The invention provides an identification method, an identification device and a computer readable storage medium, and the identification method is applied to the identification device and comprises the steps: obtaining the working condition parameters of a vehicle, and the working condition parameters comprise the actual yaw velocity, the current steering wheel angle, the last steering wheel angle, the lateral acceleration and the current vehicle speed; determining a target yaw velocity, a current driving angle and a steering wheel operation direction of the vehicle according to the working condition parameters; when the relationship between the current driving angle and at least one of the steering wheel operation directions and the relationship between the actual yaw velocity and the target yaw velocity meet preset conditions, calculating a lateral yaw difference value according to the transverse acceleration, the current vehicle speed and the actual yaw velocity; and according to the lateral yawing difference value and the current vehicle speed, identifying whether the vehicle is in an inclined road surface driving condition. According to the invention, the driving condition ofthe inclined road surface can be correctly identified during large-angle driving and/or reverse steering wheel turning, and the driving safety is ensured.
本发明提供一种识别方法、识别装置及计算机可读存储介质,所述识别方法应用于识别装置,包括,获取车辆的工况参数,其中,工况参数包括实际横摆角速度、当前方向盘转角、上一次方向盘转角、横向加速度、当前车速;根据工况参数,确定车辆的目标横摆角速度、当前行驶角度及方向盘操作方向;在当前行驶角度与方向盘操作方向中的至少一项、实际横摆角速度与目标横摆角速度的关系满足预设条件时,根据横向加速度、当前车速及实际横摆角速度,计算侧向横摆差值;根据侧向横摆差值及当前车速,识别车辆是否处于倾斜路面行驶工况。本发明能在大角度行驶和/或反向打方向盘时,正确识别倾斜路面行驶工况,保障行车安全。
Identification method, identification device and computer readable storage medium
一种识别方法、识别装置及计算机可读存储介质
2021-01-19
Patent
Electronic Resource
Chinese
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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