The invention discloses a modeling method and device for a vehicle attitude sensor model, a vehicle and a storage medium, and the method comprises the steps: solving a difference value of longitudinal acceleration, a difference value of lateral acceleration and/or a difference value of yaw velocity of inertial navigation equipment and a vehicle gauge level sensor; according to the difference value of the longitudinal acceleration, the difference value of the lateral acceleration and/or the difference value of the yaw velocity, the change rule of the difference value between the actual error value and the identification error value along with the longitudinal acceleration value of the vehicle gauge level sensor is obtained; and calculating longitudinal acceleration value, lateral acceleration value and/or yaw velocity data considering steady-state deviation and noise deviation of the vehicle gauge level sensor based on the change rule so as to model a vehicle attitude sensor model. Therefore, the technical problem that the accuracy of the calculation result of the whole vehicle attitude is relatively low due to the fact that the obtained data cannot be ensured to be close to the true value due to the limitation of the accuracy of the vehicle sensor in the prior art is solved.

    本申请公开了一种车辆姿态传感器模型的建模方法、装置、车辆及存储介质,其中,方法包括:求解惯导设备和车规级传感器纵向加速度的差值、侧向加速度的差值和/或横摆角速度的差值;根据纵向加速度的差值、侧向加速度的差值和/或横摆角速度的差值获取实际误差值与辨识误差值之间的差值随车规级传感器纵向加速度值的变化规律;基于变化规律计算考虑车规级传感器稳态偏差及噪声偏差的纵向加速度值、侧向加速度值和/或横摆角速度数据,以对车辆姿态传感器模型进行建模。由此,解决了相关技术中,受限于车用传感器的精度限制,导致无法保证获得的数据贴近真实值,从而使得整车姿态的计算结果精度较低的技术问题。


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    Titel :

    Modeling method and device of vehicle attitude sensor model, vehicle and storage medium


    Weitere Titelangaben:

    车辆姿态传感器模型的建模方法、装置、车辆及存储介质


    Beteiligte:
    HUANG CHAOSHENG (Autor:in) / LU LEI (Autor:in) / ZHANG WEIWEI (Autor:in)

    Erscheinungsdatum :

    2023-01-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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