The embodiment of the invention provides a road surface gradient determination method and device and electronic equipment, and relates to the technical field of vehicle control. The road surface gradient determination method comprises the following steps: acquiring a pitch angle of a vehicle body; determining an included angle between the vehicle body and the horizontal direction according to a projection relationship among the IMU longitudinal acceleration of the vehicle, the actual longitudinal acceleration of the vehicle and the gravitational acceleration; and determining the slope value of the vehicle based on the included angle between the vehicle body and the horizontal direction and the vehicle body pitch angle. According to the implementation mode provided by the invention, the slope estimation accuracy and the safety coefficient of the algorithm in the application level are improved.
本发明实施例提供了一种路面坡度确定方法、装置及电子设备,涉及车辆控制技术领域。其中,一种路面坡度确定方法包括:获取车身俯仰角;根据车辆的IMU纵向加速度、车辆的实际纵向加速度、重力加速度之间的投影关系确定车身与水平方向的夹角;基于车身与水平方向的夹角和所述车身俯仰角确定车辆所处的坡度值。本发明提供的实施方式提升了估算坡度的准确性以及算法在应用层面的安全系数。
Road surface gradient determination method and device and electronic equipment
路面坡度确定方法、装置及电子设备
2024-06-21
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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