The invention relates to the technical field of parameter estimation, in particular to a road slope self-adaptive fusion estimation method and device, a vehicle and a storage medium, and the method comprises the steps: recognizing the positioning information of the vehicle to obtain a velocity vector and a pitch angle, constructing a Kalman filter according to the velocity vector and the pitch angle, designing a corresponding noise calculation method, and calculating the noise of the vehicle according to the Kalman filter. Self-adaptive estimation of the first gradient and the second gradient of the road where the vehicle is located is achieved; based on a preset kinetic equation/kinematics equation and vehicle state information, a slope state equation is established with the vehicle pitch angle speed as the slope change rate, reasonable modeling is conducted on noise, and self-adaptive estimation of the third slope and the fourth slope of the road where the vehicle is located is achieved. And calculating an optimal fusion weight and fusing a plurality of gradients from the first gradient to the fourth gradient to obtain the final gradient of the road where the vehicle is located currently. Therefore, the problem that accurate and rapid slope estimation is difficult to realize under complex road conditions and frequent slope change in the prior art is solved.

    本申请涉及参数估计技术领域,特别涉及一种道路坡度自适应融合估计方法、装置、车辆及存储介质,其中,方法包括:识别车辆的定位信息得到速度矢量和俯仰角,分别根据速度矢量和俯仰角构建卡尔曼滤波器,设计相应的噪声计算方法,实现车辆所在道路第一坡度和第二坡度的自适应估计;基于预设动力学方程/运动学方程和车辆状态信息,以车辆俯仰角速度作为坡度变化率,建立坡度状态方程,并对噪声进行了合理的建模,实现车辆所在道路第三坡度和第四坡度的自适应估计;计算最优融合权重融合第一坡度至第四坡度中多个坡度,得到车辆当前所在道路最终坡度。由此,解决了相关技术在复杂路况,坡度变化较为频繁时难以实现准确快速的坡度估计的问题。


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    Title :

    Road slope adaptive fusion estimation method and device, vehicle and storage medium


    Additional title:

    道路坡度自适应融合估计方法、装置、车辆及存储介质


    Contributors:
    ZHANG YOUPENG (author) / HUANG YUEFENG (author) / WANG XIANGYU (author) / LI LIANG (author) / WANG YIRUI (author) / XUE ZHONGJIN (author) / DENG KAI (author)

    Publication date :

    2023-04-18


    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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