The invention provides a vehicle body pitching angle calculation method, device and system and a vehicle. The method comprises the steps that the state of the vehicle is obtained; the vehicle state comprises a static state and a moving state; if the vehicle state is a static state, acquiring a longitudinal acceleration of the vehicle collected by the inertial sensor, and calculating a target pitch angle of the vehicle based on the longitudinal acceleration and a historically stored pitch angle of the vehicle; and if the state of the vehicle is a moving state, acquiring a transverse acceleration and a longitudinal acceleration of the vehicle collected by the inertial sensor, and calculating a target pitch angle of the vehicle based on the transverse acceleration, the longitudinal acceleration and a pitch angle calculated and stored when the vehicle is in a static state.
本申请提供一种车身俯仰角度计算方法、装置、系统及车辆,所述方法包括:获取车辆状态;所述车辆状态包括静止状态和运动状态;如果所述车辆状态为静止状态,获取所述惯性传感器采集的所述车辆的纵向加速度,并基于所述纵向加速度以及所述车辆历史保存的俯仰角度,计算所述车辆的目标俯仰角度;如果所述车辆的状态为运动状态,获取所述惯性传感器采集的所述车辆的横向加速度和纵向加速度,基于所述横向加速度,纵向加速度以及所述车辆在静止状态时计算并保存的俯仰角度,计算所述车辆的目标俯仰角度。
Vehicle body pitching angle calculation method, device and system and vehicle
车身俯仰角度计算方法、装置、系统及车辆
2024-06-14
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 / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein |
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