The invention is suitable for the technical field of intelligent automobiles, and provides a slope calculation method of a road where a vehicle is located and terminal equipment, the method comprises the following steps: obtaining a yaw rate and a speed of the vehicle, and obtaining a first transverse acceleration of the vehicle based on the yaw rate and the speed; and acquiring a second transverse acceleration of the vehicle and a roll angle of the vehicle, and obtaining a transverse slope calculated value of the current road based on the first transverse acceleration, the second transverse acceleration and the yaw rate. According to the method, the transverse gradient of the road is determined by using the detection transverse acceleration acquired based on the first sensor, the roll angle of the vehicle is increased, and the transverse gradient of the road is determined by using the yaw rate and the first transverse acceleration calculated by the vehicle speed, so that the determined transverse gradient of the road is more accurate.
本申请适用于智能汽车技术领域,提供了一种车辆所在道路的坡度计算方法及终端设备,该方法包括:获取车辆的偏航率和车辆的车速,基于偏航率和车速,得到车辆的第一横向加速度;获取车辆的第二横向加速度和车辆的侧倾角,基于第一横向加速度、第二横向加速度和偏航率,得到当前道路的横向坡度计算值。本申请中不仅使用基于第一传感器采集的检测横向加速度确定道路的横向坡度,还增加了车辆的侧倾角,以及使用偏航率和车速计算的第一横向加速度共同确定道路的横向坡度,使确定的道路的横向坡度更准确。
Slope calculation method of road where vehicle is located and terminal equipment
一种车辆所在道路的坡度计算方法及终端设备
22.11.2024
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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