CN112113774B - Ramp detection method, detection terminal and storage medium - Google Patents
Ramp detection method, detection terminal and storage medium Download PDFInfo
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Abstract
The invention discloses a ramp detection method, a detection terminal and a storage medium, wherein the method comprises the following steps: obtaining environmental parameters and vehicle parameters, wherein the environmental parameters comprise gravity acceleration, an air resistance coefficient and a rolling resistance coefficient, and the vehicle parameters comprise vehicle weight and wheel radius; acquiring the vehicle speed and the output torque of an engine according to a preset sampling frequency; acquiring the vehicle acceleration at the current sampling moment according to the vehicle speed at the current sampling moment, the vehicle speed at the previous sampling moment and a preset sampling frequency; and obtaining the gradient of the ramp where the vehicle is located at the current sampling moment according to the environmental parameters, the vehicle speed, the engine output torque and the vehicle acceleration at the current sampling moment. The invention can acquire the gradient of the ramp without additionally arranging a gradient sensor, thereby reducing the manufacturing cost of the vehicle.
Description
Technical Field
The present invention relates to the field of vehicle detection, and in particular, to a method for detecting a slope, a detection terminal, and a computer-readable storage medium.
Background
With the gradual replacement of manual gears by automatic-gear automobiles as the mainstream of automobiles, the detection of the gradient of a ramp becomes a difficult problem to be solved by automobile designers. The existing slope detection is mainly to directly detect the slope gradient size by mounting a specific sensor on the vehicle, but the additional mounting of the specific sensor causes the cost of the vehicle to increase.
Disclosure of Invention
The invention mainly aims to provide a ramp detection method, a detection terminal and a computer readable storage medium, and aims to solve the problem that the existing vehicle is provided with a specific sensor to detect a ramp, so that the vehicle cost is increased.
In order to achieve the above object, the present invention provides a ramp detection method, comprising the steps of:
acquiring environmental parameters and vehicle parameters, wherein the environmental parameters comprise gravity acceleration, air resistance coefficient and rolling resistance coefficient, and the vehicle parameters comprise vehicle weight and wheel radius;
acquiring the vehicle speed and the output torque of an engine according to a preset sampling frequency;
acquiring the vehicle acceleration at the current sampling moment according to the vehicle speed at the current sampling moment, the vehicle speed at the previous sampling moment and a preset sampling frequency;
and obtaining the gradient of the ramp where the vehicle is located at the current sampling moment according to the environmental parameters, the vehicle speed, the engine output torque and the vehicle acceleration at the current sampling moment.
Optionally, the step of obtaining the gradient of the slope on which the vehicle is located at the current sampling time according to the environmental parameter, the vehicle parameter, and the vehicle speed, the engine output torque and the vehicle acceleration at the current sampling time comprises:
obtaining the vehicle air resistance at the current sampling moment according to the air resistance coefficient and the vehicle speed at the current sampling moment;
obtaining the rolling resistance of the vehicle at the current sampling moment according to the vehicle weight, the rolling resistance coefficient, the gravity acceleration and the vehicle speed at the current sampling moment;
according to the radius of the wheel and the output torque of the engine at the current sampling moment, obtaining the traction force of the vehicle at the current sampling moment;
obtaining the ramp resistance at the current sampling moment according to the vehicle air resistance, the vehicle rolling resistance, the vehicle traction force and the vehicle acceleration at the current sampling moment and the vehicle weight;
and obtaining the gradient of the ramp where the vehicle is located at the current sampling moment according to the vehicle weight, the gravity acceleration and the ramp resistance at the current sampling moment.
Optionally, the step of obtaining the air resistance of the vehicle at the current sampling time according to the air resistance coefficient and the vehicle speed at the current sampling time includes:
inputting the air resistance coefficient and the vehicle speed at the current sampling moment into a preset air resistance calculation formula to obtain the vehicle air resistance at the current sampling moment, wherein the air resistance is presetThe calculation formula of the air resistance is F Air conditioner ＝C d *V 2 Wherein, C d Is the air resistance coefficient, V is the vehicle speed at the current sampling time, F Air conditioner Is the air resistance.
Optionally, the step of obtaining the rolling resistance of the vehicle at the current sampling time according to the vehicle weight, the gravitational acceleration, the rolling resistance coefficient, and the vehicle speed at the current sampling time includes:
inputting the vehicle weight, the gravity acceleration, the rolling resistance coefficient and the vehicle speed at the current sampling moment into a preset rolling resistance calculation formula to obtain the vehicle rolling resistance at the current sampling moment, wherein the preset rolling resistance calculation formula is as follows:
F roller ＝m*g*f Rolling machine *(1+V 2 /b)，
Wherein m is the vehicle weight, g is the acceleration of gravity, f Rolling machine Is the rolling resistance coefficient, V is the vehicle speed at the current sampling time, F Roller And b is a preset empirical parameter, and is the rolling resistance of the vehicle at the current sampling moment.
Optionally, the step of obtaining vehicle traction at the current sampling time based on the wheel radius and the engine output torque at the current sampling time comprises:
inputting the radius of the wheel and the output torque of the engine at the current sampling moment into a preset traction calculation formula to obtain the traction of the vehicle at the current sampling moment, wherein the preset traction calculation formula is as follows:
F traction device ＝T/r，
Where T is the engine output torque at the current sampling time, r is the wheel radius, F Traction device The vehicle tractive effort at the current sample time.
Optionally, the step of obtaining the ramp resistance at the current sampling time according to the vehicle air resistance, the vehicle rolling resistance, the vehicle traction and the vehicle acceleration at the current sampling time and the vehicle weight comprises:
inputting the air resistance, rolling resistance, traction and acceleration of the vehicle at the current sampling moment into a preset ramp resistance calculation formula to obtain the ramp resistance at the current sampling moment, wherein the preset ramp resistance calculation formula is as follows:
F＝F traction device -F Roller -F Air conditioner -m*a，
Wherein F Air conditioner Is the vehicle air resistance at the current sampling time, F Traction device For the vehicle traction at the current sampling instant, F Roller The rolling resistance of the vehicle at the current sampling moment is m, the vehicle weight is m, the acceleration of the vehicle at the current sampling moment is a, and the ramp resistance at the current sampling moment is F.
Optionally, the step of obtaining the ramp resistance at the current sampling moment according to the air resistance, rolling resistance, traction and acceleration of the vehicle and the weight of the vehicle at the current sampling moment comprises the following steps:
judging whether the ramp resistance at the current sampling moment is greater than 0;
if the vehicle speed is greater than 0, determining that the vehicle is in an uphill state;
if the sampling time is less than or equal to 0, judging whether the ramp resistance at the current sampling time is less than 0;
if less than 0, the vehicle is determined to be in a downhill state.
Optionally, the step of obtaining the gradient of the slope on which the vehicle is located at the current sampling time according to the environmental parameter, the vehicle parameter, and the vehicle speed, the engine output torque, and the vehicle acceleration at the current sampling time further comprises:
acquiring a brake signal and a gear shifting state according to a preset sampling frequency;
judging whether the vehicle speed at the current sampling moment is greater than or equal to a preset vehicle speed threshold value, whether the vehicle acceleration is less than or equal to a preset acceleration threshold value, whether the output torque of an engine is greater than a preset torque threshold value, whether a brake signal is non-braking and whether a gear shifting state is in a non-gear shifting process;
and if the vehicle speed at the current sampling moment is greater than or equal to a preset vehicle speed threshold value, the vehicle acceleration is less than or equal to a preset acceleration threshold value, the engine output torque is greater than a preset torque threshold value, the brake signal is non-braking, and the gear shifting state is in a non-gear shifting process, executing the step of obtaining the gradient of the ramp where the vehicle is located at the current sampling moment according to the environmental parameters, the vehicle speed at the current sampling moment, the engine output torque and the vehicle acceleration.
To achieve the above object, the present invention further provides a detection terminal, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the slope detection method as described above.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the slope detection method as described above.
According to the ramp detection method, the detection terminal and the computer readable storage medium, the environmental parameters and the vehicle parameters are obtained, wherein the environmental parameters comprise the gravity acceleration, the air resistance coefficient and the rolling resistance coefficient, and the vehicle parameters comprise the vehicle weight and the wheel radius; acquiring the vehicle speed and the output torque of the engine according to a preset sampling frequency; acquiring the vehicle acceleration at the current sampling moment according to the vehicle speed at the current sampling moment, the vehicle speed at the previous sampling moment and a preset sampling frequency; and obtaining the gradient of the ramp where the vehicle is located at the current sampling moment according to the environmental parameters, the vehicle speed, the engine output torque and the vehicle acceleration at the current sampling moment. Therefore, the slope of the slope where the vehicle is located can be detected in real time only according to the speed detection device and the engine torque sensor which are originally arranged on the vehicle, the slope of the slope can be obtained without additionally arranging a slope sensor, and the manufacturing cost of the vehicle is reduced.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a slope detection method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a slope detection method according to the present invention;
fig. 4 is a flowchart illustrating a ramp detecting method according to a third embodiment of 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
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a detection terminal provided in each embodiment of the present invention. The detection terminal comprises a communication module 01, a memory 02, a processor 03 and the like. Those skilled in the art will appreciate that the test terminal shown in FIG. 1 may also include more or fewer components than shown, or combine certain components, or a different arrangement of components. The processor 03 is connected to the memory 02 and the communication module 01, respectively, and the memory 02 stores a computer program, which is executed by the processor 03 at the same time.
The communication module 01 may be connected to an external device through a network. The communication module 01 may receive data sent by an external device, and may also send data, instructions, and information to the external device, where the external device may be an electronic device such as a mobile phone, a tablet computer, a notebook computer, and a desktop computer.
The memory 02 may be used to store software programs and various data. The memory 02 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (acquiring a vehicle speed and an engine output torque according to a preset sampling frequency), and the like; the storage data area may store data or information created according to the use of the sensing terminal, or the like. Further, the memory 02 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 03, which is a control center of the monitoring terminal, connects various parts of the entire monitoring terminal by using various interfaces and lines, and performs various functions of the monitoring terminal and processes data by running or executing software programs and/or modules stored in the memory 02 and calling data stored in the memory 02, thereby performing overall monitoring of the monitoring terminal. Processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor, which mainly handles an operating system, a user interface, application programs, etc., and a modem processor, which mainly handles wireless communication. It will be appreciated that the modem processor described above may not be integrated into the processor 03.
Although not shown in fig. 1, the detection terminal may further include a circuit control module, where the circuit control module is used for being connected to a mains supply to implement power control and ensure normal operation of other components.
Those skilled in the art will appreciate that the configuration of the test terminals shown in FIG. 1 is not intended to be limiting of the test terminals and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
According to the hardware structure, various embodiments of the method of the present invention are proposed.
Referring to fig. 2, in a first embodiment of the ramp detection method of the present invention, the ramp detection method includes the steps of:
step S10, obtaining environmental parameters and vehicle parameters, wherein the environmental parameters comprise gravity acceleration, an air resistance coefficient and a rolling resistance coefficient, and the vehicle parameters comprise vehicle weight and wheel radius;
in this scheme, the environmental parameters include acceleration of gravity, air resistance coefficient and rolling resistance coefficient, and the vehicle parameters include vehicle weight and wheel radius. The environmental parameters and the vehicle parameters can be stored in a memory of a detection terminal of the vehicle in advance, and the environmental parameters and the vehicle parameters can be directly obtained from the memory when the detection terminal carries out ramp detection.
When it needs to be described, in order to make the slope detection result more accurate, the memory of the detection terminal may also store a mapping relation table of the air resistance coefficient and the altitude, and the vehicle detection terminal obtains the altitude where the current vehicle is located, and then obtains the current air resistance coefficient according to the stored mapping relation table of the air resistance coefficient and the altitude. The vehicle weight may be the original vehicle weight and the current vehicle load.
Step S20, acquiring the vehicle speed and the output torque of the engine according to a preset sampling frequency;
the detection terminal of the vehicle is connected with the vehicle speed detection device and the engine torque sensor chain through a vehicle CAN line, then the vehicle speed is collected through the vehicle speed detection device arranged in the vehicle according to the preset sampling frequency, the engine output torque is collected through the engine torque sensor, and the vehicle speed and the engine output torque collected at each sampling moment are stored in the storage. The sampling frequency is up to the sampling frequency in each second, and in the scheme, the sampling frequency can be 10Hz or 20Hz, and the sampling frequency is not limited herein.
Step S30, obtaining the vehicle acceleration at the current sampling moment according to the vehicle speed at the current sampling moment, the vehicle speed at the previous sampling moment and a preset sampling frequency;
when the detection terminal detects the vehicle speed, the vehicle speed acquired at the current sampling moment, the vehicle speed acquired at the previous sampling moment and the preset sampling frequency are input into a preset vehicle acceleration calculation formula, and the vehicle acceleration at the current sampling moment is obtained. The preset vehicle acceleration calculation formula is as follows:
a＝(V 1 -V 2 ) F, wherein V 1 Is the vehicle speed, V, at the current sampling time 2 The vehicle speed at the previous sampling moment, f is a preset sampling frequency, and a is the vehicle acceleration at the current sampling moment.
It should be noted that, in order to obtain the vehicle acceleration more accurately, the vehicle acceleration at the current sampling time may also be obtained according to the vehicle speed at the current time and the vehicle speeds at the sampling times a preset number of which is greater than 1 before the current time.
And S40, obtaining the gradient of the ramp where the vehicle is located at the current sampling time according to the environmental parameters, the vehicle speed, the engine output torque and the vehicle acceleration at the current sampling time.
The detection terminal obtains the gradient of a ramp where the vehicle is located at the current sampling time according to the vehicle environment parameters, the vehicle speed acquired at the current sampling time, the engine output torque acquired at the current sampling time and the vehicle acceleration calculated at the current sampling time.
Specifically, step S40 includes:
step S41, obtaining the vehicle air resistance at the current sampling moment according to the air resistance coefficient and the vehicle speed at the current sampling moment;
the detection terminal inputs the obtained air resistance coefficient and the vehicle speed collected at the current sampling moment into a preset air resistance calculation formula, and calculates and obtains the vehicle air resistance at the current sampling moment, wherein the preset air resistance calculation formula is as follows:
F air conditioner ＝C d *V 2 Wherein, C d Is the air resistance coefficient, V is the vehicle speed at the current sampling time, F Air conditioner Is the air resistance.
Step S42, obtaining the rolling resistance of the vehicle at the current sampling moment according to the vehicle weight, the rolling resistance coefficient, the gravity acceleration and the vehicle speed at the current sampling moment;
the detection terminal inputs the obtained vehicle weight, the gravity acceleration, the rolling resistance coefficient and the vehicle speed collected at the current sampling moment into a preset rolling resistance calculation formula, and the vehicle rolling resistance at the current sampling moment is calculated and obtained, wherein the preset rolling resistance calculation formula is as follows:
F rolling machine ＝m*g*f Roller *(1+V 2 /b)，
Wherein m is the vehicle weight, g is the gravitational acceleration, f Rolling machine Is the rolling resistance coefficient, V is the vehicle speed at the current sampling time, F Rolling machine B is a preset empirical parameter obtained through a plurality of tests, and can be 19440.
Step S43, obtaining the vehicle traction at the current sampling moment according to the wheel radius and the engine output torque at the current sampling moment;
the detection terminal inputs the obtained wheel radius and the engine output torque collected at the current sampling moment into a preset traction calculation formula, and the vehicle traction at the current sampling moment is obtained through calculation, wherein the preset traction calculation formula is as follows:
F traction device ＝T/r，
Where T is the engine output torque at the current sampling time, r is the wheel radius, F Traction apparatus The vehicle tractive effort at the current sample time.
Step S45, obtaining the ramp resistance at the current sampling moment according to the air resistance, the rolling resistance, the traction and the acceleration of the vehicle at the current sampling moment and the vehicle weight;
after the detection terminal calculates and obtains the vehicle air resistance, the vehicle rolling resistance, the vehicle traction and the vehicle acceleration at the current sampling moment, the vehicle weight, the vehicle air resistance, the vehicle rolling resistance, the vehicle traction and the vehicle acceleration at the current sampling moment are input into a preset ramp resistance calculation formula, and the ramp resistance at the current sampling moment is obtained through calculation, wherein the preset ramp resistance calculation formula is as follows:
F＝F traction apparatus -F Rolling machine -F Air conditioner -m*a，
Wherein F Air conditioner As the air resistance of the vehicle at the current sampling time, F Traction device For the vehicle traction at the current sampling instant, F Rolling machine The vehicle rolling resistance at the current sampling moment is m, the vehicle weight is m, the vehicle acceleration at the current sampling moment is a, and the ramp resistance at the current sampling moment is F.
And S46, obtaining the gradient of the slope on which the vehicle is positioned at the current sampling time according to the vehicle weight, the gravity acceleration and the slope resistance at the current sampling time.
After the detection terminal obtains the ramp resistance at the current sampling moment, the slope of the ramp where the vehicle is located at the current sampling moment is obtained through calculation according to the obtained vehicle weight, the obtained gravitational acceleration and the obtained ramp resistance at the current sampling moment in a preset slope calculation formula, wherein the preset slope calculation formula is as follows:
θ = arc sin (| F |/mg), where F is the ramp resistance at the current sampling time, m is the vehicle weight, and g is the gravitational acceleration.
It should be noted that the detection terminal may simultaneously execute step S41, step S42, and step S43, or may sequentially execute step S41, step S42, and step S43, and when step S41, step S42, and step S43 are not simultaneously executed, the order of executing step S41, step S42, and step S43 is not limited in this embodiment.
The method comprises the steps of obtaining environmental parameters and vehicle parameters, wherein the environmental parameters comprise gravity acceleration, an air resistance coefficient and a rolling resistance coefficient, and the vehicle parameters comprise vehicle weight and wheel radius; acquiring the vehicle speed and the output torque of the engine according to a preset sampling frequency; acquiring the vehicle acceleration at the current sampling moment according to the vehicle speed at the current sampling moment, the vehicle speed at the previous sampling moment and a preset sampling frequency; and obtaining the gradient of the ramp where the vehicle is located at the current sampling moment according to the environmental parameters, the vehicle speed, the engine output torque and the vehicle acceleration at the current sampling moment. Therefore, the slope of the slope on which the vehicle is located can be detected in real time only according to the speed detection device and the engine torque sensor which are originally arranged on the vehicle, the slope of the slope can be obtained without additionally arranging a slope sensor, and the manufacturing cost of the vehicle is reduced.
Further, referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of the method for detecting a slope according to the first embodiment of the method for detecting a slope of the present application, wherein in the embodiment, step S45 includes:
step S451, judging whether the ramp resistance at the current sampling moment is greater than 0; if the value is greater than 0, go to step S452; if not greater than 0, go to step S453;
step S452, determining that the vehicle is in an uphill state;
step S453, judging whether the ramp resistance at the current sampling moment is less than 0; if less than 0, go to step S454;
step S454, determining that the vehicle is in a downhill state;
after the detection terminal obtains the slope resistance of the current sampling time according to the air resistance of the vehicle, the rolling resistance of the vehicle, the traction force of the vehicle, the acceleration of the vehicle and the weight of the vehicle at the current sampling time, the slope of the slope where the vehicle is located at the current sampling time is obtained according to the slope resistance of the current sampling time, and whether the vehicle is in a downhill state or an uphill state at the current sampling time can be obtained according to the slope resistance of the current sampling time.
It should be noted that the timing for the detection terminal to execute step S451-step S454 may be before step S46 is executed, or may be after step S46 is executed, or may simultaneously execute step S451-step S454 and step S46.
The slope resistance of the vehicle can be obtained in real time only by the speed detection device and the engine torque sensor which are originally arranged according to the vehicle, so that whether the vehicle is in an uphill state or a downhill state is obtained, a special sensor is not required to be additionally arranged to detect whether the vehicle is in the uphill state or the downhill state, and the cost of the automobile is not increased.
Further, referring to fig. 4, fig. 4 is a diagram illustrating a third embodiment of the method for detecting a slope according to the first embodiment and the second embodiment of the method for detecting a slope of the present application, where in the embodiment, step S40 is preceded by:
s50, acquiring a brake signal and a gear shifting state according to a preset sampling frequency;
step S60, judging whether the vehicle speed at the current sampling moment is greater than or equal to a preset vehicle speed threshold value, whether the vehicle acceleration is less than or equal to a preset acceleration threshold value, whether the output torque of the engine is greater than a preset torque threshold value, whether a brake signal is non-braking and whether a gear shifting state is in a non-gear shifting process; and if the vehicle speed at the current sampling moment is greater than or equal to the preset vehicle speed threshold, the vehicle acceleration is less than or equal to the preset acceleration threshold, the engine output torque is greater than the preset torque threshold, the brake signal is non-braking, and the gear shifting state is in the non-gear shifting process, executing the step S40.
In this embodiment, before obtaining the gradient of a ramp on which a vehicle is located at a current sampling time according to environmental parameters, vehicle parameters, and a vehicle speed, an engine output torque, and a vehicle acceleration at the current sampling time, a detection terminal collects a brake signal and a shift state while collecting the vehicle speed and the engine output torque according to a preset sampling frequency, then, in step S30, determines whether the vehicle speed at the current sampling time is greater than or equal to a preset vehicle speed threshold, where the preset vehicle speed threshold may be 10km/h, determines whether the vehicle acceleration at the current sampling time is less than or equal to a preset acceleration threshold, where the preset acceleration threshold may be 1.56m/S, determines whether the engine output torque at the current sampling time is greater than a preset torque threshold, where the preset torque threshold is 0, determines whether the brake signal at the current sampling time is a preset signal corresponding to a brake, and determines whether the shift signal at the current sampling time is a preset signal corresponding to a shift; if the vehicle speed at the current sampling moment is greater than or equal to the preset vehicle speed threshold value, the vehicle acceleration at the current sampling moment is less than or equal to the preset acceleration threshold value, the engine output torque at the current sampling moment is greater than the preset torque threshold value, the brake signal at the current sampling moment is non-braking, and the gear shifting state at the current sampling moment is non-gear shifting, the detection terminal can confirm that the current driving state of the vehicle is suitable for slope calculation, so that the slope of the slope where the vehicle is located at the current sampling moment can be obtained according to the environmental parameters, the vehicle speed at the current sampling moment, the engine output torque and the vehicle acceleration. If any of the 5 judgment conditions is not in accordance with the preset condition, for example, the vehicle speed at the current sampling time is less than the preset vehicle speed threshold, or the vehicle acceleration at the current sampling time is greater than the preset acceleration threshold, or the engine output torque at the current sampling time is less than the preset torque threshold, or the brake signal at the current sampling time is not non-braking, i.e., is in the braking process, or the gear shift state at the current sampling time is not in the non-gear shift process, i.e., is in the gear shift process, the detection terminal can determine that the current vehicle driving state is not suitable for performing slope calculation of the slope, and can affect the accuracy of the slope calculation result, so that the slope of the slope on which the vehicle is located at the current sampling time is calculated according to the environmental parameters, the vehicle speed at the current sampling time, the engine output torque, the brake signal and the gear shift signal at the next sampling time according to the preset sampling frequency.
In the embodiment, before the slope calculation of the slope, whether the current vehicle running state influences the slope calculation result is judged according to the vehicle speed, the vehicle acceleration, the engine output torque, the brake signal and the gear shifting state, so that the condition that the inaccurate slope calculation result is obtained is avoided.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 02 in the detection terminal of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several pieces of information for enabling the detection terminal to perform the methods according to the embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
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 equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (9)
1. A method of detecting a slope, comprising the steps of:
acquiring environmental parameters and vehicle parameters, wherein the environmental parameters comprise gravity acceleration, air resistance coefficient and rolling resistance coefficient, and the vehicle parameters comprise vehicle weight and wheel radius;
acquiring the vehicle speed and the output torque of the engine according to a preset sampling frequency;
acquiring the vehicle acceleration at the current sampling moment according to the vehicle speed at the current sampling moment, the vehicle speed at the previous sampling moment and a preset sampling frequency;
obtaining the gradient of a ramp where the vehicle is located at the current sampling moment according to the environmental parameters, the vehicle speed at the current sampling moment, the output torque of the engine and the acceleration of the vehicle;
the step of obtaining the gradient of the ramp on which the vehicle is located at the current sampling moment according to the environmental parameters, the vehicle speed, the engine output torque and the vehicle acceleration at the current sampling moment comprises the following steps:
obtaining the vehicle air resistance at the current sampling moment according to the air resistance coefficient and the vehicle speed at the current sampling moment;
obtaining the rolling resistance of the vehicle at the current sampling moment according to the vehicle weight, the rolling resistance coefficient, the gravity acceleration and the vehicle speed at the current sampling moment;
according to the radius of the wheel and the output torque of the engine at the current sampling moment, obtaining the traction force of the vehicle at the current sampling moment;
obtaining the ramp resistance at the current sampling moment according to the vehicle air resistance, the vehicle rolling resistance, the vehicle traction force and the vehicle acceleration at the current sampling moment and the vehicle weight;
obtaining the gradient of a ramp where the vehicle is located at the current sampling moment according to the vehicle weight, the gravity acceleration and the ramp resistance at the current sampling moment;
the step of obtaining the air resistance of the vehicle at the current sampling moment according to the air resistance coefficient and the vehicle speed at the current sampling moment comprises the following steps: and inputting the obtained air resistance coefficient and the vehicle speed acquired at the current sampling moment into a preset air resistance calculation formula, and calculating to obtain the vehicle air resistance at the current sampling moment.
2. The ramp detection method according to claim 1, wherein the step of obtaining the vehicle air resistance at the current sampling time based on the air resistance coefficient and the vehicle speed at the current sampling time comprises:
inputting the air resistance coefficient and the vehicle speed at the current sampling moment into a preset air resistance calculation formula to obtain the vehicle air resistance at the current sampling moment, wherein the preset air resistance calculation formula is F Air conditioner ＝C d *V 2 Wherein, C d Is the air resistance coefficient, V is the vehicle speed at the current sampling time, F Air conditioner Is the air resistance.
3. The method for detecting a slope according to claim 1, wherein the step of obtaining the rolling resistance of the vehicle at the current sampling time according to the vehicle weight, the gravitational acceleration, the rolling resistance coefficient and the vehicle speed at the current sampling time comprises:
inputting the vehicle weight, the gravity acceleration, the rolling resistance coefficient and the vehicle speed at the current sampling moment into a preset rolling resistance calculation formula to obtain the vehicle rolling resistance at the current sampling moment, wherein the preset rolling resistance calculation formula is as follows:
F rolling machine ＝m*g*f Roller *(1+V 2 /b)，
Wherein m is the vehicle weight, g is the acceleration of gravity, f Roller Is rolling resistance coefficient, V is vehicle speed at the current sampling time, F Roller And b is a preset empirical parameter, namely the rolling resistance of the vehicle at the current sampling moment.
4. The hill detection method according to claim 1, wherein the step of obtaining vehicle traction at a current sample time based on a wheel radius and an engine output torque at the current sample time comprises:
inputting the radius of the wheel and the output torque of the engine at the current sampling moment into a preset traction calculation formula to obtain the traction of the vehicle at the current sampling moment, wherein the preset traction calculation formula is as follows:
F traction apparatus ＝T/r，
Where T is the engine output torque at the current sampling time, r is the wheel radius, F Traction apparatus The vehicle traction at the current sample time.
5. The ramp detection method according to any one of claims 1 to 4, characterized in that the step of obtaining the ramp resistance at the current sampling moment from the vehicle air resistance, the vehicle rolling resistance, the vehicle traction and the vehicle acceleration at the current sampling moment and the vehicle weight comprises:
inputting the air resistance, rolling resistance, traction and acceleration of the vehicle at the current sampling moment into a preset ramp resistance calculation formula to obtain the ramp resistance at the current sampling moment, wherein the preset ramp resistance calculation formula is as follows:
F＝F traction apparatus -F Roller -F Air conditioner -m*a，
Wherein F Air conditioner Is the vehicle air resistance at the current sampling time, F Traction device For vehicle traction at the current sampling instant, F Roller The rolling resistance of the vehicle at the current sampling moment is m, the vehicle weight is m, the acceleration of the vehicle at the current sampling moment is a, and the ramp resistance at the current sampling moment is F.
6. The method of claim 5, wherein the step of obtaining the ramp resistance at the current sample time based on the vehicle air resistance, the vehicle rolling resistance, the vehicle traction, and the vehicle acceleration at the current sample time, and the vehicle weight is followed by the step of:
judging whether the ramp resistance at the current sampling moment is greater than 0;
if the vehicle speed is greater than 0, determining that the vehicle is in an uphill state;
if the current sampling time is less than or equal to 0, judging whether the ramp resistance at the current sampling time is less than 0;
if less than 0, the vehicle is determined to be in a downhill state.
7. The method of claim 6, wherein the step of obtaining the grade of the slope on which the vehicle is located at the current sampling time based on the environmental parameters, the vehicle parameters, and the vehicle speed, the engine output torque, and the vehicle acceleration at the current sampling time is further preceded by the step of:
acquiring a brake signal and a gear shifting state according to a preset sampling frequency;
judging whether the vehicle speed at the current sampling moment is greater than or equal to a preset vehicle speed threshold value, whether the vehicle acceleration is less than or equal to a preset acceleration threshold value, whether the output torque of an engine is greater than a preset torque threshold value, whether a brake signal is non-braking and whether a gear shifting state is in a non-gear shifting process;
and if the vehicle speed at the current sampling moment is greater than or equal to a preset vehicle speed threshold value, the vehicle acceleration is less than or equal to a preset acceleration threshold value, the engine output torque is greater than a preset torque threshold value, the brake signal is non-braking, and the gear shifting state is in a non-gear shifting process, executing the step of obtaining the gradient of the ramp where the vehicle is located at the current sampling moment according to the environmental parameters, the vehicle speed at the current sampling moment, the engine output torque and the vehicle acceleration.
8. A detection terminal, characterized in that it comprises a memory, a processor and a computer program stored on said memory and executable on said processor, said computer program, when executed by said processor, implementing the steps of the ramp detection method according to any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the ramp detection method according to any one of claims 1 to 7.
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| CN113291272B (en) * | 2021-06-30 | 2023-04-25 | 三一海洋重工有限公司 | Vehicle braking control method, device and system |
| CN113724224B (en) * | 2021-08-31 | 2024-12-13 | 深圳市星卡软件技术开发有限公司 | Automobile power detection method, device and computer equipment |
| CN113815621A (en) * | 2021-09-24 | 2021-12-21 | 上汽通用五菱汽车股份有限公司 | Gradient calculation method and device, vehicle and computer-readable storage medium |
| CN114559824B (en) * | 2022-03-28 | 2024-08-09 | 中铁磁浮交通投资建设有限公司 | Traction system based on railway vehicle and verification method |
| CN116729399B (en) * | 2023-07-11 | 2024-02-13 | 长春一东离合器股份有限公司苏州研发中心 | Vehicle ramp, vehicle weight dynamic identification method, device, equipment and medium |
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