The invention discloses a vehicle-mounted road gradient real-time estimation method. According to the method, an acceleration sensor and an angular velocity sensor are adopted to respectively acquirea vehicle-mounted longitudinal acceleration and a pitch angular velocity. The invention aims to solve the problem that when an existing method is directly used for processing signals in a time domain,serious influence by vehicle acceleration and deceleration is caused. The method comprises the following steps: 1, carrying out time domain filtering: carrying out time domain filtering on acceleration and angular velocity signals; 2, performing signal Fourier transform, and converting a time domain signal into a frequency domain signal; 3, normalizing the signals, namely normalizing the signalsof which the accelerations and the angular velocities are in an overlapped frequency domain range; 4, performing inverse Fourier transform, and converting the signal from a frequency domain to a timedomain; 5, carrying out reverse normalization processing; and 6, carrying out signal weighted fusion to obtain a final estimated road gradient.
本发明公开了一种车载道路坡度实时估计方法,利用加速度传感器和角速度传感器分别采集车载纵向加速度和俯仰角速度,旨在解决现有方法直接在时域中处理信号,受到汽车加减速严重干扰的缺点。本方法包括以下步骤:一、时域滤波,对加速度和角速度信号进行时域滤波;二、信号傅里叶变换,将时域信号转换为频域信号;三、信号归一化,将加速度和角速度在处于重叠频域范围的信号进行归一化;四、逆傅立叶变换,将信号从频域到时域内进行转化;五、反归一化处理;六、信号加权融合,得到最终估计道路坡度。
Vehicle-mounted road gradient real-time estimation method
一种车载道路坡度实时估计方法
2020-04-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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