The invention relates to a slope recognition technology, and discloses a tractor slope recognition method, device and equipment and a storage medium. The method comprises the steps that longitudinal acceleration limiting based on gradient sudden change is carried out on a tractor acceleration signal to obtain corrected acceleration; angular velocity calculation is carried out on the real-time driving force parameters to obtain the angular velocity of the tractor, and influence elimination calculation based on transverse rolling and vertical angular velocity is carried out on the angular velocity of the tractor to obtain the longitudinal pitch angular velocity; calculating the step length number of the difference value between the corrected acceleration and the gravitational acceleration in the preset time period belonging to a preset threshold value, and querying a preset gain adjustment rule according to the step length number to obtain an adjustment Kalman gain; performing slope solving on the corrected acceleration to obtain a first slope value, performing integration on the longitudinal pitch angular velocity to obtain a second slope value, and performing weighted summation on the first slope value and the second slope value according to the adjusted Kalman gain to obtain the slope of the tractor. According to the invention, the identification accuracy of slope identification of the tractor under complex road conditions can be improved.

    本发明涉及坡度识别技术,揭露了一种拖拉机坡度识别方法、装置、设备及存储介质。所述方法包括:对拖拉机加速度信号进行基于坡度突变的纵向加速度限制得到校正加速度;对实时驱动力参数进行角速度计算得到拖拉机角速度,对拖拉机角速度进行基于横滚垂直角速度的影响消除计算得到纵向俯仰角速度;计算预设时间段内校正加速度与重力加速度的差值属于预设阈值内的步长数,根据步长数查询预设的增益调节规则得到调节卡尔曼增益;对校正加速度进行坡度求解得到第一坡度值,对纵向俯仰角速度进行积分得到第二坡度值,根据调节卡尔曼增益对第一坡度值及第二坡度值进行加权求和得到拖拉机坡度。本发明可以提高拖拉机在复杂路况下坡度识别的识别准确性。


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    Titel :

    Tractor slope recognition method, device and equipment and storage medium


    Weitere Titelangaben:

    拖拉机坡度识别方法、装置、设备及存储介质


    Beteiligte:
    HUANG PEIKUI (Autor:in) / LI YONGHAN (Autor:in) / HU LIAN (Autor:in) / GAO RUITAO (Autor:in) / WANG PEI (Autor:in) / HE JIE (Autor:in) / ZHAO RUNMAO (Autor:in) / ZHANG WENYU (Autor:in) / WEI ZHENGHUI (Autor:in) / DENG CHENGTAI (Autor:in)

    Erscheinungsdatum :

    10.09.2024


    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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