The invention discloses a vehicle driving road slope prediction method and system and a vehicle thereof.The method specifically comprises the steps that a space slope curved surface is established, a vehicle driving area is set, a ground slope value in front of the vehicle and a vehicle downhill slope value are obtained, and the length value of an imperceptible area is calculated; setting a slope perceptible area and a slope estimable area as observation values; smoothing and weight distribution are carried out on the length value of the imperceptible area based on the observation value, and a longitudinal slope angle and an inclined slope angle of the imperceptible area are calculated; the method comprises the steps of predicting a vehicle track, determining the position and course angle of the vehicle at a future moment, fusing a slope perceptible area and a slope estimable area, predicting the slope value of the vehicle at a certain moment in the future, and enabling the system and the vehicle to correspond to each other. The method can predict the gradient of the road surface in front of the vehicle, realizes continuous prediction of the gradient of the road surface in front of the vehicle, and provides continuous and accurate gradient signals for functions of vehicle dynamic state prediction, intelligent driving and the like.
本发明公开了一种车辆行驶路面坡度预测方法、系统及其车辆,方法步骤具体包括:建立空间坡度曲面,设定车辆行驶区域,获取车辆前方的地面坡度值和车下坡度值,计算不可感知区域的长度值,设定坡度可感知区域和坡度可估计区域为观测值;基于观测值对不可感知区域的长度值进行平滑处理和权重分配,计算不可感知区域的纵向坡度角和倾向坡度角;预测车辆轨迹,确定车辆在未来时刻的位置和航向角,融合坡度可感知区域和坡度可估计区域,预测车辆在未来某一时刻的坡度值,系统和车辆与方法相互对应。本发明能够预测车辆前方路面坡度,实现对车辆前方路面坡度的连续预测,为车辆动力学状态预测、智能驾驶等功能提供连续、准确的坡度信号。
Vehicle driving road surface gradient prediction method and system and vehicle
一种车辆行驶路面坡度预测方法、系统及其车辆
2022-12-02
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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