CN113085875B - Method and device for determining longitudinal acceleration based on pitch angle and longitudinal slope angle - Google Patents

Abstract

The invention discloses a method for determining the longitudinal acceleration based on the pitch angle and the longitudinal gradient angle, comprising: obtaining the longitudinal gradient angle of the vehicle and the longitudinal acceleration to be compensated measured by an accelerometer when the vehicle enters an emergency state; The longitudinal acceleration to be compensated determines the actual longitudinal acceleration slope angle compensation part; obtains the front and rear suspension stiffness, wheelbase, center of mass height and vehicle mass of the vehicle; according to the front and rear suspension stiffness, the wheelbase, and the center of mass height , the vehicle mass and the longitudinal acceleration to be compensated determine the actual longitudinal acceleration pitch angle compensation part of the vehicle; the actual longitudinal acceleration is obtained by compensating the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part. The implementation of the invention can ensure the stable control of the vehicle in an emergency state, and avoid the rollover of the vehicle caused by outputting wrong longitudinal acceleration during the running process of the vehicle.

Description

Method and device for determining longitudinal acceleration based on pitch angle and longitudinal slope angle

technical field

The invention relates to the technical field of vehicle control, in particular to a method and device for determining longitudinal acceleration based on a pitch angle and a longitudinal slope angle.

Background technique

At present, the longitudinal acceleration used in the vehicle control strategy comes directly from the accelerometer sensor. When the vehicle is accelerating or decelerating, the body will generate a body pitch angle due to the elasticity of the suspension, and the acceleration of gravity will pass through this pitch. The angle of the road affects the longitudinal acceleration signal, resulting in a certain signal deviation; similarly, the road slope angle will also change the longitudinal acceleration signal through the acceleration of gravity. The pitch angle and longitudinal slope will cause serious distortion of longitudinal acceleration, which greatly reduces the dynamic performance, maneuverability and safety of the vehicle.

Therefore, it is urgent to provide a method for calculating the longitudinal acceleration based on the pitch angle and the longitudinal slope angle, which can compensate the longitudinal acceleration measured by the accelerometer to obtain the real longitudinal acceleration when the vehicle enters an emergency, so as to improve the dynamic performance and maneuverability of the vehicle and security.

Contents of the invention

In order to solve the above technical problems, the present invention provides a method for determining longitudinal acceleration based on pitch angle and longitudinal slope angle, including:

Acquiring the longitudinal gradient angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when the vehicle enters an emergency state, the emergency state being emergency braking or acceleration of the vehicle;

determining an actual longitudinal acceleration gradient angle compensation part according to the longitudinal gradient angle and the longitudinal acceleration to be compensated;

Obtain the front and rear suspension stiffness, wheelbase, center of mass height and vehicle mass of the vehicle;

Determine the actual longitudinal acceleration pitch angle compensation part of the vehicle according to the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass, the vehicle mass and the longitudinal acceleration to be compensated;

The actual longitudinal acceleration is obtained by compensating the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part.

Further, the acquiring the longitudinal slope angle of the vehicle when the vehicle enters an emergency state includes:

Determine the longitudinal slope angle according to the obtained vehicle driving force, resistance, vehicle mass and the derivative of the current vehicle speed with respect to time;

Or, determine the longitudinal slope angle according to the longitudinal acceleration collected by the accelerometer sensor and the vehicle longitudinal acceleration calculated according to the wheel speed acceleration.

Further, the determination of the pitch angle of the vehicle according to the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass and the mass of the vehicle is determined according to the following formula:

Among them, α is the pitch angle, m is the mass of the vehicle, a _xact is the actual longitudinal acceleration, L is the wheelbase, k _f is the stiffness of the front suspension, k _r is the stiffness of the rear suspension, and h is the height of the center of mass.

Further, the resistance includes: rolling resistance, wind resistance and braking force.

Further, the wind resistance is determined by the acquired air density, air resistance coefficient, windward area and vehicle speed.

Further, the acquisition of the longitudinal slope angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when the vehicle enters the emergency state also includes:

Obtain the longitudinal acceleration to be compensated in the current cycle through the accelerometer;

Comparing the longitudinal acceleration to be compensated in the current cycle with the longitudinal acceleration to be compensated in the previous cycle;

When the rate of change between the longitudinal acceleration to be compensated in the current cycle and the longitudinal acceleration to be compensated in the previous cycle is greater than a preset threshold, it is determined that the vehicle is in an emergency state.

In another aspect, the present invention provides a device for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle, including:

The first parameter acquisition module is configured to acquire the longitudinal slope angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when the vehicle enters an emergency state, the emergency state being emergency braking or acceleration of the vehicle;

The slope angle compensation calculation module is configured to perform the slope angle compensation part of determining the actual longitudinal acceleration according to the longitudinal slope angle and the longitudinal acceleration to be compensated;

The second parameter acquisition module is configured to acquire the front and rear suspension stiffness, wheelbase, center of mass height and vehicle mass of the vehicle;

The pitch angle compensation calculation module is configured to perform the pitch angle compensation part of determining the actual longitudinal acceleration of the vehicle according to the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass, the mass of the vehicle and the longitudinal acceleration to be compensated ;

The actual longitudinal acceleration determination module is configured to perform compensation on the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration.

Further, also include:

The longitudinal acceleration acquisition module to be compensated is configured to acquire the longitudinal acceleration to be compensated in the current cycle through the accelerometer;

A comparison module configured to compare the longitudinal acceleration to be compensated in the current cycle with the longitudinal acceleration to be compensated in the previous cycle;

The emergency state determination module is configured to determine that the vehicle is in an emergency state when the rate of change between the longitudinal acceleration to be compensated in the current cycle and the longitudinal acceleration to be compensated in the previous cycle is greater than a preset threshold.

In yet another aspect, the present invention provides a device for determining longitudinal acceleration based on a pitch angle and a longitudinal slope angle, wherein the device includes a processor and a memory, and at least one instruction or at least one program is stored in the memory, so The at least one instruction or at least one program is loaded and executed by the processor to realize the method for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle as described above.

In another aspect, the present invention provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to realize the above-mentioned The method for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle is described above.

A method and device for determining longitudinal acceleration based on pitch angle and longitudinal slope angle provided by the present invention have the following beneficial effects:

The method and device for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle provided by the present invention can respectively estimate the pitch angle and the longitudinal slope when the vehicle enters an emergency state, and correct the longitudinal acceleration through two aspects of compensation without the need for With the addition of additional sensors, the corrected longitudinal acceleration is more accurate, which solves the serious distortion of the longitudinal acceleration in the prior art, and greatly improves the dynamic performance, maneuverability and safety of the vehicle.

Description of drawings

In order to illustrate the technical solution of the present invention more clearly, the following will briefly introduce the drawings required for the embodiments or the description of the prior art. Apparently, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings according to these drawings without any creative work.

FIG. 1 is a schematic flowchart of a method for determining lateral acceleration based on pitch angle and longitudinal gradient provided by an embodiment of the present application;

Fig. 2 is a schematic flowchart of a method for determining lateral acceleration based on pitch angle and longitudinal gradient provided by an embodiment of the present application;

Fig. 3 is a schematic structural diagram of a device for determining lateral acceleration based on pitch angle and longitudinal gradient provided by an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

Among them, 710-first parameter acquisition module, 720-slope angle compensation calculation module, 730-second parameter acquisition module, 740-pitch angle compensation calculation module. 750 - Actual longitudinal acceleration determination module.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, means, product or equipment comprising a series of steps or elements need not be limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

As shown in Figure 1, Figure 1 is a schematic flow chart of a method for determining longitudinal acceleration based on pitch angle and longitudinal slope angle provided by an embodiment of the present application, and an embodiment of this specification provides a method for determining longitudinal acceleration based on pitch angle and longitudinal slope angle , the subject of execution of the method may be an electronic control unit (ECU, Electronic Control Unit) of a car (for example, a pure electric car, a hybrid car, a fuel car), and the method includes:

S102. Obtain the longitudinal slope angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when the vehicle enters an emergency state, where the emergency state is emergency braking or acceleration of the vehicle.

In the specific implementation process, the longitudinal acceleration to be compensated can be obtained through the accelerometer. It can be understood that the accelerometer is connected with the electronic control unit to realize data interaction, and the longitudinal slope angle of the entire vehicle can be obtained through at least one method, such as through the power The manner of the physical estimation and/or the manner of the kinematic estimation is determined.

On the basis of the above-mentioned embodiments, in one embodiment of this specification, the acquisition of the longitudinal slope angle of the vehicle during the movement of the vehicle includes:

Determine the longitudinal slope angle according to the obtained vehicle driving force, resistance, vehicle mass and the derivative of the current vehicle speed with respect to time;

In a specific implementation process, the electronic control unit can obtain the derivative of the driving force, resistance, vehicle mass and current vehicle speed with respect to time during the vehicle movement, and calculate the longitudinal slope angle based on the kinematics formula. The kinematic formula is as follows:

为当前车速关于时间的导数。Among them, F driving force is the driving force of the whole vehicle, and the driving force can represent the driving force of the vehicle. F resistance refers to the resistance encountered by the vehicle during its travel, such as: rolling resistance, wind resistance and braking force. m is the mass of the vehicle, g is the gravity coefficient, θ is the longitudinal slope angle,

is the derivative of the current vehicle speed with respect to time.

When the vehicle is an electric vehicle, the driving force can be the driving force corresponding to the driving torque of the front and rear motors, and the driving force generated by the motor can be obtained by summing the torque of the front and rear motors and then dividing it by the rolling radius.

It can be understood that the wind resistance is determined by the obtained air density, air resistance coefficient, windward area and vehicle speed, and the wind resistance can be obtained by the following formula: ρ is the air density, C _D is the air resistance coefficient, A is the windward area, v is the vehicle speed.

Slope resistance can be obtained by the following formula: θ is the longitudinal slope angle.

F _{slope resistance} = mg sinθ

The rolling resistance can be obtained by the following formula: θ is the longitudinal slope angle, f is the rolling resistance coefficient;

F _{rolling resistance} = mgf cosθ

It is understood that the resistance may be the sum of the above-mentioned rolling resistance, wind resistance and braking force.

Or, determine the longitudinal slope angle according to the longitudinal acceleration collected by the accelerometer sensor and the vehicle longitudinal acceleration calculated according to the wheel speed acceleration.

In the specific implementation process, the longitudinal slope angle can also be calculated by the longitudinal acceleration collected by the accelerometer sensor and the vehicle longitudinal acceleration calculated according to the wheel speed acceleration;

a _xm ＝a _xwheel +g sinθ

Among them, a _xm is the longitudinal acceleration collected by the accelerometer sensor, and a _xwheel is the vehicle longitudinal acceleration calculated based on the wheel speed acceleration.

S104. Determine an actual longitudinal acceleration gradient angle compensation part according to the longitudinal gradient angle and the longitudinal acceleration to be compensated.

In the specific implementation process, when the vehicle enters an emergency state (emergency braking or acceleration) and is about to generate a large body pitch angle, the part affected by the road slope angle is extracted and locked, and then the difference is compensated to the longitudinal acceleration signal compensation module until the vehicle is released from the emergency state.

a _xm ＝a _xact -gθ

Among them, a _xm is the longitudinal acceleration to be compensated; a _xact is the actual longitudinal acceleration; g is the acceleration of gravity; θ is the longitudinal slope angle; gθ is the slope angle compensation part.

S106. Obtain the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass, and the mass of the vehicle.

In a specific implementation process, the front and rear suspension stiffness, wheelbase, center of mass height and vehicle mass of the vehicle may be recorded in the electronic control unit when leaving the factory. It can be understood that the above parameters are all fixed parameters.

S108. Determine the actual longitudinal acceleration pitch angle compensation part of the vehicle according to the front and rear suspension stiffnesses, the wheelbase, the height of the center of mass, the vehicle mass and the longitudinal acceleration to be compensated.

In a specific implementation process, the determination of the pitch angle of the vehicle according to the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass and the mass of the vehicle is determined according to the following formula:

Among them, α is the pitch angle, m is the mass of the vehicle, a _xact is the actual longitudinal acceleration, L is the wheelbase, k _f is the stiffness of the front suspension, k _r is the stiffness of the rear suspension, and h is the height of the center of mass.

Among them, a _xact is the actual longitudinal acceleration; m is the mass of the vehicle; L is the wheelbase; h is the height of the center of mass; k _f is the stiffness of the front suspension; k _r is the stiffness of the rear suspension.

According to the above formula, the pitch angle compensation part can be determined as

S110. Compensate the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain an actual longitudinal acceleration.

In the specific implementation process, the actual longitudinal acceleration compensation can be divided into two parts: road slope angle compensation and body pitch angle compensation. The body pitch angle compensation part always exists, while the road slope angle compensation part will intervene and Compensate the acceleration deviation value caused by the slope angle, and finally get the real longitudinal acceleration.

The method and device for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle provided by the present invention can respectively estimate the pitch angle and the longitudinal slope when the vehicle enters an emergency state, and correct the longitudinal acceleration through two aspects of compensation without the need for With the addition of additional sensors, the corrected longitudinal acceleration is more accurate, which solves the serious distortion of the longitudinal acceleration in the prior art, and greatly improves the dynamic performance, maneuverability and safety of the vehicle. Ensure the stable control of the vehicle in an emergency state, and avoid the vehicle rollover due to the wrong longitudinal acceleration output during the operation of the vehicle.

On the basis of the above-mentioned embodiments, in one embodiment of this specification, Fig. 2 is a schematic flowchart of a method for determining longitudinal acceleration based on pitch angle and longitudinal slope angle provided by the embodiment of the present application. As shown in Fig. 2, the vehicle Obtain the longitudinal slope angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when entering the emergency state, previously including:

S602. Obtain the longitudinal acceleration to be compensated in the current cycle through the accelerometer;

S604. Comparing the longitudinal acceleration to be compensated in the current period with the longitudinal acceleration to be compensated in the previous period;

S606. When the rate of change between the longitudinal acceleration to be compensated in the current cycle and the longitudinal acceleration to be compensated in the previous cycle is greater than a preset threshold, determine that the vehicle is in an emergency state.

In the specific implementation process, the electronic control unit can obtain the longitudinal acceleration to be compensated measured by the accelerometer at preset time intervals, compare the longitudinal acceleration to be compensated obtained in the current cycle with the longitudinal acceleration to be compensated in the previous cycle, and compare the longitudinal acceleration to be compensated in the previous cycle with the longitudinal acceleration to be compensated in two adjacent When the periodic rate of change of longitudinal acceleration to be compensated is greater than a preset threshold, it can be determined that the vehicle is in an emergency state. Wherein, the preset threshold and the time of adjacent periods are not specifically limited in this embodiment of the specification, and can be set according to time requirements.

On the other hand, the embodiment of this specification provides a device for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle. FIG. As shown in Figure 3, including:

The first parameter acquisition module is configured to acquire the longitudinal slope angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when the vehicle enters an emergency state, the emergency state being emergency braking or acceleration of the vehicle;

The slope angle compensation calculation module is configured to perform the slope angle compensation part of determining the actual longitudinal acceleration according to the longitudinal slope angle and the longitudinal acceleration to be compensated;

The second parameter acquisition module is configured to acquire the front and rear suspension stiffness, wheelbase, center of mass height and vehicle mass of the vehicle;

The pitch angle compensation calculation module is configured to perform the pitch angle compensation part of determining the actual longitudinal acceleration of the vehicle according to the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass, the mass of the vehicle and the longitudinal acceleration to be compensated ;

The actual longitudinal acceleration determination module is configured to perform compensation on the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration.

On the basis of the above-mentioned embodiments, in an embodiment of this specification, it also includes:

The longitudinal acceleration acquisition module to be compensated is configured to acquire the longitudinal acceleration to be compensated in the current cycle through the accelerometer;

A comparison module configured to compare the longitudinal acceleration to be compensated in the current cycle with the longitudinal acceleration to be compensated in the previous cycle;

The emergency state determination module is configured to determine that the vehicle is in an emergency state when the rate of change between the longitudinal acceleration to be compensated in the current cycle and the longitudinal acceleration to be compensated in the previous cycle is greater than a preset threshold.

It should be noted that, when realizing the functions of the device provided by the above-mentioned embodiments, the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional modules according to the needs. The internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and the method embodiment provided by the above embodiment belong to the same idea, and the specific implementation process thereof is detailed in the method embodiment, and will not be repeated here.

On the other hand, FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. As shown in FIG. 4 , the present invention provides a device for determining lateral acceleration based on pitch angle and longitudinal gradient, and the device includes processing A device and a memory, at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or at least one section of program is loaded and executed by the processor to realize the determination based on the pitch angle and the longitudinal slope angle as described above Longitudinal acceleration method.

In another aspect, the present invention provides a computer-readable storage medium, in which at least one instruction or at least one section of program is stored, and the at least one instruction or at least one section of program is processed by

The controller is loaded and executed to realize the method for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle as described above.

It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the same and similar parts in each embodiment, refer to each other, that is, Can. The testing method provided by the embodiment of the present invention has the same realization principle and technical effect as the aforementioned system embodiment. For a brief description, for the part not mentioned in the method embodiment, refer to the corresponding content in the aforementioned system embodiment.

In the several embodiments provided in this application, it should be understood that the disclosed system and method may also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functions and possible implementations of devices, methods and computer program products according to multiple embodiments of the present invention. operate. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.

If the above functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

In a specific embodiment, as shown in FIG. 4 , it shows a schematic structural diagram of an electronic device provided by an embodiment of the present invention. The electronic device 800 may include a memory 810 of one or more computer-readable storage media, a processor 820 of one or more processing cores, an input unit 830, a display unit 840, a radio frequency (Radio Frequency, RF) circuit 850, a wireless protection A real (wireless fidelity, WiFi) module 860, a power supply 870 and other components. Those skilled in the art can understand that the structure of the electronic device shown in FIG. 4 does not constitute a limitation on the electronic device 800, and may include more or fewer components than shown in the figure, or combine some components, or arrange different components. . in:

The memory 810 can be used to store software programs and modules, and the processor 820 executes various functional applications and data processing. The memory 810 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function, etc.; the data storage area may store files created according to the use of the electronic device data etc. In addition, the memory 810 may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), and a secure digital (Secure Digital, SD) card. , a flash memory card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory 810 may further include a memory controller to provide the processor 820 with access to the memory 810 .

The processor 820 is the control center of the electronic device 800, using various interfaces and lines to connect various parts of the entire electronic device, by running or executing the software programs and/or modules stored in the memory 810, and calling the software programs and/or modules stored in the memory 810 Execute various functions of the electronic device 800 and process data, so as to monitor the electronic device 800 as a whole. The processor 820 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The input unit 830 can be used to receive input numbers or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control. Specifically, the input unit 830 may include an image input device 831 and other input devices 832 . The image input device 831 can be a camera, or a photoelectric scanning device. In addition to the image input device 831 , the input unit 830 may also include other input devices 832 . Specifically, other input devices 832 may include but not limited to one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), trackball, mouse, joystick, and the like.

The display unit 840 can be used to display information input by or provided to the user and various graphical user interfaces of the electronic device. These graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. The display unit 840 may include a display panel 841. Optionally, the display panel 841 may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD), an organic light-emitting diode (Organic Light-Emitting Diode, OLED), or the like.

The RF circuit 850 can be used for sending and receiving information or receiving and sending signals during a call. In particular, after receiving the downlink information of the base station, it is processed by one or more processors 820; to the base station. Typically, the RF circuit 850 includes, but is not limited to, an antenna, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a Low Noise Amplifier (Low Noise Amplifier, LNA), duplexer, etc. In addition, RF circuitry 850 may also communicate with networks and other devices via wireless communications. The wireless communication can use any communication standard or protocol, including but not limited to Global System of Mobile Communication (Global System of Mobilecommunication, GSM), General Packet Radio Service (General Packet Radio Service, GPRS), Code Division Multiple Access (Code Division Multiple Access, CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (Long Term Evolution, LTE), email, Short Messaging Service (Short Messaging Service, SMS), etc.

WiFi is a short-distance wireless transmission technology. The electronic device 800 can help users send and receive emails, browse webpages, and access streaming media through the WiFi module 860, which provides users with wireless broadband Internet access. Although FIG. 4 shows a WiFi module 860, it can be understood that it is not a necessary component of the electronic device 800, and can be omitted according to needs without changing the essence of the invention.

The electronic device 800 also includes a power supply 870 (such as a battery) for supplying power to various components. Preferably, the power supply can be logically connected to the processor 820 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. and other functions. The power supply 870 may also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

It should be noted that, although not shown, the electronic device 800 may further include a Bluetooth module, etc., which will not be repeated here. A storage medium is provided, wherein at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the at least one instruction, the at least one section of program, the code set or instruction set can be processed by electronic equipment The server executes any one of the above-mentioned *** methods.

Optionally, in the embodiment of the present invention, the above-mentioned storage medium may include but not limited to: U disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), mobile hard disk, Various media that can store program codes, such as magnetic disks or optical disks.

It should be noted that: the order of the above embodiments of the present invention is only for description, and does not represent the advantages and disadvantages of the embodiments. And the above describes the specific embodiments of this specification. Other implementations are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain embodiments.

Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the apparatus, electronic equipment, and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for relevant parts, please refer to part of the description of the method embodiments.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above embodiments can be completed by hardware, and can also be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium mentioned may be a read-only memory, a magnetic disk or an optical disk, and the like.

Finally, it should be noted that: the above-described embodiments are only specific implementations of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them, and the scope of protection of the present invention is not limited thereto, although referring to the foregoing The embodiment has described the present invention in detail, and those skilled in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention Changes can be easily thought of, or equivalent replacements are made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of the present invention within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the above claims.

Claims (10)

1. A method for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle, is characterized in that, comprising: Acquiring the longitudinal gradient angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when the vehicle enters an emergency state, the emergency state being emergency braking or acceleration of the vehicle; determining an actual longitudinal acceleration gradient angle compensation part according to the longitudinal gradient angle; Obtain the front and rear suspension stiffness, wheelbase, center of mass height and vehicle mass of the vehicle; Determine the actual longitudinal acceleration pitch angle compensation part of the vehicle according to the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass, the vehicle mass and the longitudinal acceleration to be compensated; The actual longitudinal acceleration is obtained by compensating the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part. 2. The method for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle according to claim 1, wherein said obtaining the longitudinal gradient angle of the vehicle when the vehicle enters an emergency state comprises: Determine the longitudinal slope angle according to the obtained vehicle driving force, resistance, vehicle mass and the derivative of the current vehicle speed with respect to time; Or, determine the longitudinal slope angle according to the longitudinal acceleration collected by the accelerometer sensor and the vehicle longitudinal acceleration calculated according to the wheel speed acceleration. 3. The method for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle according to claim 1, wherein the method according to the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass and the mass of the vehicle Determine the pitch angle of the vehicle is determined according to the following formula:

Among them, α is the pitch angle, m is the mass of the vehicle, a _xact is the actual longitudinal acceleration, L is the wheelbase, k _f is the stiffness of the front suspension, k _r is the stiffness of the rear suspension, and h is the height of the center of mass. 4. The method for determining the longitudinal acceleration based on the pitch angle and the longitudinal gradient angle according to claim 2, wherein the resistance comprises: rolling resistance, wind resistance and braking force. 5. The method for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle according to claim 4, wherein the wind resistance is determined by the acquired air density, air resistance coefficient, windward area and vehicle speed. 6. The method for determining the longitudinal acceleration based on the pitch angle and the longitudinal gradient angle according to claim 1, wherein the longitudinal gradient angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer are obtained when the vehicle enters an emergency state, Previously also included: Obtain the longitudinal acceleration to be compensated in the current cycle through the accelerometer; Comparing the longitudinal acceleration to be compensated in the current cycle with the longitudinal acceleration to be compensated in the previous cycle; When the rate of change between the longitudinal acceleration to be compensated in the current cycle and the longitudinal acceleration to be compensated in the previous cycle is greater than a preset threshold, it is determined that the vehicle is in an emergency state. 7. A device for determining longitudinal acceleration based on pitch angle and longitudinal slope angle, characterized in that it comprises: The first parameter acquisition module is configured to acquire the longitudinal slope angle of the vehicle and the longitudinal acceleration to be compensated measured by the accelerometer when the vehicle enters an emergency state, the emergency state being emergency braking or acceleration of the vehicle; A gradient angle compensation calculation module configured to execute the part of determining the actual longitudinal acceleration gradient angle compensation according to the longitudinal gradient angle; The second parameter acquisition module is configured to acquire the front and rear suspension stiffness, wheelbase, center of mass height and vehicle mass of the vehicle; The pitch angle compensation calculation module is configured to perform the pitch angle compensation part of determining the actual longitudinal acceleration of the vehicle according to the stiffness of the front and rear suspensions, the wheelbase, the height of the center of mass, the mass of the vehicle and the longitudinal acceleration to be compensated ; The actual longitudinal acceleration determination module is configured to perform compensation on the longitudinal acceleration to be compensated according to the slope angle compensation part and the pitch angle compensation part to obtain the actual longitudinal acceleration. 8. The device for determining longitudinal acceleration based on pitch angle and longitudinal slope angle according to claim 7, further comprising: The longitudinal acceleration acquisition module to be compensated is configured to acquire the longitudinal acceleration to be compensated in the current cycle through the accelerometer; A comparison module configured to compare the longitudinal acceleration to be compensated in the current cycle with the longitudinal acceleration to be compensated in the previous cycle; The emergency state determination module is configured to determine that the vehicle is in an emergency state when the rate of change between the longitudinal acceleration to be compensated in the current cycle and the longitudinal acceleration to be compensated in the previous cycle is greater than a preset threshold. 9. A device for determining longitudinal acceleration based on pitch angle and longitudinal gradient angle, characterized in that the device includes a processor and a memory, at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or At least one section of program is loaded and executed by the processor to realize the method for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle as described in any one of claims 1-6. 10. A computer-readable storage medium, characterized in that at least one instruction or at least one section of program is stored in the storage medium, and the at least one instruction or at least one section of program is loaded and executed by a processor to implement the requirements of claim 1 - The method for determining the longitudinal acceleration based on the pitch angle and the longitudinal slope angle described in any one of 6.

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