The embodiment of the invention discloses a state quantity determination method and device, electronic equipment and a storage medium. The method comprises the steps that whether the driving road condition of a target vehicle is a fluctuating road condition or not is judged; if yes, determining a pitch angle predicted value and a course angle predicted value according to the specific force, the vertical angular velocity value and the gravitational acceleration value of the target vehicle in the advancing direction and the linear velocity value of the target vehicle in the advancing direction; determining a position prediction value according to the linear velocity value, the pitch angle prediction value and the course angle prediction value; according to the roll angle predicted value, the pitch angle predicted value and the course angle predicted value, determining an attitude predicted value, and integrating a position predicted value and a speed predicted value to determine a target predicted quantity; determining an acquisition source of the observed quantity, and determining a target observed quantity in combination with an observed quantity acquisition mode corresponding to the acquisition source; and processing the target observed quantity and the target predicted quantity based on an extended Kalman filter, and determining a filtering result quantity. The embodiment of the invention realizes the effect of improving the state quantity precision.
本公开实施例公开了一种状态量确定方法、装置、电子设备和存储介质,该方法包括:判断目标车辆的行驶路况是否为起伏路况;若是,则根据目标车辆在前进方向上的比力、垂直角速度值、重力加速度值以及在前进方向上的线速度值,确定俯仰角预测值和航向角预测值;根据线速度值、俯仰角预测值和航向角预测值,确定位置预测值;根据翻滚角预测值、俯仰角预测值和航向角预测值,确定姿态预测值,并集合位置预测值和速度预测值,确定目标预测量;确定观测量的采集来源,结合采集来源对应的观测量获取方式确定目标观测量;基于扩展卡尔曼滤波器对目标观测量和目标预测量进行处理,确定滤波结果量。本公开实施例实现了提高状态量精度的效果。
State quantity determination method and device, electronic equipment and storage medium
状态量确定方法、装置、电子设备和存储介质
2024-07-09
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 / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein |
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