The invention discloses a road gradient estimation method based on a vehicle driving state. The road gradient estimation method comprises the steps of obtaining vehicle state information including driving torque, braking torque, the steering angle of a steering wheel, longitudinal acceleration, transverse acceleration and yaw velocity; obtaining longitudinal accelerations and vehicle speeds of a vehicle at least at two moments, and calibrating parameters of a constructed vehicle longitudinal kinetic model; obtaining the real-time longitudinal acceleration and vehicle speed so as to obtain thecurrent longitudinal gradient; and obtaining the transverse gradient by a constructed vehicle transverse motion model so as to obtain the actual road gradient. Related input signals are obtained by using an existing sensor, additionally, the transverse and longitudinal motion states of the vehicle are considered, and the kinematics and dynamics methods of the vehicle are combined, so that the roadgradient is estimated in real time, the defect that existing gradient estimation seriously depends on a vehicle model is overcome, and the estimation precision and accuracy of the road gradient are increased.

    本发明公开了一种基于车辆行驶状态的路面坡度估算方法,包括:获取车辆状态信息,所述状态信息包括驱动力矩、制动力矩、方向盘转向角度、纵向加速度、横向加速度和横摆角速度;获取车辆至少两个时刻的纵向加速度和车速,标定构建的车辆纵向动力学模型的参数;获取实时的纵向加速度和车速,得到当前的纵向坡度;通过构建的车辆横向运动状态模型,得到横向坡度,得到实际路面坡度。利用现有传感器获取相关输入信号,同时考虑车辆横向和纵向运动状态,结合车辆运动学和动力学的方法,对路面坡度状态进行实时估算,解决了以往坡度估算严重依赖车辆模型的缺点,提高了路面坡度的估算精度和准确性。


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    Title :

    Road gradient estimation method and system based on vehicle driving state


    Additional title:

    基于车辆行驶状态的路面坡度估算方法及系统


    Contributors:
    MA ZILI (author) / ZHU JIANG (author) / ZHAO FENG (author)

    Publication date :

    2020-12-08


    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



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