The invention relates to the field of new energy vehicles, and provides a road slope estimation method and device, electronic equipment and a readable storage medium. The method comprises the steps that if the current wheel speed characteristic meets a first rotating hub mode activation condition, the current acceleration characteristic meets a second rotating hub mode activation condition, and the current yaw characteristic meets a third rotating hub mode activation condition, it is determined that a target vehicle is in a rotating hub mode activation state; when the target vehicle is in the rotating hub mode activation state and the longitudinal acceleration sensor is in the effective state, estimating the current driving road gradient of the target vehicle based on the longitudinal acceleration; and when the target vehicle is in the rotating hub mode activated state and the longitudinal acceleration sensor is in the invalid state, determining that the current driving road gradient of the target vehicle is zero gradient. According to the method, the reasonability of road slope estimation in the rotating hub mode can be guaranteed, and a series of problems such as subsequent vehicle torque control and vehicle mode control abnormity caused by unreasonable estimation of the road slope are avoided.

    本申请涉及新能源汽车领域,提供了一种道路坡度估算方法、装置、电子设备及可读存储介质。该方法包括:若当前轮速特征满足第一转毂模式激活条件,当前加速度特征满足第二转毂模式激活条件,且当前横摆特征满足第三转毂模式激活条件,则确定目标车辆处于转毂模式激活状态;当目标车辆处于转毂模式激活状态,且纵向加速度传感器为有效状态时,基于纵向加速度估算目标车辆的当前行驶道路坡度;当目标车辆处于转毂模式激活状态,且纵向加速度传感器为无效状态时,确定目标车辆的当前行驶道路坡度为零坡度。本申请可保证在转毂模式下道路坡度估算的合理性,避免因道路坡度的不合理估算而导致后续的整车扭矩控制、车辆模式控制异常等一系列问题。


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    Title :

    Road slope estimation method and device, electronic equipment and readable storage medium


    Additional title:

    一种道路坡度估算方法、装置、电子设备及可读存储介质


    Contributors:
    TAN KAIBO (author) / GAO PAN (author) / YANG JING (author) / LUO HUAN (author) / TANG JIE (author) / LI LIANGHAO (author) / HE HUIYI (author)

    Publication date :

    2024-03-01


    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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