JP7158109B2 - Method and apparatus for calibrating forward axis of vehicle accelerometer - Google Patents

Description

TECHNICAL FIELD The present application relates to smart traffic in the field of data processing technology, and more particularly to a method and apparatus for calibrating forward axis of vehicle accelerometer.

Slopes are an important embodiment of topographical changes, and slopes can be used to accurately recognize viaduct areas and parallel road sections with slopes. It is possible to improve the success rate of route binding by navigation in slope road sections. In practical application, the vehicle navigation device can calculate the slope according to the vehicle accelerometer and vehicle speed. There is

In the prior art, the forward axis of a vehicle's accelerometer is usually marked by the vehicle supplier that produces the vehicle, and the calibration parameters are generally kept confidential and not disclosed to the public. Vehicle navigation is usually provided by a map supplier, who cannot obtain the calibration parameters of the accelerometer, so the slope cannot be calculated and, finally, an accurate navigation route cannot be obtained.

Embodiments of the present application provide a method and apparatus for calibrating the forward axis of a vehicle accelerometer to solve the technical problem of poor navigation route accuracy in the prior art.

In a first aspect, embodiments of the present application provide a method for calibrating a forward axis of a vehicle accelerometer, comprising:
obtaining the actual slope of the route with slopes when the vehicle recognizes that it has traveled to a route with slopes; and obtaining the acceleration data of three axes of the accelerometer of the vehicle, a step where the three axes are the first axis, the second axis and the third axis; and based on the acceleration data and kinematic equations for the three axes, calculating a real-time slope, a forward/reverse real-time slope of the second axis, and a real-time forward/reverse slope of the third axis, respectively, wherein the kinematic equations are: a kinematic equation satisfied by the acceleration when driving on a slope; determining the directional consistency between the forward/reverse real-time slopes and the actual slopes of the three axes; and calibrating, as the forward axis, one of the three axes within the time period, which has the highest direction matching between the forward/reverse real-time slope and the actual slope. In this way, the calibration of the vehicle accelerometer to the forward axis can be achieved based on the actual slope data of the route and the driving data of the vehicle without having to rely on the vehicle supplier's mark data.

In one possible implementation, prior to obtaining acceleration data for each of the three axes of the accelerometer of the vehicle, statistically counting the average values of each of the three axes of the accelerometer within a second time period. wherein the step of obtaining acceleration data of three axes of the accelerometer of the vehicle comprises: obtaining current acceleration data of three axes of the accelerometer of the vehicle; and subtracting from the acceleration data the average values corresponding to the three axes respectively to obtain the acceleration data of the three axes. In this way, when calculating the real-time forward/reverse slopes of the three axes, the average values corresponding to the three axes are subtracted from the current acceleration data of the three axes, and the included angles affect the slope calculation. can be removed to obtain accurate forward/reverse real-time slopes.

In one possible implementation, calibrate the forward/backward real-time slope and the actual slope of the three axes with the highest directional match in the first time period as the forward axis. the step of measuring, within the first time period, a plurality of directional coincidences between the forward/reverse real-time slopes of the three axes and the actual slopes; counting three coincidence probability values in which the forward/reverse real-time slopes and the actual slopes of the three axes match each other in each of the three coincidence probability values; calibrating the axis corresponding to the match probability value as a forward axis. In this way, it can be ensured that both the axis and its orientation acquired multiple times are coincident, thereby obtaining relatively accurate calibration results.

を含み、
ここで、前記３つの軸のいずれか１つの軸について、ｇが重力加速度で、ｍが前記車両の質量で、ａ_１が前記いずれか１つの軸の加速度データで、ａ_２が前記いずれか１つの軸の車体前進方向に沿った縦方向加速度で、ｔ_１、ｔ_２がそれぞれ前後２つの時刻を代表し、その対応する車速がＶ_１、Ｖ_２で、ｋは、前記加速度計の前進軸が車速方向と一致するか否かを表し、前記加速度計の前進軸が車速方向と一致すると、ｋは１で、Ｈは前記いずれか１つの軸の順方向のリアルタイムスロープで、前記加速度計の前進軸が車速方向と逆であると、ｋは－１で、Ｈは前記いずれか１つの軸の逆方向のリアルタイムスロープである。 In one possible implementation, the kinematic equations are:

including
Here, for any one of the three axes, g is the gravitational acceleration, m is the mass of the vehicle, a1 is the acceleration data of any _one of the axes, and _a2 is any one of the above. The longitudinal acceleration along the vehicle forward direction of two axes, t ₁ and t ₂ respectively representing the two front and rear time points, the corresponding vehicle speeds being V ₁ and V ₂ , k being the forward axis of the accelerometer is consistent with the vehicle speed direction, if the forward axis of the accelerometer is consistent with the vehicle speed direction, then k is 1, H is the forward real-time slope of any one axis, and the accelerometer's If the forward axis is opposite the vehicle speed direction, k is -1 and H is the real-time slope of the opposite direction of any one of said axes.

In a possible implementation, the value of the actual slope is a positive number if the actual slope is uphill and the value of the actual slope is a negative number if the actual slope is downhill,
The step of establishing directional agreement between the forward/reverse real-time slopes and the actual slopes of the three axes includes: for any one of the three axes, the actual slopes, the any determining a directional match between the real-time forward slope of the any axis and the actual slope based on comparing the real-time forward slope of the axis with a slope threshold; and determining a directional match between the real-time reverse slope of any axis and the actual slope based on comparing the real-time reverse slope of that axis with a slope threshold.

In one possible implementation, when the vehicle recognizes that it has traveled to a route with a slope, said step of obtaining the actual slope of said route comprises sending a navigation route to said vehicle; of obtaining the actual slope of the route from a pre-obtained database for storing slope data when it is determined that the route has a slope.

In one possible implementation, as the vehicle travels, the slope of the current route traveled by the vehicle is calculated based on the calibrated forward axis and the direction of the calibrated forward axis. In this way, it is possible to realize the use of vehicles whose forward axis is calibrated to collect slope data for each route, so that the route data in the map can be enriched, and subsequently the navigation route When planning a route, the slope of the route can be used to improve the success rate of route binding by navigation on uphill and downhill road sections.

In one possible implementation, also calibrating the gravitational acceleration axis and the directional axis of the three axes respectively based on the calibrated advance axis, and using the acceleration of the three axes on the accelerometer. and using the vehicle's direction of travel to plan a navigation route for the vehicle. In this manner, the vehicle's driving intent can be predicted and the vehicle's driving direction can be positioned based on the acceleration data corresponding to the three axes in the vehicle's accelerometer, thereby providing the vehicle with an accurate navigation route. can plan.

In a second aspect, embodiments of the present application provide an apparatus for calibrating a forward axis of a vehicle accelerometer, comprising an acquisition module, a calculation module and a calibration module,
the obtaining module is used to obtain an actual slope of a route with slopes when the vehicle recognizes that it has traveled to a route with slopes;
the acquisition module is further used to respectively acquire acceleration data of three axes of the vehicle's accelerometer, the three axes being a first axis, a second axis and a third axis;
Based on the acceleration data and the kinematic equations of the three axes, the calculation module calculates the forward/reverse real-time slope of the first axis, the forward/reverse real-time slope of the second axis, and the forward/reverse real-time slope of the third axis, respectively, because the kinematic equation is a kinematic equation satisfied by the acceleration when the vehicle travels on a slope. is,
the calculation module is further used to determine the directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes;
The calibration module calibrates, as a forward axis, one of the three axes that has the highest direction matching between the forward/reverse real-time slope and the actual slope within the first time period. used for

In one possible implementation,
further comprising a statistic module used to respectively stat average values of the three axes of the accelerometer within a second time period;
The obtaining module specifically obtains the current acceleration data of the three axes of the accelerometer of the vehicle, respectively, and from the current acceleration data of the three axes, the average values corresponding to the three axes respectively. to obtain acceleration data for the three axes.

In one possible implementation, the calibration module specifically:
Measuring directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes multiple times within the first time period;
Statistically, respectively, three coincidence probability values in which the forward/reverse real-time slopes of the three axes match the actual slopes in the first time period; and the three coincidence probabilities. Among the values, the axis corresponding to the highest match probability value is used to calibrate as the forward axis.

を含み、
ここで、前記３つの軸のいずれか１つの軸について、ｇが重力加速度で、ｍが前記車両の質量で、ａ_１が前記いずれかの軸の加速度データで、ａ_２が前記いずれかの軸の車体前進方向に沿った縦方向加速度で、ｔ_１、ｔ_２がそれぞれ前後２つの時刻を代表し、その対応する車速がＶ_１、Ｖ_２で、ｋは、前記加速度計の前進軸が車速方向と一致するか否かを表し、前記加速度計の前進軸が車速方向と一致すると、ｋは１で、Ｈは前記いずれか１つの軸の順方向のリアルタイムスロープで、前記加速度計の前進軸が車速方向と逆であると、ｋは－１で、Ｈは前記いずれか１つの軸の逆方向のリアルタイムスロープである。 In one possible implementation, the kinematic equations are:

including
Here, for any one of the three axes, g is the gravitational acceleration, m is the mass of the vehicle, a1 is the acceleration data of _one of the axes, and _a2 is the one of the axes. , t ₁ and t ₂ represent the two front and rear time points, respectively, and the corresponding vehicle speeds are V ₁ and V ₂ , and k is the vehicle speed when the forward axis of the accelerometer is If the forward axis of the accelerometer coincides with the vehicle speed direction, k is 1, H is the forward real-time slope of any one axis, and the forward axis of the accelerometer is opposite to the vehicle speed direction, k is -1 and H is the real-time slope in the opposite direction of any one of said axes.

In a possible implementation, the value of the actual slope is a positive number if the actual slope is uphill and the value of the actual slope is a negative number if the actual slope is downhill, Specifically, for any one of the three axes, the calculation module calculates any one of the three axes based on a comparison of the actual slope, the forward real-time slope of the one of the axes, and a slope threshold. determining a directional match between the forward real-time slope of an axis and the actual slope; determining the directional consistency of the reverse real-time slope of that axis with the actual slope.

In one possible implementation, the acquisition module specifically transmits a navigation route to the vehicle, and if the vehicle is positioned to have traveled to a route having a slope in the navigation route, preliminarily Obtaining the actual slope of the route from the database for storing the obtained slope data.

In one possible implementation, the calculation module further calculates the current traveled position of the vehicle based on the calibrated forward axis and the calibrated forward axis direction as the vehicle travels. Used to calculate the slope of the route.

In one possible implementation, the calibration module is further used to calibrate the gravitational acceleration axis and the directional axis of the three axes, respectively, based on the calibrated advance axis, and the calculation module further comprising: utilizing three axis accelerations in said accelerometers to locate a direction of travel of said vehicle; and utilizing said direction of travel of said vehicle to plan a navigation route for said vehicle. Used.

In a third aspect, embodiments of the present application provide an electronic apparatus comprising at least one processor and a memory communicatively coupled to the at least one processor, the memory comprising the at least one Instructions executable by a processor are stored, said instructions being executed by said at least one processor to cause said at least one processor to perform the method of any one of the preceding first aspects. can do.

In a fourth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium having computer instructions stored thereon, said computer instructions being stored in said computer according to any one of the preceding first aspects. is for carrying out the method of

In a fifth aspect, embodiments of the present application provide a computer program stored on a computer readable storage medium, wherein at least one processor of an electronic device reads the computer program from the computer readable storage medium. readable, and the at least one processor, by executing the computer program, causes the electronic device to perform the method according to any one of the preceding first aspects.

As described above, compared with the prior art, the embodiments of the present application have the following beneficial effects.
In the embodiments of the present application, a method and apparatus for calibrating the forward axis of a vehicle accelerometer is provided, which does not need to rely on the vehicle supplier's mark data, but based on the actual slope data of the route and the driving data of the vehicle. A calibration for the forward axis of the accelerometer can be implemented. Specifically, based on the actual slope of the route, the acceleration data of the three axes of the accelerometers in the vehicle, and the kinematic equations satisfied by the acceleration when the vehicle travels on a slope, the forward/forward direction of the three axes. Determining the direction matching between the reverse real-time slope and the actual slope, and further determining the direction matching between the forward/reverse real-time slope and the actual slope among the three axes in the first time period. The axis with the highest sensitivity can be calibrated as the forward axis.

1 is a schematic diagram of a system architecture to which a method for calibrating a forward axis of a vehicle accelerometer according to an embodiment of the present application is applied; FIG. 4 is a flowchart of a method for calibrating a forward axis of a vehicle accelerometer according to an embodiment of the present application; 1 is a structural schematic diagram of a forward axis calibrating device for a vehicle accelerometer according to an embodiment of the present application; FIG. FIG. 2 is a block diagram of an electronic device for implementing the method for calibrating the forward axis of the vehicle accelerometer of the embodiment of the present application;

Exemplary embodiments of the present application will now be described with reference to the drawings. Although various details of embodiments of the present application are included to aid understanding, these should be considered as exemplary only. Accordingly, those skilled in the art should appreciate that various changes and modifications to the embodiments described herein may be made without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and brevity, the following description omits references to well-known functions and constructions. In the absence of conflict, the examples below and the inventions in the examples can be combined with each other.

The method of the embodiments of the present application can be applied to a vehicle, an onboard terminal of the vehicle, or a server or terminal communicating with the vehicle. Vehicles, in turn, may be any type of vehicle that carries people and/or goods and is powered by a power system such as an engine, including sedans, trucks, buses, electric vehicles, touring cars, etc. is not limited to The vehicle may be a vehicle driven by a person. The vehicle may be a vehicle with some autonomous driving capability. The vehicle is not specifically limited according to the embodiments of the present application.

The accelerometers (also called acceleration sensors) described in the examples of this application may be triaxial accelerometers. Accelerometers are the primary component of inertial measurement units (IMUs). The three axes of the accelerometer may be the forward axis, the gravitational acceleration axis and the directional axis. A direction can be located, which allows the vehicle to plan an accurate navigation route. In practical application, after calibrating the forward axis, any conventional method can be used to conveniently calibrate the gravitational acceleration axis and the directional axis. A specific method for applying is not limited. It is understood that the three axes of the accelerometer may be defined by other names, and this is not specifically limited by the embodiments herein.

The forward/reverse real-time slope described in the embodiments of the present application is a generic term for forward real-time slope and reverse real-time slope. The three-axis forward/reverse real-time slope is related to the alignment of the accelerometer forward axis with the vehicle speed direction, and assuming that the accelerometer forward axis is aligned with the vehicle speed direction, the forward/reverse slope of the three axes. Real-time slope can be calculated and obtained. Assuming that the accelerometer forward axis and vehicle speed direction are opposite, the real-time slopes of the three axes in opposite directions can be calculated and obtained. A specific calculation method will be described in detail in subsequent examples, so it will not be repeated here.

The slopes described in the examples of this application are positive, negative or zero. For example, the slope may be a positive value if the route is downhill, the slope may be a negative value if the route is downhill, and the slope is 0 if the route slope is small. may be

As shown in FIG. 1, FIG. 1 is an architectural schematic diagram of an application scene to which the method according to an embodiment of the present application is applied.

Embodiments of the present application can be applied to smart traffic scenarios, and can also be applied to vehicle Internet application scenarios, and so on.

Here, the vehicle 11 as shown in FIG. 1 communicates with an in-vehicle terminal (or an Internet terminal of the vehicle or a vehicle to everything (vehicle to everything, abbreviated as V2X)) communication to perform vehicle Internet communication. device, etc.) can be installed, and the installed in-vehicle terminal allows the vehicle 11 in the figure to perform vehicle-to-vehicle (abbreviated as V2V) communication with other vehicles, and communicate with other passers-by and vehicles vehicle to pedestrian (V2P) communication, vehicle to infrastructure (V2I) communication with other roadside infrastructure equipment, or communication network and vehicle to network (V2N) communication. (abbreviated as) communication, etc. can be performed. Vehicle-to-passenger, vehicle-to-other vehicles, vehicle-to-roadside infrastructure equipment, and vehicle-to-network omnidirectional connectivity and highly efficient information interaction are realized by in-vehicle terminals, and information services, traffic security, traffic efficiency, etc. It is possible to realize the Internet function of the vehicle. For example, after the in-vehicle terminal is connected with the driver's mobile phone, the driver can use the in-vehicle terminal to play music, map navigation, make and receive calls, and so on.

In one possible application scene, an in-vehicle terminal and a camera are installed in the vehicle 11, and the surrounding environment is sensed based on the camera, and it can be recognized that the vehicle is traveling to a route having a slope. The in-vehicle terminal of the vehicle 11 can acquire the actual slope of the route having the slope from the server 12, and furthermore, the in-vehicle terminal of the vehicle 11 can obtain the actual slope of the route and the three axes of the accelerometer in the vehicle. Based on the acceleration data and the kinematic equations satisfied by the acceleration when the vehicle travels on a slope, determine the directional consistency between the forward/reverse real-time slopes and the actual slopes of the three axes, respectively, and , among the three axes in the first time period, the axis with the highest direction matching between the forward/reverse real-time slope and the actual slope can be calibrated as the forward axis. In this implementation, the vehicle 11 does not need to rely on the vehicle supplier's mark data, but can implement the calibration of the vehicle accelerometer to the forward axis based on the actual slope data of the route and the vehicle's driving data.

In another possible application scenario, the server 12 sends the navigation route to the vehicle 11 to obtain the vehicle's position in real time, when the server 12 determines that the vehicle is traveling to a route with a slope. , the actual slope of a route having said slope can be obtained from a location such as a database, and the server 12 can obtain the actual slope of the route, the acceleration data of the three axes of the accelerometers in the vehicle 11, and the vehicle's Based on the kinematic equations satisfied by the acceleration when driving on a slope, determine the direction consistency between the forward/reverse real-time slopes and the actual slopes of the three axes, respectively; Among the three axes, the axis with the highest direction matching between the forward/reverse real-time slope and the actual slope can be calibrated as the forward axis. In such an implementation, the server 12 does not need to rely on the vehicle supplier's mark data, but can implement the calibration of the vehicle accelerometer to the forward axis based on the actual slope data of the route and the driving data of the vehicle.

It is understood that in a specific application, the number of servers can be any value greater than or equal to 1, and the embodiments of the present application can be applied to other application scenarios, and the embodiments of the present application Thus, this is not specifically limited.

Referring to FIG. 2, FIG. 2 is a flowchart of a method for calibrating a forward axis of a vehicle accelerometer according to an embodiment of the present application. The method can specifically include the following steps.

In S101, when it is recognized that the vehicle has traveled to a route with a slope, the actual slope of the route with the slope is obtained.

In one possible implementation, it recognizes the environment around the vehicle based on equipment such as the vehicle's camera or gyroscope system, and also recognizes whether the vehicle has traveled to a route with a slope and whether the vehicle has a slope. When recognizing that the vehicle has traveled to a route that it has, it is possible to obtain the slope data of the route that has been measured and stored in advance from a storage space (for example, a database, etc.).

In another possible implementation, the vehicle can request navigation from the map server, and the map server can send the navigation route to the vehicle, and in the navigation process, the vehicle travels according to the planned route, Once it is determined that the vehicle has traveled to a route with a slope, the actual slope of the route can be obtained from a pre-obtained database for storing slope data, which may be a map server or other , which is specifically not limited by the embodiments of the present application.

It will be appreciated that for practical applications, any other scheme can also be used to recognize that a vehicle has reached a route with a slope and obtain the actual slope of that route. By way of example, this is not specifically limited.

At S102, the acceleration data of the three axes of the accelerometer of the vehicle are obtained respectively, the three axes being the first axis, the second axis and the third axis.

In an embodiment of the present application, three axes of the accelerometer measure acceleration data corresponding to each of the three axes of the vehicle while the vehicle is running, and store the acceleration data of the three axes at designated locations. Therefore, the acceleration data of the three axes of the vehicle accelerometer can be obtained from the location for storing the acceleration data in the vehicle, and according to the embodiment of the present application, the specific acceleration data of the three axes , and the location where the acceleration data is stored is not specifically limited.

In S103, based on the three-axis acceleration data and kinematic equations, the forward/reverse real-time slope of the first axis, the forward/reverse real-time slope of the second axis, and the The forward/reverse real-time slope of the third axis is calculated respectively, and the kinematic equation is the kinematic equation satisfied by the acceleration when the vehicle runs on a slope.

When the vehicle travels uphill or downhill, the acceleration measured by the accelerometer is actually the sum of the components of the vehicle longitudinal acceleration and the gravitational acceleration along the slope, so the vehicle travels on the slope. It satisfies kinematic equations that are sometimes satisfied by acceleration.

In the present embodiment, based on acceleration data and kinematic equations for three axes, a first axis forward/reverse real-time slope, a second axis forward/reverse real-time slope, and a second axis forward/reverse real-time slope. The forward/reverse real-time slopes of the three axes can be calculated respectively.

を含み、
ここで、前記３つの軸のいずれか１つの軸について、ｇが重力加速度で、ｍが前記車両の質量で、ａ_１が前記いずれか１つの軸の加速度データで、ａ_２が前記いずれか１つの軸の車体前進方向に沿った縦方向加速度で、ｔ_１、ｔ_２がそれぞれ前後２つの時刻を代表し、その対応する車速がＶ_１、Ｖ_２で、ｋは、前記加速度計の前進軸が車速方向と一致するか否かを表し、前記加速度計の前進軸が車速方向と一致すると、ｋは１で、Ｈは前記いずれか１つの軸の順方向のリアルタイムスロープで、前記加速度計の前進軸が車速方向と逆であると、ｋは－１で、Ｈは前記いずれか１つの軸の逆方向のリアルタイムスロープである。 Illustratively, the kinematic equations are:

including
Here, for any one of the three axes, g is the gravitational acceleration, m is the mass of the vehicle, a1 is the acceleration data of any _one of the axes, and _a2 is any one of the above. The longitudinal acceleration along the vehicle forward direction of two axes, t ₁ and t ₂ respectively representing the two front and rear time points, the corresponding vehicle speeds being V ₁ and V ₂ , k being the forward axis of the accelerometer is consistent with the vehicle speed direction, if the forward axis of the accelerometer is consistent with the vehicle speed direction, then k is 1, H is the forward real-time slope of any one axis, and the accelerometer's If the forward axis is opposite the vehicle speed direction, k is -1 and H is the real-time slope of the opposite direction of any one of said axes.

In the embodiment of the present application, the vehicle speed V ₁ at time t ₁ and the vehicle speed V ₂ at time t ₂ may be obtained, respectively, and the acceleration data of any one of the three axes may be converted to the above into the equations, thereby obtaining the forward real-time slope or the reverse real-time slope of each of the three axes, respectively.

In S104, determining the direction consistency between the forward/reverse real-time slopes of the three axes and the actual slopes.

In an embodiment of the present application, for any one of the three axes, the forward real-time slope direction of the axis is compared with the actual slope direction, and the forward real-time slope direction of the axis is compared with the actual slope direction. It can be determined whether it is consistent with the direction of the slope, for example, if the forward real-time slope of the axis is a positive value, the forward real-time slope of the axis is calculated to be uphill. , if the actual slope is also uphill, the direction of the forward real-time slope of the axis is considered to be consistent with the direction of the actual slope; otherwise, it is considered to be inconsistent.

In S105, among the three axes within the first time period, the axis with the highest matching between the forward/reverse real-time slope and the actual slope is calibrated as the forward axis.

In an embodiment of the present application, the specific value of the first time period can be determined according to the actual application scene. Within the first time period, there are three The directional consistency between the forward/reverse real-time slope of the axis and the actual slope can be calculated multiple times, and the real-time slope in the forward direction or the real-time slope in the reverse direction and the actual slope of the three axes can be calculated. It is proved that the higher the consistency of the direction of the axis, the greater the possibility that the axis is the forward axis. The axis with the highest directional consistency can be calibrated as the advancing axis.

In summary, the embodiment of the present application provides a method and apparatus for calibrating the forward axis of a vehicle accelerometer, which does not need to rely on the mark data of the vehicle supplier, but rather the actual slope data of the route and the driving data of the vehicle. Based on this, the calibration of the vehicle accelerometer to the forward axis can be achieved. Specifically, based on the actual slope of the route, the acceleration data of the three axes of the vehicle accelerometer, and the kinematic equations satisfied by the acceleration when the vehicle travels on a slope, the forward/reverse directions of the three axes Further, in the first time period, among the three axes, the direction matching between the forward/reverse real-time slope and the actual slope is determined by The highest axis can be calibrated as the forward axis.

In one possible implementation, based on an embodiment corresponding to FIG. 2, before S102, further comprising the step of respectively statizing the average values of the three axes of the accelerometer within a second time period, Obtaining acceleration data of three axes of the accelerometer of the vehicle S102 includes obtaining current acceleration data of three axes of the accelerometer of the vehicle, respectively; and subtracting the average values corresponding to the three axes to obtain acceleration data for the three axes.

In the embodiment of the present application, the specific value of the second time period can be determined according to the actual application scene. The average values corresponding to each axis within the second time period (for example, 5 minutes) are statistically represented as, for example, a _base1 , a _base2 , and a _base3 . These average values reflect the included angular relationship between the accelerometer forward axis direction and the vehicle speed direction. subtracting the average value corresponding to each of the three axes from the current acceleration data of the three axes when calculating the forward/reverse real-time slopes of the three axes to remove the influence of the included angles on the slope calculation; Accurate forward/reverse real-time slopes can be obtained.

Based on the embodiment corresponding to FIG. 2, in one possible implementation, if the actual slope is uphill, the value of the actual slope is a positive number, and if the actual slope is downhill, the S104, wherein the value of the actual slope is a negative number, and determining the direction consistency between the forward/reverse real-time slopes of the three axes and the actual slopes is any one of the three axes; , determining directional consistency between the actual slope, the real-time forward slope of the any axis, and the actual slope based on a comparison of the real-time forward slope of the any axis and a slope threshold for and the directional consistency between said actual slope, said real-time reverse slope of said any axis, and said actual slope based on a comparison of said real-time slope of said reverse direction of said any axis with said slope threshold. and determining.

Here, the slope threshold may be a reference for determining whether the slope exists, for example, when the slope is less than the slope threshold, it is considered that the slope does not exist, and the slope threshold ranges from 0 to It may be set to any value such as 3, and according to embodiments of the present application, this is not specifically limited.

Exemplarily, the forward real-time slope of the current position three axes is denoted as Pn ( _n =1, 2, 3), and the backward real-time slope of the current position three axes is denoted as Qn ( _n =1, 2 , 3), the actual slope of the route is denoted by _P0 , the slope threshold is denoted by T, and the consistency to express the consistency of the direction of the forward real-time slope of the three axes and the direction of the actual slope The parameters are denoted as K _n (n=1, 2, 3), and the consistency parameter for expressing the consistency between the directions of the real-time slopes in the opposite directions of the three axes and the directions of the actual slopes is L _n (n= 1, 2, 3).
The calculation of K _n (n=1, 2, 3) is
If P ₀ =0, −T<P _n <T then K _n =1, otherwise K _n =−1 and
If P ₀ >0, P _n ≧T, then K _n =1 and
If P ₀ >0, −T<P _n <T, then K _n =0 and
If P ₀ >0, P _n ≤ -T then K _n = -1 and
If P ₀ < 0, P _n ≤ -T then K _n = 1 and
If P ₀ < 0, −T < P _n < T, then K _n = 0 and
If P ₀ <0, P _n ≧T, then it may be so that K _n =−1.
Here, K _n =1 can be expressed as the forward real-time slope direction matching the actual slope direction, and K _n =0 representing the match between the forward real-time slope direction and the actual slope direction. is unknown, and K _n =−1 can be expressed as the direction of the forward real-time slope does not match the direction of the actual slope.
The calculation of L _n (n=1, 2, 3) is
If P ₀ =0, L _n =1 if −T<Q _n <T, else L _n =−1, and
If P ₀ >0, Q _n ≧T, then L _n =1 and
If P ₀ >0, −T<Q _n <T, then L _n =0 and
If P ₀ >0, Q _n ≤ -T then L _n = -1 and
If P ₀ < 0, Q _n ≤ -T then L _n = 1 and
If P ₀ < 0, −T < Q _n < T, then L _n = 0 and
If P ₀ <0, Q _n ≧T, then it may be so that L _n =−1.
Here, L _n =1 can be expressed as the direction of the reverse real-time slope matching the direction of the actual slope, and L _n =0 representing the direction of the reverse real-time slope matching the direction of the actual slope. is unknown, and L _n =−1 can be expressed as the direction of the backward real-time slope does not match the direction of the actual slope.

Based on the embodiment corresponding to FIG. 2, in one possible implementation, the direction consistency between the forward/reverse real-time slope and the actual slope among the three axes in the first time period is The step S105 of calibrating the highest axis as the forward axis includes checking the consistency of the directions of the forward/reverse real-time slopes and the actual slopes of the three axes a plurality of times within the first time period. measuring, and statistically counting three coincidence probability values in which the directions of the forward/reverse real-time slopes of the three axes match the actual slopes in the first time period, respectively; and calibrating the axis corresponding to the highest of the three probability of coincidence values as the advancing axis.

In an embodiment of the present application, the directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes is calculated multiple times according to the steps from S102 to S104 in the first time period. , three coincidence probability values that the forward/reverse real-time slopes of the three axes match the directions of the actual slopes within the first time period, respectively. For example, the forward/reverse real-time slope directions (K _n , L _n , n=1, 2, 3) of the three axes within a given cycle are statistically determined, respectively, and the slope direction values 0, −1, 1 The corresponding probability is obtained, and the probability with a direction value of 1 is denoted as the forward real-time slope or reverse real-time slope direction coherence probability value (also called coherence statistic) corresponding to the axis. The consistency probability value establishes that the axis is likely to be the forward axis, and the axis with the highest consistency probability value within the time period can be calibrated as the forward axis.

In specific applications, the processes of S102-S105 can be duplicated, and when ensuring that the axes and their directions acquired multiple times are consistent, the self-calibration process is stopped and the calibration results are output. , thereby obtaining relatively accurate calibration results.

Based on the embodiment corresponding to FIG. 2, in one possible implementation, after S105, furthermore, when the vehicle travels, based on the calibrated forward axis and the direction of the calibrated forward axis, calculating the slope of the current route on which the vehicle is traveling.

In an embodiment of the present application, after calibrating the forward axle on the vehicle, the vehicle is driven using any possible implementation based on parameters such as the calibrated forward axle, direction of the forward axle and vehicle speed. Calculate the slope of the current route, so that the vehicle can be used to collect the slope data of each route, enrich the route data in the map, and then: When planning a navigation route, the slope of the route can be used to improve the success rate of route binding through navigation on uphill and downhill road sections.

Based on the embodiment corresponding to FIG. 2, in one possible implementation, after S105, further calibrate the gravitational acceleration axis and the directional axis among the three axes respectively based on the calibrated advance axis. using the acceleration in the three axes of the accelerometer to determine the direction of travel of the vehicle; using the direction of travel of the vehicle to plan a navigation route for the vehicle; may include

In practical application, after calibrating the forward axis, any conventional method can be used to conveniently calibrate the gravitational acceleration axis and the directional axis. A specific method for applying is not limited. Based on the acceleration data corresponding to the three axes in the vehicle accelerometer, the vehicle's driving intention can be predicted and the vehicle's driving direction can be positioned, so that the vehicle can plan an accurate navigation route. .

FIG. 3 is a structural schematic diagram of one embodiment of the calibrating device for the forward axis of the vehicle accelerometer according to the present application. As shown in FIG. 3, the vehicle accelerometer forward axis calibration device according to the present embodiment includes an acquisition module 31, a calculation module 32 and a calibration module 33,
the obtaining module 31 is used to obtain the actual slope of a route with slopes when the vehicle recognizes that it has traveled to a route with slopes;
The acquisition module 31 is also used to respectively acquire the acceleration data of the three axes of the vehicle's accelerometer, wherein the three axes are the first axis, the second axis and the third axis. ,
The calculation module 32 calculates the forward/reverse real-time slope of the first axis, the forward/reverse real-time slope of the second axis, based on the three-axis acceleration data and kinematic equations. , and the forward/reverse real-time slope of the third axis, respectively, wherein the kinematic equation is a kinematic equation satisfied by the acceleration when the vehicle travels on a slope;
the calculation module 32 is further used to determine the directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes;
The calibration module 33 calibrates the axis with the highest direction matching between the forward/reverse real-time slope and the actual slope as the forward axis among the three axes in the first time period. used for

In one possible implementation, further:
a statistic module used to respectively stat average values of the three axes of the accelerometer within a second time period;
The obtaining module specifically obtains the current acceleration data of the three axes of the accelerometer of the vehicle, respectively, and from the current acceleration data of the three axes, the average values corresponding to the three axes respectively. to obtain acceleration data for the three axes.

In one possible implementation, the calibration module specifically:
Measuring directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes multiple times within the first time period;
Statistically, respectively, three coincidence probability values in which the forward/reverse real-time slopes of the three axes match the actual slopes in the first time period; and the three coincidence probabilities. Among the values, the axis corresponding to the highest match probability value is used to calibrate as the forward axis.

を含み、
ここで、前記３つの軸のいずれか１つの軸について、ｇが重力加速度で、ｍが前記車両の質量で、ａ_１が前記いずれか１つの軸の加速度データで、ａ_２が前記いずれか１つの軸の車体前進方向に沿った縦方向加速度で、ｔ_１、ｔ_２がそれぞれ前後２つの時刻を代表し、その対応する車速がＶ_１、Ｖ_２で、ｋは、前記加速度計の前進軸が車速方向と一致するか否かを表し、前記加速度計の前進軸が車速方向と一致すると、ｋは１で、Ｈは前記いずれか１つの軸の順方向のリアルタイムスロープで、前記加速度計の前進軸が車速方向と逆であると、ｋは－１で、Ｈは前記いずれか１つの軸の逆方向のリアルタイムスロープである。 In one possible implementation, the kinematic equations are:

including
Here, for any one of the three axes, g is the gravitational acceleration, m is the mass of the vehicle, a1 is the acceleration data of any _one of the axes, and _a2 is any one of the above. The longitudinal acceleration along the vehicle forward direction of two axes, t ₁ and t ₂ respectively representing the two front and rear time points, the corresponding vehicle speeds being V ₁ and V ₂ , k being the forward axis of the accelerometer is consistent with the vehicle speed direction, if the forward axis of the accelerometer is consistent with the vehicle speed direction, then k is 1, H is the forward real-time slope of any one axis, and the accelerometer's If the forward axis is opposite the vehicle speed direction, k is -1 and H is the real-time slope of the opposite direction of any one of said axes.

In a possible implementation, the value of the actual slope is a positive number if the actual slope is uphill and the value of the actual slope is a negative number if the actual slope is downhill, Specifically, the calculation module, for any one of the three axes, based on a comparison of the actual slope, the forward real-time slope of the any one axis, and a slope threshold, any of the Determining directional consistency between the forward real-time slope of one axis and the actual slope, and based on comparing the actual slope, the reverse real-time slope of any one axis, and a slope threshold. , to determine the directional consistency of the reverse real-time slope of any one axis and the actual slope.

In one possible implementation, the acquisition module specifically transmits a navigation route to the vehicle, and if the vehicle is positioned to have traveled to a route having a slope in the navigation route, preliminarily Obtaining the actual slope of the route from the database for storing the obtained slope data.

In one possible implementation, the calculation module further calculates the current traveled position of the vehicle based on the calibrated forward axis and the calibrated forward axis direction as the vehicle travels. Used to calculate the slope of the route.

In one possible implementation, the calibration module is further used to calibrate the gravitational acceleration axis and the directional axis of the three axes, respectively, based on the calibrated advance axis, and the calculation module further comprising: utilizing three axis accelerations in said accelerometers to locate a direction of travel of said vehicle; and utilizing said direction of travel of said vehicle to plan a navigation route for said vehicle. Used.

In the embodiments of the present application, a method and apparatus for calibrating the forward axis of a vehicle accelerometer is provided, and the vehicle accelerometer is calibrated based on the actual slope data of the route and the driving data of the vehicle without relying on the mark data of the vehicle supplier. can be achieved for the forward axis of Specifically, based on the actual slope of the route, the acceleration data of the three axes of the accelerometers in the vehicle, and the kinematic equations satisfied by the acceleration when the vehicle travels on a slope, the forward/forward direction of the three axes. Determining the direction matching between the reverse real-time slope and the actual slope, and further determining the direction matching between the forward/reverse real-time slope and the actual slope among the three axes in the first time period. The axis with the highest sensitivity can be calibrated as the forward axis.

The vehicle accelerometer forward axis calibration apparatus according to each embodiment of the present application can be used to perform the method as shown in each corresponding embodiment above, and the implementation and principles are the same. There is, so I won't repeat it.

According to embodiments of the present application, the present application further provides an electronic device and a readable storage medium.

As shown in FIG. 4, FIG. 4 is an electronic block diagram of a method for calibrating a forward axis of a vehicle accelerometer according to an embodiment of the present application. Electronics is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. . Electronics can also represent various forms of mobile devices such as personal digital assistants, cellular telephones, smart phones, wearable devices and other similar computing devices. The components, their linkages and relationships, and their functions shown herein are merely exemplary and are not intended to limit the implementation of the application as described and/or required by the text. Not intended.

As shown in FIG. 4, the electronic device includes one or more processors 401, memory 402, and interfaces for connecting components, including high speed interfaces and low speed interfaces. Individual components are connected to each other using different buses and can be installed on a public mainboard or otherwise installed as required. The processor is capable of processing instructions to be executed within the electronic device, said instructions being used to cause the graphical information of the GUI to be displayed on an external input/output device (such as a display device coupled to the interface). , contains instructions stored in or on memory. In other embodiments, multiple processors and/or multiple buses may be used along with multiple memories, if desired. Similarly, multiple electronic devices may be connected, each device providing some of the required operations (eg, a server array, a bank of blade servers, or a multi-processor system). FIG. 4 shows one processor 401 as an example.

Memory 402 is a non-transitory computer-readable storage medium according to the present application. Wherein, the memory stores instructions executable by at least one processor, causing the at least one processor to perform the method for calibrating a forward axis of a vehicle accelerometer according to the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing the computer to perform the vehicle accelerometer forward axis calibration method of the present application.

Memory 402 includes non-transitory computer-readable storage media such as non-transitory software programs, non-transitory computer-executable programs and modules, such as vehicle accelerometer forward axis calibration in the present embodiment. It may be used to store program instructions/modules corresponding to the method (eg acquisition module 31, calculation module 32 and calibration module 33 as shown in FIG. 3). The processor 401 implements the various functional applications and data processing of the server by executing non-transitory software programs, instructions and modules stored in the memory 402, i.e. the vehicle in the above method embodiments. A calibration method for the forward axis of the accelerometer will be implemented.

The memory 402 can include a program storage area and a data storage area, wherein the program storage area can store the operating system, application programs required for at least one function, and the data storage area can store the vehicle. Such data as new by use of the accelerometer advance axis calibration electronics can be stored. Memory 402 can also include high speed random access memory and also includes non-transitory memory such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. can also In some embodiments, memory 402 can optionally include memory remotely located relative to processor 401, which remote memory communicates over a network the forward axis calibration of the vehicle accelerometer. can be connected to the application electronics. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronics of the vehicle accelerometer forward axis calibration method may further include an input device 403 and an output device 404 . The processor 401, the memory 402, the input device 403, and the output device 404 may be connected by a bus or other methods, and FIG. 4 illustrates the method of connecting by a bus.

The input device 403 receives input numeric or character information and allows user settings of the forward axis calibration electronics of the vehicle accelerometer and input of key signals associated with function control to occur, touch screen , keypads, mice, trackpads, touchpads, indicator rods, one or more mouse buttons, trackballs, steering wheels, and the like. Output devices 404 may include display devices, auxiliary lighting devices (such as LEDs), tactile feedback devices (such as vibration motors), and the like. The display device can include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, or a plasma display. In some embodiments, the display device may be a touchscreen.

Various embodiments of the systems and techniques described herein may be implemented in digital electronic circuits, integrated circuit systems, application specific integrated circuits (ASICs), computer hardware, firmware, software, and/or combinations thereof. may be These various embodiments can include forms embodied in one or more computer programs that run on a programmable system that includes at least one programmable processor and/or The programmable processor may be an application specific or general purpose programmable processor, which receives data and instructions from a storage system, at least one input device, and at least one output device. , and can transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

These computer programs (also called programs, software, software applications, or code) contain machine instructions for a programmable processor and can be written in advanced process and/or object oriented programming language and/or assembly language/machine language. It can be implemented using language. For example, the terms "machine-readable medium" and "computer-readable medium" as used herein refer to any computer program product, device, and/or apparatus for providing machine instructions and/or data to a programmable processor ( (magnetic disk, optical disk, memory, programmable logic device (PLD), etc.) and includes a machine-readable medium for receiving machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal for providing machine instructions and/or data to a programmable processor.

According to an embodiment of the present application, there is further provided a computer program, said computer program stored on a computer readable storage medium, at least one processor of an electronic device being readable from said computer readable storage medium, comprising at least one One processor causes the electronic device to perform the methods described in the above embodiments by executing a computer program.

In order to provide interaction with a user, the systems and techniques described herein can be implemented in a computer, which includes a display device (CRT (cathode ray tube) or LCD (liquid crystal display)) for displaying information to the user. display), monitor, etc.), and a keyboard and pointing device (such as a mouse or trackball) through which a user can provide input to the computer. Other types of devices can be used to provide interaction with a user, e.g., the feedback provided to the user can be any form of sensory feedback, such as visual, auditory, or tactile feedback. ) and can receive input from the user in any form (including sound, speech, or tactile input).

The systems and techniques described herein may be applied to computer systems that include background components (such as acting as data servers), or to computer systems that include middleware components (such as application servers), or to computer systems that include front-end components. (A user computer with a graphical user interface or network browser through which a user can interact with embodiments of the systems and techniques described herein.) or in a computer system containing any combination of such background, middleware, or front-end components. The components of the system can be interconnected through any form or medium of digital data communication, such as a communication network. Communication networks illustratively include local area networks (LANs), wide area networks (WANs) and the Internet.

The computer system can include client terminals and servers. A client terminal and a server are generally remote from each other and interact through a communication network. The relationship between client terminal and server is established by computer programs running on corresponding computers and having a client terminal-server relationship to each other.

The technical solutions of the embodiments of the present application can realize the forward axis calibration of the vehicle accelerometer based on the actual slope data of the route and the driving data of the vehicle without relying on the mark data of the vehicle supplier. can. Specifically, based on the actual slope of the route, the acceleration data of the three axes of the in-vehicle accelerometer, and the kinematic equations satisfied by the acceleration when the vehicle travels on a slope, the forward/reverse Determining the directional consistency between the real-time slope and the actual slope of the direction, and determining the directional consistency between the forward/reverse real-time slope and the actual slope of the three axes in the first time period can be calibrated as the forward axis.

It should be understood that steps may be reordered, increased, or deleted using the various forms of flow shown above. For example, each step described in the present application may be performed in parallel, in order, or out of order as long as the desired result is achieved by the technical solutions disclosed in the present application. This text is not limited here.

The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, subcombinations and substitutions are possible based on design requirements and other factors. Any modification, equivalent replacement or improvement made within the spirit and principle of the present application shall fall within the protection scope of the present application.

Claims (19)

A method of calibrating a forward axis of a vehicle accelerometer, the method comprising:
obtaining an actual slope of a route having a slope when the vehicle recognizes that it has traveled to a route having a slope;
obtaining acceleration data for each of three axes of the vehicle's accelerometer, wherein the three axes are a first axis, a second axis and a third axis;
Based on the acceleration data and kinematic equations for the three axes, the forward/reverse real-time slope of the first axis, the forward/reverse real-time slope of the second axis, and the third axis calculating the real-time forward/reverse slope of the axis respectively, wherein the kinematic equation is the kinematic equation satisfied by the acceleration when the vehicle travels on a slope;
determining directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes;
calibrating as a forward axis, one of the three axes that has the highest direction matching between the forward/reverse real-time slope and the actual slope within the first time period. A method for calibrating a forward axis of a vehicle accelerometer, characterized by: prior to obtaining acceleration data for each of the three axes of the vehicle's accelerometer, further comprising the step of statistically counting the average values of each of the three axes of the accelerometer within a second time period;
obtaining acceleration data for each of three axes of an accelerometer of the vehicle;
obtaining current acceleration data for each of the three axes of the vehicle's accelerometer;
subtracting the average values corresponding to the three axes from current acceleration data of the three axes to obtain acceleration data of the three axes, respectively. Method. The step of calibrating, as a forward axis, one of the three axes in the first time period, which has the highest direction matching between the forward/reverse real-time slope and the actual slope,
measuring directional consistency between the forward/reverse real-time slopes and the actual slopes of the three axes multiple times within the first time period;
Statistically, respectively, three coincidence probability values in which the directions of the forward/reverse real-time slopes of the three axes match the actual slopes in the first time period;
3. A method according to claim 1 or 2, characterized in that it comprises the step of calibrating the axis corresponding to the largest of the three probability of coincidence values of coincidence as the advancing axis. . The kinematic equation is

including
Here, for any one of the three axes, g is the gravitational acceleration, m is the mass of the vehicle, a1 is the acceleration data of any _one of the axes, and _a2 is any one of the above. The longitudinal acceleration along the vehicle forward direction of two axes, t ₁ and t ₂ respectively representing the two front and rear time points, the corresponding vehicle speeds being V ₁ and V ₂ , k being the forward axis of the accelerometer is consistent with the vehicle speed direction, if the forward axis of the accelerometer is consistent with the vehicle speed direction, then k is 1, H is the forward real-time slope of any one axis, and the accelerometer's Method according to claim 1 or claim 2, characterized in that if the forward axis is opposite to the vehicle speed direction, k is -1 and H is the real-time slope of the opposite direction of any one of said axes. . if the actual slope is uphill, the value of the actual slope is a positive number; if the actual slope is a downhill, the value of the actual slope is a negative number;
determining the directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes;
forward real-time slope of any one of the three axes, based on a comparison of the actual slope, the real-time forward slope of the any one of the axes, and a slope threshold; and the actual slope;
determining directional consistency between the real-time reverse slope of the any one axis and the actual slope based on a comparison of the actual slope, the real-time reverse slope of the any one axis, and a slope threshold; 5. The method of claim 4, comprising the steps of: When recognizing that the vehicle has traveled to a route with a slope, the step of obtaining the actual slope of said route comprises:
transmitting a navigation route to the vehicle;
obtaining an actual slope of the route from a pre-obtained database for storing slope data when the vehicle is determined to have traveled to a route having a slope among the navigation routes. A method according to claim 1, characterized in that: moreover,
calculating a slope of a current route traveled by the vehicle based on the calibrated forward axis and a direction of the calibrated forward axis when the vehicle is running. A method according to claim 1. moreover,
calibrating each of the gravitational acceleration axis and the directional axis of the three axes based on the calibrated advance axis;
positioning the direction of travel of the vehicle using the acceleration of the three axes of the accelerometer;
planning a navigation route for the vehicle using the direction of travel of the vehicle. An apparatus for calibrating a forward axis of a vehicle accelerometer comprising:
including an acquisition module, a calculation module and a calibration module;
the obtaining module is used to obtain an actual slope of a route with slopes when the vehicle recognizes that it has traveled to a route with slopes;
the acquisition module is further used to respectively acquire acceleration data of three axes of the vehicle's accelerometer, the three axes being a first axis, a second axis and a third axis;
Based on the acceleration data and the kinematic equations of the three axes, the calculation module calculates the forward/reverse real-time slope of the first axis, the forward/reverse real-time slope of the second axis, and the forward/reverse real-time slope of the third axis respectively, wherein the kinematic equation is a kinematic equation satisfied by acceleration when the vehicle travels on a slope;
the calculation module is further used to determine the directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes;
The calibration module calibrates, as a forward axis, one of the three axes that has the highest direction matching between the forward/reverse real-time slope and the actual slope within the first time period. A forward axis calibration device for a vehicle accelerometer, characterized in that it is used for: moreover,
a statistic module used to respectively stat average values of the three axes of the accelerometer within a second time period;
The acquisition module acquires current acceleration data of three axes of the accelerometer of the vehicle, respectively, and subtracts from the current acceleration data of the three axes the average values respectively corresponding to the three axes, and 10. The device of claim 9, wherein the device is used to obtain acceleration data in three axes. The calibration module includes:
Measuring directional consistency between the forward/reverse real-time slopes of the three axes and the actual slopes multiple times within the first time period;
Statistically, respectively, three coincidence probability values in which the forward/reverse real-time slopes of the three axes match the actual slopes in the first time period; and the three coincidence probabilities. 11. Apparatus according to claim 9 or 10, characterized in that it is used for calibrating the axis of the values that corresponds to the highest match probability value as the advancing axis. The kinematic equation is

including
Here, for any one of the three axes, g is the gravitational acceleration, m is the mass of the vehicle, a1 is the acceleration data of any _one of the axes, and _a2 is any one of the above. The longitudinal acceleration along the vehicle forward direction of two axes, t ₁ and t ₂ respectively representing the two front and rear time points, the corresponding vehicle speeds being V ₁ and V ₂ , k being the forward axis of the accelerometer is consistent with the vehicle speed direction, if the forward axis of the accelerometer is consistent with the vehicle speed direction, then k is 1, H is the forward real-time slope of any one axis, and the accelerometer's 11. Apparatus according to claim 9 or 10, characterized in that if the forward axis is opposite to the vehicle speed direction, k is -1 and H is the real-time slope of the opposite direction of any one of said axes. . if the actual slope is uphill, the value of the actual slope is a positive number; if the actual slope is a downhill, the value of the actual slope is a negative number;
The calculation module is
forward real-time slope of any one of the three axes, based on a comparison of the actual slope, the real-time forward slope of the any one of the axes, and a slope threshold; and the inverse of any one axis based on a comparison of the actual slope, the real-time slope of the inverse of the any one axis, and a slope threshold 13. A device according to claim 12, characterized in that it is used to determine the directional consistency between the real-time slope of the direction and the actual slope. The acquisition module is
transmitting a navigation route to the vehicle; and, when the vehicle is determined to have traveled to a route having a slope in the navigation route, the route is selected from a database for storing slope data obtained in advance. 10. A device according to claim 9, characterized in that it is used for obtaining the actual slope of the . The calculation module is further for calculating a slope of a current route traveled by the vehicle based on the calibrated forward axis and the direction of the calibrated forward axis as the vehicle travels. 10. A device according to claim 9, characterized in that it is used for the calibration module is further used to respectively calibrate the gravitational acceleration axis and the directional axis of the three axes based on the calibrated advance axis;
The calculation module is further used to locate a driving direction of the vehicle using the acceleration of the three axes in the accelerometer, and to determine a navigation route for the vehicle using the driving direction of the vehicle. 11. A device according to claim 9 or 10, characterized in that it is used for planning. an electronic device,
at least one processor; and a memory communicatively coupled with the at least one processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor. An electronic device characterized by being executed by one processor, said at least one processor being capable of executing the method according to any one of claims 1 to 8. A non-transitory computer-readable storage medium having computer instructions stored thereon, the computer instructions for performing the method of any one of claims 1 to 8. A non-transitory computer-readable storage medium. A computer program, characterized in that, when said computer program is run on a processor, it causes a computer to perform the method according to any one of claims 1 to 8.

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