The invention discloses a multi-scene vehicle ramp estimation method. The method comprises the steps of obtaining a front and rear axle wheel speed difference, a vehicle speed and a jerk value; calculating an acceleration deviation value according to a difference value between the measured value of the acceleration sensor at the current moment and the acceleration of the gravity on the ramp at the previous moment; calculating the deviation between the acceleration deviation value at the current moment and the vehicle speed to obtain a speed deviation value at the current moment; calculating an initial gradient by using the speed deviation value at the current moment; and filtering the initial gradient according to the current scene. The speed obtained by integrating the acceleration value sent by the vehicle acceleration sensor and the vehicle speed calculated through the wheel speed are subtracted for feedback correction, the obtained difference value is the component acceleration of the gravity on the ramp, then the gradient value is obtained through multi-scene filtering, repeated filtering of the longitudinal acceleration can be avoided, and the gradient calculation delay time is shortened.
本发明公开了一种多场景车辆坡道估计方法,包括:获得前后轴轮速差、车速和加加速度值;根据当前时刻加速度传感器测量值和前一时刻重力在坡道加速度的差值计算加速度偏差值;计算当前时刻加速度偏差值和车速的偏差得到当前时刻速度偏差值;利用当前时刻速度偏差值计算出初步坡度;根据当前场景对初步坡度进行过滤处理。本发明根据车辆加速度传感器发出的加速度值积分所得速度与通过轮速计算的车速相减进行反馈校正,所得差值即为由重力在坡道分加速度,再经过多场景过滤获得坡度值,能避免多次过滤纵向加速度,降低坡度计算延迟时间。
Multi-scene vehicle ramp estimation method and module
多场景车辆坡道估计方法及模块
2023-05-05
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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