment coefficient.
According to another aspect of the present invention, there is provided a gradient sensor detection apparatus including:
the current altitude change value output module is used for executing the steps that after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read through the gradient sensor, a plurality of speed values of the vehicle are obtained through the whole vehicle controller, and the current altitude change value of the vehicle is determined according to the speed values and the gradient values;
and the gradient sensor detection module is used for acquiring an actual altitude change value of the vehicle through the whole vehicle controller and judging whether the gradient sensor has measurement deviation according to the current altitude change value and the actual altitude change value.
According to another aspect of the present invention, there is provided a vehicle including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the gradient sensor detection method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the gradient sensor detection method according to any one of the embodiments of the present invention.
According to the technical scheme, after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read through the gradient sensor, a plurality of speed values of the vehicle are obtained through the whole vehicle controller, and the current altitude change value of the vehicle is determined according to the speed values and the gradient values; and acquiring an actual altitude change value of the vehicle through the whole vehicle controller, and judging whether the gradient sensor has measurement deviation according to the current altitude change value and the actual altitude change value. The invention solves the problems that the current gradient sensor has drift to cause measurement deviation or jump error so as to influence the normal operation of the vehicle, realizes accurate judgment of the measurement reliability of the gradient sensor and ensures the normal operation of the vehicle.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for detecting a gradient sensor according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a method for detecting a gradient sensor according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of calculation of altitude change values according to a second embodiment of the present invention;
fig. 4 is a schematic structural view of a slope sensor detecting device according to a third embodiment of the present invention;
fig. 5 is a schematic structural view of a vehicle implementing a gradient sensor detection method of an embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a gradient sensor detection method according to an embodiment of the present invention, where the method may be applied to a case of performing reliability diagnosis on a gradient sensor equipped in an AMT gearbox, and the method may be performed by a gradient sensor detection device, which may be implemented in hardware and/or software, and the gradient sensor detection device may be configured in a vehicle such as a commercial vehicle using the AMT gearbox. As shown in fig. 1, the gradient sensor detection method includes:
s110, after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read through the gradient sensor, a plurality of speed values of the vehicle are obtained through the whole vehicle controller, and the current altitude change value of the vehicle is determined according to the speed values and the gradient values.
Among them, AMT gearboxes are gearboxes capable of automatic shifting, and are generally matched with gradient sensors as important signal inputs.
The detection condition of the gradient sensor is met, wherein the current acceleration value of the vehicle is in a set acceleration range, and the current speed value of the vehicle is in a set speed range.
The set acceleration range and the set vehicle speed range are respectively two set boundary values as ranges, and the set acceleration range and the set vehicle speed range can be selectively set according to the actual requirements of the vehicle, but the embodiment is not limited in any way.
Specifically, after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read in real time through the gradient sensor, and a plurality of speed values of the vehicle are obtained in real time through the whole vehicle controller.
In an embodiment, the reliability of the gradient sensor is determined according to the time elapsed for the vehicle to travel, a plurality of gradient values of the vehicle within a set time period are read by the gradient sensor, and a plurality of vehicle speed values of the vehicle within the set time period are obtained in real time by the vehicle controller.
The set time period may be, but not limited to, selected according to the actual requirement of the vehicle, which is not limited in this embodiment.
In another embodiment, the reliability of the gradient sensor is judged according to the mileage of the vehicle, a plurality of gradient values of the vehicle in the set mileage are read through the gradient sensor, and a plurality of speed values of the vehicle in the set mileage are obtained in real time through the whole vehicle controller.
The setting mileage may be, but is not limited to, a setting selected according to the actual requirement of the vehicle, and the present embodiment is not limited in this regard.
Further, an actual driving distance of the vehicle within a set time period is determined according to a plurality of the vehicle speed values, and a current altitude change value of the vehicle is determined according to the actual driving distance and a plurality of the gradient values.
S120, acquiring an actual altitude change value of the vehicle through the whole vehicle controller, and judging whether the gradient sensor has measurement deviation according to the current altitude change value and the actual altitude change value.
Specifically, the vehicle controller acquires an actual altitude change value of the vehicle within a set time length, namely, altitude change determined from the starting time to the ending time of the set time length, as an actual altitude change value.
And acquiring an actual altitude change value of the vehicle in the set mileage by the whole vehicle controller, namely, determining altitude change from the set mileage starting time to the set mileage ending time as the actual altitude change value.
On the basis, if the difference value of the current altitude change value and the actual altitude change value exceeds a set altitude change threshold value, judging that the gradient sensor has measurement deviation.
The altitude change threshold may be set selectively according to the actual requirement of the vehicle, but is not limited to this in this embodiment.
On the basis of the embodiment, after the measurement deviation of the gradient sensor is judged, a gradient sensor adjustment coefficient is determined according to the current altitude change value and the actual altitude change value, so that the gradient value read by the gradient sensor is updated through the gradient sensor adjustment coefficient.
According to the technical scheme, after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read through the gradient sensor, a plurality of speed values of the vehicle are obtained through the whole vehicle controller, and the current altitude change value of the vehicle is determined according to the speed values and the gradient values; and acquiring an actual altitude change value of the vehicle through the whole vehicle controller, and judging whether the gradient sensor has measurement deviation according to the current altitude change value and the actual altitude change value. The invention solves the problems that the current gradient sensor has drift to cause measurement deviation or jump error so as to influence the normal operation of the vehicle, realizes accurate judgment of the measurement reliability of the gradient sensor and ensures the normal operation of the vehicle.
Example two
Fig. 2 is a flowchart of a gradient sensor detection method according to a second embodiment of the present invention, and an alternative implementation manner is provided based on the foregoing embodiment. As shown in fig. 2, the gradient sensor detection method includes:
and S210, after the detection condition of the gradient sensor is met, reading a plurality of gradient values of the vehicle in a set time length through the gradient sensor, and acquiring a plurality of vehicle speed values of the vehicle in the set time length in real time through the whole vehicle controller.
S220, determining the actual driving mileage of the vehicle within a set time length according to a plurality of vehicle speed values.
For example, a plurality of vehicle speed values within a set time period are integrated to obtain an actual driving range of the vehicle within the set time period.
And S230, determining a current altitude change value of the vehicle according to the actual driving mileage and a plurality of gradient values.
Specifically, after the multiple gradient values are averaged, determining a current altitude change value of the vehicle according to the multiple gradient values after the average and the actual driving range, referring to fig. 3, where the multiple gradient values after the average are α, the actual driving range is L, and sin α=h/L, where h is the current altitude change value according to the existing tangent formula.
S240, acquiring an actual altitude change value of the vehicle in a set time length through the whole vehicle controller.
S250, if the difference value of the current altitude change value and the actual altitude change value exceeds a set altitude change threshold value, judging that the gradient sensor has measurement deviation.
And S260, after judging that the gradient sensor has measurement deviation, determining a gradient sensor adjustment coefficient according to the current altitude change value and the actual altitude change value so as to update the gradient value read by the gradient sensor through the gradient sensor adjustment coefficient.
The slope sensor is used as a slope sensor adjustment coefficient based on the ratio relation between the current altitude change value and the actual altitude change value after the measurement deviation of the slope sensor is judged, and then the slope sensor is multiplied by the ratio of the current altitude change value to the actual altitude change value after the slope value detected by the subsequent slope sensor so as to obtain an accurate slope value.
According to the technical scheme, after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle in a set time length are read through the gradient sensor, and a plurality of speed values of the vehicle in the set time length are obtained in real time through the whole vehicle controller. And determining the actual driving mileage of the vehicle within a set time length according to a plurality of the vehicle speed values. And determining the current altitude change value of the vehicle according to the actual driving mileage and a plurality of gradient values. And acquiring an actual altitude change value of the vehicle within a set time length through the whole vehicle controller. And if the difference value of the current altitude change value and the actual altitude change value exceeds a set altitude change threshold value, judging that the gradient sensor has measurement deviation. And after judging that the gradient sensor has measurement deviation, determining a gradient sensor adjustment coefficient according to the current altitude change value and the actual altitude change value so as to update the gradient value read by the gradient sensor through the gradient sensor adjustment coefficient. According to the invention, the gradient is calibrated by utilizing the altitude change measured by the ECU, gradient calculation is converted into the height and comparison is carried out, so that the measurement reliability of the gradient sensor is accurately judged, and the normal operation of the vehicle is ensured.
Example III
Fig. 4 is a schematic structural diagram of a slope sensor detection device according to a third embodiment of the present invention. As shown in fig. 4, the gradient sensor detection apparatus includes:
the current altitude change value output module 310 is configured to execute reading a plurality of gradient values of a vehicle through a gradient sensor after a gradient sensor detection condition is satisfied, acquiring a plurality of vehicle speed values of the vehicle through a whole vehicle controller, and determining a current altitude change value of the vehicle according to the vehicle speed values and the gradient values;
the gradient sensor detection module 320 is configured to obtain an actual altitude change value of the vehicle through the vehicle controller, and determine whether a measurement deviation occurs in the gradient sensor according to the current altitude change value and the actual altitude change value.
Optionally, the condition for detecting the gradient sensor is satisfied that the current acceleration value of the vehicle is in a set acceleration range, and the current speed value of the vehicle is in a set speed range.
Optionally, the gradient sensor is used for reading a plurality of gradient values of the vehicle, and the whole vehicle controller is used for obtaining a plurality of vehicle speed values of the vehicle, and the method is specifically used for:
and reading a plurality of gradient values of the vehicle in the set time length through a gradient sensor, and acquiring a plurality of vehicle speed values of the vehicle in the set time length in real time through a whole vehicle controller.
Optionally, determining a current altitude change value of the vehicle according to the vehicle speed value and the gradient value, which is specifically used for:
determining the actual driving mileage of the vehicle within a set time length according to a plurality of vehicle speed values;
and determining the current altitude change value of the vehicle according to the actual driving mileage and a plurality of gradient values.
Optionally, the vehicle controller is configured to obtain an actual altitude change value of the vehicle, and the method is specifically configured to:
and acquiring an actual altitude change value of the vehicle within a set time length through the whole vehicle controller.
Optionally, determining whether the slope sensor has a measurement deviation according to the current altitude change value and the actual altitude change value is specifically configured to:
and if the difference value of the current altitude change value and the actual altitude change value exceeds a set altitude change threshold value, judging that the gradient sensor has measurement deviation.
Optionally, the gradient sensor detection device further includes:
and the gradient sensor adjusting module is used for determining a gradient sensor adjusting coefficient according to the current altitude change value and the actual altitude change value after judging that the gradient sensor has measurement deviation so as to update the gradient value read by the gradient sensor through the gradient sensor adjusting coefficient.
The gradient sensor detection device provided by the embodiment of the invention can execute the gradient sensor detection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the gradient sensor detection method.
Example IV
Fig. 5 shows a schematic structural diagram of a vehicle 410 that may be used to implement an embodiment of the invention. Vehicles include digital computers intended to represent various forms, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The vehicle may also include a device representing various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the vehicle 410 includes at least one processor 411, and a memory, such as a read only memory (ROM 412), a random access memory (RAM 413), etc., communicatively connected to the at least one processor 411, wherein the memory stores computer programs executable by the at least one processor, and the processor 411 can perform various suitable actions and processes according to the computer programs stored in the read only memory (ROM 412) or the computer programs loaded from the storage unit 418 into the random access memory (RAM 413). In the RAM 413, various programs and data required for the operation of the vehicle 410 may also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An I/O (input/output) interface 415 is also connected to bus 414.
Various components in the vehicle 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the vehicle 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 performs the various methods and processes described above, such as the grade sensor detection method.
In some embodiments, the grade sensor detection method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the vehicle 410 via the ROM 412 and/or the communication unit 419. When a computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the gradient sensor detection method described above may be performed. Alternatively, in other embodiments, processor 411 may be configured to perform the grade sensor detection method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus, such that the computer program, when executed by the processor, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or a trackball) by which a user can provide input to the vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A gradient sensor detection method, characterized by comprising:
after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read through the gradient sensor, a plurality of vehicle speed values of the vehicle are obtained through a whole vehicle controller, and the current altitude change value of the vehicle is determined according to the vehicle speed values and the gradient values;
and acquiring an actual altitude change value of the vehicle through the whole vehicle controller, and judging whether the gradient sensor has measurement deviation according to the current altitude change value and the actual altitude change value.
2. The gradient sensor detection method according to claim 1, wherein the gradient sensor detection condition is satisfied that a current acceleration value of the vehicle is in a set acceleration range, and that a current vehicle speed value of the vehicle is in a set vehicle speed range.
3. The gradient sensor detection method according to claim 1, wherein reading a plurality of gradient values of the vehicle by the gradient sensor and acquiring a plurality of vehicle speed values of the vehicle by the vehicle controller, comprises:
and reading a plurality of gradient values of the vehicle in the set time length through a gradient sensor, and acquiring a plurality of vehicle speed values of the vehicle in the set time length in real time through a whole vehicle controller.
4. The gradient sensor detection method according to claim 3, wherein determining a current altitude change value of the vehicle from the vehicle speed value and the gradient value includes:
determining the actual driving mileage of the vehicle within a set time length according to a plurality of vehicle speed values;
and determining the current altitude change value of the vehicle according to the actual driving mileage and a plurality of gradient values.
5. The gradient sensor detection method according to claim 4, wherein acquiring, by the vehicle controller, an actual altitude change value of the vehicle, comprises:
and acquiring an actual altitude change value of the vehicle within a set time length through the whole vehicle controller.
6. The gradient sensor detection method according to claim 1, wherein determining whether the gradient sensor has a measurement deviation based on the current altitude change value and the actual altitude change value includes:
and if the difference value of the current altitude change value and the actual altitude change value exceeds a set altitude change threshold value, judging that the gradient sensor has measurement deviation.
7. The gradient sensor detection method according to claim 1, characterized in that the gradient sensor detection method further includes:
and after judging that the gradient sensor has measurement deviation, determining a gradient sensor adjustment coefficient according to the current altitude change value and the actual altitude change value so as to update the gradient value read by the gradient sensor through the gradient sensor adjustment coefficient.
8. A gradient sensor detection device, characterized by comprising:
the current altitude change value output module is used for executing the steps that after the detection condition of the gradient sensor is met, a plurality of gradient values of the vehicle are read through the gradient sensor, a plurality of speed values of the vehicle are obtained through the whole vehicle controller, and the current altitude change value of the vehicle is determined according to the speed values and the gradient values;
and the gradient sensor detection module is used for acquiring an actual altitude change value of the vehicle through the whole vehicle controller and judging whether the gradient sensor has measurement deviation according to the current altitude change value and the actual altitude change value.
9. A vehicle, characterized in that the vehicle comprises:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the gradient sensor detection method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the gradient sensor detection method of any one of claims 1-7.
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