The invention relates to a road gradient estimation method and device in the technical field of vehicle intelligent control. The road gradient estimation method comprises the following steps: establishing a three-degree-of-freedom dynamic model of longitudinal, transverse and yawing motion of a vehicle; establishing a state space model based on the three-degree-of-freedom dynamic model; based on the state space model, performing linearization processing through a Jacobian matrix, and establishing a Kalman filtering equation; establishing a vehicle pitching kinetic equation; acquiring vehicle state data of the vehicle; and calculating an optimal road slope angle based on the vehicle state data, the Kalman filtering equation and the vehicle pitching kinetic equation. According to the road slope estimation method, the road slope estimation performance under the condition that the automobile deviates from the conventional working condition can be improved, the road slope estimation accuracy is improved, and the driving experience is improved.

    本申请涉及车辆智能控制技术领域的一种道路坡度估算方法及装置,道路坡度估算方法包括:建立车辆纵向、横向和横摆运动的三自由度动力学模型;基于所述三自由度动力学模型建立状态空间模型;基于所述状态空间模型,通过雅克比矩阵进行线性化处理,建立卡尔曼滤波方程;建立车辆俯仰动力学方程;获取汽车的车辆状态数据;基于所述车辆状态数据、所述卡尔曼滤波方程和所述车辆俯仰动力学方程,计算最优路面坡度角。本申请的道路坡度估算方法可以改善汽车偏离常规工况下的道路坡度估算性能,提高道路坡度估算的准确性,提升驾驶体验。


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    Title :

    Road slope estimation method and device


    Additional title:

    道路坡度估算方法及装置


    Contributors:
    ZHANG ZHEN (author) / LI ANYING (author) / NIU XINGZHEN (author) / WEI SHAOCONG (author)

    Publication date :

    2023-10-31


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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