The invention discloses a sensor and vehicle speed signal fused road slope estimation method and system, and aims to solve the problems of more input parameters and calibration quantities, more dependent sensors, high cost, low real-time performance and the like in the existing road slope estimation technology. The method comprises the following steps: 1, signal preprocessing: performing low-pass filtering on an original acceleration signal obtained by an inertial sensor and performing difference on a vehicle speed signal obtained from a CAN (Controller Area Network) line; 2, calculating the gravitational acceleration, and calculating the local gravitational acceleration by using the XYZ acceleration signals preprocessed by the inertial sensor; 3, estimating the road slope change rate by using a recursive least square method with a forgetting factor, filtering a large amount of noise and ensuring the real-time performance of the algorithm; and 4, estimating the road gradient by using a Kalman filtering algorithm, and performing data fusion on a sensor signal and a vehicle speed signal to improve the estimation precision of the road gradient.
本发明公开了一种融合传感器和车速信号的道路坡度估计方法和系统,旨在解决现有道路坡度估计技术输入参数和标定量多,依赖传感器多,成本高,实时性低等问题。本方法包括以下步骤:一、信号预处理,包括对惯性传感器获得的原始加速度信号的低通滤波和从CAN线获得的车速信号的差分;二、计算重力加速度,利用惯性传感器预处理后的XYZ加速度信号计算当地重力加速度;三、利用带遗忘因子的递归最小二乘法估算道路坡度变化率,滤除大量噪声并且保证算法的实时性;四、利用卡尔曼滤波算法估算道路坡度,将传感器信号和车速信号进行数据融合,提高道路坡度估算的精度。
Road gradient estimation method and system fusing sensor and vehicle speed signal
一种融合传感器和车速信号的道路坡度估计方法和系统
2023-12-19
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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