The embodiment of the invention discloses a method and equipment for estimating the lateral gradient of a commercial vehicle and a medium, and relates to the technical field of software testing. The method comprises the steps that when the commercial vehicle runs on a side slope, the longitudinal vehicle speed and a lateral acceleration signal collected by a lateral acceleration sensor are obtained; establishing a lateral acceleration sensor model by adopting the lateral acceleration signal; the lateral acceleration sensor model, the vehicle body roll model and the vehicle two-degree-of-freedom kinematics formula are combined to obtain a system state equation; and estimating the lateral gradient by adopting a Kalman filtering algorithm by taking the longitudinal vehicle speed in the system state equation as measurement. According to the embodiment of the invention, a lateral gradient estimation scheme with low cost and high real-time performance is realized.
本发明实施例公开了一种商用车侧向坡度估计方法、设备和介质,涉及软件测试技术领域。其中,方法包括:在商用车于侧坡上行驶时,获取纵向车速和侧向加速度传感器采集到的侧向加速度信号;采用所述侧向加速度信号建立侧向加速度传感器模型;联立所述侧向加速度传感器模型,车身侧倾模型和车辆二自由度运动学公式,得到系统状态方程;以所述系统状态方程中的纵向车速为量测,采用卡尔曼滤波算法估计侧向坡度。本实施例实现低成本、高实时性的侧向坡度估计方案。
Commercial vehicle lateral gradient estimation method and device and storage medium
商用车侧向坡度估计方法、设备和存储介质
2022-04-15
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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