The invention relates to a joint estimation method for a longitudinal slope and a transverse slope of a road. The method comprises the following steps: acquiring vehicle displacement measured by a plurality of sensors on a vehicle and wheel geometric parameters; determining a plurality of movement parameters of the vehicle according to the vehicle displacement and the wheel geometric parameters measured by the plurality of sensors; a road gradient is determined based on the plurality of movement parameters of the vehicle and the unknown input observer. By adopting the method, the accuracy of road slope estimation can be improved.

    本申请涉及一种道路纵向坡度和横向坡度联合估计方法。所述方法包括:获取车辆上多个传感器测量得到的车辆位移,以及车轮几何参数;根据多个传感器测量得到的车辆位移和车轮几何参数,确定车辆的多个移动参数;根据车辆的多个移动参数和未知输入观测器,确定道路坡度。采用本方法能够提高道路坡度估计的准确性。


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    Title :

    Joint estimation method for longitudinal gradient and transverse gradient of road


    Additional title:

    一种道路纵向坡度和横向坡度联合估计方法


    Contributors:
    GONG XINLE (author) / LI XUEYUN (author) / HUANG JIN (author) / WANG YIPING (author) / ZHONG ZHIHUA (author)

    Publication date :

    2023-06-23


    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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