The invention discloses a vehicle-mounted road gradient real-time estimation method. According to the method, an acceleration sensor and an angular velocity sensor are adopted to respectively acquirea vehicle-mounted longitudinal acceleration and a pitch angular velocity. The invention aims to solve the problem that when an existing method is directly used for processing signals in a time domain,serious influence by vehicle acceleration and deceleration is caused. The method comprises the following steps: 1, carrying out time domain filtering: carrying out time domain filtering on acceleration and angular velocity signals; 2, performing signal Fourier transform, and converting a time domain signal into a frequency domain signal; 3, normalizing the signals, namely normalizing the signalsof which the accelerations and the angular velocities are in an overlapped frequency domain range; 4, performing inverse Fourier transform, and converting the signal from a frequency domain to a timedomain; 5, carrying out reverse normalization processing; and 6, carrying out signal weighted fusion to obtain a final estimated road gradient.

    本发明公开了一种车载道路坡度实时估计方法,利用加速度传感器和角速度传感器分别采集车载纵向加速度和俯仰角速度,旨在解决现有方法直接在时域中处理信号,受到汽车加减速严重干扰的缺点。本方法包括以下步骤:一、时域滤波,对加速度和角速度信号进行时域滤波;二、信号傅里叶变换,将时域信号转换为频域信号;三、信号归一化,将加速度和角速度在处于重叠频域范围的信号进行归一化;四、逆傅立叶变换,将信号从频域到时域内进行转化;五、反归一化处理;六、信号加权融合,得到最终估计道路坡度。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle-mounted road gradient real-time estimation method


    Additional title:

    一种车载道路坡度实时估计方法


    Contributors:
    YUAN WEISONG (author) / GU JINGZHE (author) / LIU SIHAI (author) / JIANG JIN (author) / YU HONGJIAN (author) / WANG ZHANCHUN (author) / YU WEIDONG (author) / MA ZHI (author) / WANG YU (author) / NIE DONGQI (author)

    Publication date :

    2020-04-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Vehicle-mounted road surface gradient measuring system and measuring method

    ZHAO XIANG / JIN RONGWEI / SHEN FEI | European Patent Office | 2021

    Free access

    ROAD GRADIENT ESTIMATION DEVICE, ROAD GRADIENT ESTIMATION SYSTEM, AND ROAD GRADIENT ESTIMATION METHOD

    AKIYAMA KEIKO / YANAI KENICHI / WAKABAYASHI HIROYUKI et al. | European Patent Office | 2021

    Free access

    ROAD GRADIENT ESTIMATION APPARATUS AND ROAD GRADIENT ESTIMATION METHOD

    SANTO YUKI / TERADA RYOTA / FUJIWARA NAOHIRO | European Patent Office | 2023

    Free access

    Vehicle-mounted road condition real-time broadcasting system based on big data

    LIU YANXI | European Patent Office | 2020

    Free access

    Whole vehicle mass and road gradient estimation method

    FENG YONGJIE / ZHANG YANKANG / WANG HUAWU et al. | European Patent Office | 2021

    Free access