The invention discloses a gradient determination method and device, a vehicle and a storage medium. The gradient determination method comprises the following steps: determining a candidate gradient value to be filtered; according to the measured angular velocity of the vehicle measured in a set time period, the angle variation corresponding to the measured angular velocity is determined; a target complementary filter coefficient is determined according to an initial complementary filter coefficient and the vehicle acceleration of the vehicle, and the initial complementary filter coefficient is determined according to an application scene; complementary filtering is carried out according to the candidate slope value, the angle variation, the target complementary filtering coefficient and a previous slope value, a current slope value is determined, and the previous slope value is a slope value determined before the current slope value. According to the technical scheme, complementary filtering is performed according to the candidate gradient value, the angle variation, the target complementary filtering coefficient and the previous gradient value to determine the current gradient value, and the gradient determination accuracy is improved.

    本发明公开了一种坡度确定方法、装置、车辆及存储介质。所述坡度确定方法,包括:确定待滤波的候选坡度值;根据设定时间段内测得的车辆的测量角速度,确定所述测量角速度对应的角度变化量;根据初始互补滤波系数和车辆自身的车辆加速度,确定目标互补滤波系数,所述初始互补滤波系数根据应用场景确定;根据所述候选坡度值、所述角度变化量、所述目标互补滤波系数以及上一坡度值进行互补滤波,确定当前坡度值,所述上一坡度值为所述当前坡度值之前一次确定的坡度值。上述技术方案,根据候选坡度值、角度变化量、目标互补滤波系数以及上一坡度值进行互补滤波确定当前坡度值,提高了坡度确定的准确性。


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    Title :

    Gradient determination method and device, vehicle and storage medium


    Additional title:

    一种坡度确定方法、装置、车辆及存储介质


    Contributors:
    YANG WUZHAO (author) / HUANG LI (author) / ZHANG QUN (author) / HE WU (author)

    Publication date :

    2023-09-12


    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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