The invention discloses a road surface gradient estimation method, device and equipment and a storage medium, and the method comprises the steps: obtaining the accelerator opening degree, the steering wheel angle and the vehicle speed of a current vehicle according to an established vehicle marking model, so as to determine the longitudinal acceleration of the current vehicle; according to the current vehicle longitudinal acceleration, the vehicle accelerator opening degree, the vehicle steering wheel turning angle and the vehicle speed, the current slope value is calculated; and according to the current vehicle positioning information, acquiring a gradient value updated in real time, and comparing the current gradient value with the gradient value updated in real time to determine the actual gradient of the road surface. According to the method, longitudinal driving control of the automobile can be more accurate, the requirement that the intelligent automobile needs a high-precision stop position is met, use is easy, the calculated amount is small, real-time performance is good, and the gradient can be updated in a self-adaptive mode under the condition that the gradient of the road surface changes.

    本发明公开了一种路面坡度估算方法、装置、设备及存储介质,该方法包括步骤:根据建立的车辆标注模型,获取当前车辆油门开度、方向盘转角和车速,以确定当前车辆纵向加速度;通过所述当前车辆纵向加速度和所述车辆油门开度、车辆方向盘转角和车速,计算当前坡度值;根据当前车辆定位信息,获取实时更新的坡度值,并将所述当前坡度值与所述实时更新的坡度值进行对比,以确定路面实际坡度。本申请能够使汽车纵向的行驶控制更加的精准,利于智能车需要高精度停止位置的需求,并且使用简单,计算量小,实时性好,且在路面坡度变化的情况下可以自适应更新坡度。


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    Titel :

    Road slope estimation method, device and equipment and storage medium


    Weitere Titelangaben:

    一种路面坡度估算方法、装置、设备及存储介质


    Beteiligte:
    LI YANG (Autor:in) / CHEN HUAWU (Autor:in) / BI YAMENG (Autor:in) / GUAN JIE (Autor:in)

    Erscheinungsdatum :

    2023-05-02


    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



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