The invention discloses a vehicle ramp angle identification method. The method comprises the steps: establishing a longitudinal kinetic equation of a vehicle; collecting the longitudinal acceleration speed aesp of the vehicle; acquiring vehicle speed information of the vehicle; and according to the vehicle speed information, judging the monotonicity grade of the vehicle speed within a certain time, calculating the vehicle acceleration speed according to the obtained monotonicity grade, and obtaining the ramp angle theta based on the longitudinal kinetic equation. According to the vehicle ramp angle identification method provided by the embodiment of the invention, the longitudinal acceleration speed of the vehicle is collected, so that the reliability of a longitudinal kinetic equation is higher, the monotonicity of the vehicle is evaluated through the change rule of the vehicle speed, the running state of the vehicle is comprehensively reflected, the precision, real-time performance and reliability of ramp angle identification are improved, an additional sensor does not need to be additionally arranged in a vehicle, the overall result fluctuation is small, and meanwhile the application range is wider.
本发明公开了一种车辆坡道角度识别的方法,包括:建立车辆的纵向动力学方程;采集车辆的纵向加速度aesp;采集车辆的车速信息;根据所述车速信息判断车速在一定时间内的单调性等级,根据获得的单调性等级计算车辆加速度基于所述纵向动力学方程得到坡道角度θ。根据本发明实施例的车辆坡道角度识别的方法,通过采集车辆的纵向加速度,使得纵向动力学方程可靠性更高,通过车速的变化规律对其单调性进行评价,全面地反映车辆的运行状态,提高坡道角度识别的精度以及实时性和可靠性,且无需在车辆中加装额外的传感器,整体结果波动小,同时使得使用范围更加广泛。
Vehicle ramp angle identification method
车辆坡道角度识别的方法
2022-01-28
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 |