The invention relates to a road slope calculation method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining vehicle parameters which at least comprise the wheel speed of each wheel, the vehicle speed of the whole vehicle and the sensing acceleration of an acceleration sensor in the advancing direction; the method comprises the following steps: acquiring a wheel acceleration maximum value, a wheel acceleration minimum value and a whole vehicle acceleration, judging a sensing limited state of the vehicle according to the sensing acceleration and the wheel acceleration maximum value, determining an original slope value of the vehicle in the sensing limited state, and determining a first slope output value of the vehicle according to the original slope value and a first slope output value of the previous moment. And weighting to obtain a second gradient output value at the current moment so as to control the vehicle based on the second gradient output value. By adopting the method provided by the invention, the problem of inaccurate slope estimation in the prior art can be improved.
本申请涉及一种道路坡度计算方法、装置、计算机设备和存储介质,所述方法包括获取车辆参数,所述车辆参数至少包括各车轮的轮速、整车车速以及加速度传感器在行进方向的感测加速度;获得轮加速度最大值和轮加速度最小值、整车加速度,根据所述感测加速度和轮加速度最大值,判断所述车辆的感测受限状态,并确定车辆在感测受限状态时的原始坡度值,根据所述原始坡度值和上一时刻的第一坡度输出值,加权获得当前时刻的第二坡度输出值,以基于所述第二坡度输出值控制车辆。采用本申请方法,可以改善现有技术中坡度估算不准确的问题。
Road slope calculation method and device, computer equipment and storage medium
一种道路坡度计算方法、装置、计算机设备和存储介质
2023-10-13
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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