The invention discloses a road gradient dynamic updating method considering a vehicle control state, which comprises the following steps of: judging a driving scene in an active control process by combining state information and other motion information (excluding acceleration sensor information) of a vehicle in an active control stage on the basis of commonly calculating a gradient through an acceleration sensor; the method further obtains the confidence coefficient of gradient calculation, avoids the error estimation of the road gradient caused by the signal disturbance of an acceleration sensor due to the disturbance of a vehicle body suspension in the vehicle motion control process, and considers and combines the target instruction information and the change trend of the motion state of the vehicle. The gradient of the ramp scene with large change is updated in real time, the smoothness of the active control process is guaranteed, and the driving experience of the vehicle in the active control process is improved.
本发明公开了一种考虑车辆控制状态的道路坡度动态更新方法,在常用通过加速度传感器计算坡度的基础上,结合车辆主动控制阶段的状态信息以及其他运动信息(不包括加速度传感器信息),对主动控制过程中的行驶场景进行判断,进一步得到计算坡度的置信度,避免在车辆运动控制过程中车身悬架的扰动造成加速度传感器信号扰动对道路坡度的错误估计,同时考虑结合目标指令信息和车辆的运动状态的变化趋势,对变化较大的坡道场景进行坡度较为即时的坡度更新,保证主动控制过程平顺性,提升车辆主动控制过程中的驾乘体验。
Road slope dynamic updating method considering vehicle control state
一种考虑车辆控制状态的道路坡度动态更新方法
2022-11-15
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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