The invention belongs to the technical field of vehicle monitoring, and particularly provides a method and system for calculating the gradient of a vehicle, a terminal and a storage medium, and the method comprises the steps: detecting whether the gradient of the vehicle changes through a six-degree-of-freedom sensor; the microcontroller receives and combines a pre-established space coordinate axis to solve a Z-axis acceleration value and a Y-axis angular velocity value; calculating a gradient measurement quantity theta through the Z-axis acceleration value, and integrating the angular velocity to obtain a gradient change rho in a certain time period; carrying out complementary filtering fusion on the calculated gradient measurement quantity theta and the gradient change rho in a certain time period to obtain a fused gradient angle alpha; and performing Kalman filtering on the fused slope angle alpha to obtain a predicted slope value. By introducing the six-degree-of-freedom sensor, the acceleration of the vehicle in three directions is detected, and the angular velocity is detected at the same time, so that the motion state of the vehicle is more comprehensively captured, and slope measurement result deviation caused by composite acceleration is avoided.
本发明属于车辆监测技术领域,具体提供一种车辆所处坡度的计算方法、系统、终端及存储介质,包括通过六自由度传感器检测车辆坡度是否发生变化;微控制器接收并结合预先建立的空间坐标轴解算Z轴加速度值和Y轴角速度值;通过Z轴加速度值计算坡度测量量θ,并对角速度进行积分得到某一时间段内的坡度变化ρ;将计算得到的坡度测量量θ和某一时间段内的坡度变化ρ进行互补滤波融合,得到融合坡度角α;对融合坡度角α进行卡尔曼滤波得到预测坡度值。本发明通过引入六自由度传感器,不仅检测车辆在三个方向上的加速度,还同时检测角速度,从而更全面地捕捉车辆的运动状态,避免了因复合加速度导致的坡度测量结果偏差。
Method and system for calculating slope where vehicle is located, terminal and storage medium
一种车辆所处坡度的计算方法、系统、终端及存储介质
15.10.2024
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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