The invention relates to a gradient estimation method and device, a vehicle and a storage medium, and relates to the technical field of automobiles. The method comprises the following steps: acquiring an actually measured acceleration and a theoretical acceleration of a vehicle in a current estimation period; determining a longitudinal slope initial value corresponding to the current estimation period according to the actually measured acceleration and the theoretical acceleration; determining discrete parameters according to the longitudinal gradient initial values respectively corresponding to the plurality of estimation periods; the plurality of estimation periods comprise a current estimation period and at least one historical estimation period before the current estimation period; the discrete parameters are used for representing the discrete degrees of the longitudinal gradient initial values corresponding to the plurality of estimation periods; determining a filtering weight according to the discrete parameter; the filtering weight is negatively correlated with the discrete parameter; and performing first-order low-pass filtering on the longitudinal gradient initial value corresponding to the current estimation period according to the filtering weight to obtain a gradient output value corresponding to the current estimation period. According to the invention, the accuracy of dynamic gradient estimation output can be improved.

    本申请涉及一种坡度估算方法、装置、车辆及存储介质,涉及汽车技术领域。该方法包括:获取当前估算周期内车辆的实测加速度和理论加速度;根据实测加速度和理论加速度确定当前估算周期对应的纵向坡度初值;根据多个估算周期各自对应的纵向坡度初值,确定离散参数;多个估算周期包括当前估算周期、以及当前估算周期之前的至少一个历史估算周期;离散参数用于表征多个估算周期各自对应的纵向坡度初值的离散程度;根据离散参数确定滤波权重;滤波权重与离散参数负相关;根据滤波权重对当前估算周期对应的纵向坡度初值进行一阶低通滤波,得到当前估算周期对应的坡度输出值。本申请能够增加动态坡度估算输出的准确性。


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    Title :

    Gradient estimation method and device, vehicle and storage medium


    Additional title:

    坡度估算方法、装置、车辆及存储介质


    Contributors:
    LI MENG (author) / YANG GUANLONG (author) / ZHONG CHUAN (author) / HU YUANLI (author) / SHU HANG (author)

    Publication date :

    2024-07-09


    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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