The invention provides a road slope calculation method and device, electronic equipment and a storage medium, and the method comprises the steps: monitoring the operation change working conditions of a vehicle, the operation change working conditions comprising a rapid acceleration working condition and a rapid deceleration working condition; determining a forgetting factor coefficient of the operation change working condition according to the operation change working condition; acquiring a covariance and a Kalman gain at a previous moment; and determining the road gradient according to the covariance, the Kalman gain and the forgetting factor coefficient at the previous moment. Therefore, the noise of road slope calculation caused by vehicle attitude change under the condition of operation change working conditions is reduced, the Kalman filtering algorithm can be effectively adjusted, the more accurate road slope can be obtained by correcting the road slope, and the stability and safety of the vehicle in the driving process are improved.
本申请提出一种道路坡度计算方法、装置、电子设备及存储介质,该道路坡度计算方法包括:监控到车辆的运行变化工况,运行变化工况包括急加速工况和急减速工况;根据运行变化工况,确定运行变化工况的遗忘因子系数;获取上一时刻的协方差和卡尔曼增益;根据上一时刻的协方差、卡尔曼增益和遗忘因子系数,确定道路坡度。从而减少在发生运行变化工况的情况下,由于车辆姿态变化导致的道路坡度计算的噪声,能够有效地调整了卡尔曼滤波算法,进而能够通过修正道路坡度,得到更加准确的道路坡度,提升了车辆在行驶过程中的稳定性和安全性。
Road slope calculation method and device, electronic equipment and storage medium
一种道路坡度计算方法、装置、电子设备及存储介质
2023-06-30
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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