The invention belongs to the technical field of road gradient testing, and particularly relates to a road gradient estimation method and system. The method comprises the steps of determining an acceleration formula of a vehicle driving direction based on acceleration components of vehicle longitudinal acceleration and gravitational acceleration along a ramp and acceleration components of centrifugal acceleration in a turning process in the vehicle driving direction; the acceleration component of the centrifugal acceleration in the vehicle driving direction is calculated according to the installation position of an acceleration sensor and the yaw velocity of the vehicle, based on an acceleration formula of the vehicle driving direction, the optimal estimated value of the road slope is obtained through a Kalman filter, and the optimal estimated value serves as the dynamic slope at the current moment. Therefore, the calculation error of the road gradient in the turning process is reduced.

    本发明属于道路坡度测试技术领域,具体涉及一种道路坡度估算方法及系统。该方法包括:基于车辆纵向加速度、重力加速度沿坡道的加速度分量和转弯过程中离心加速度在车辆行驶方向上的加速度分量,确定车辆行驶方向的加速度公式;所述离心加速度在车辆行驶方向上的加速度分量根据加速度传感器安装位置和车辆横摆角速度计算得到,基于车辆行驶方向的加速度公式,利用卡尔曼滤波器得到道路坡度的最优估计值,将最优估计值作为当前时刻的动态坡度,从而减小了转弯过程中道路坡度的计算误差。


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    Title :

    Road slope estimation method and system


    Additional title:

    一种道路坡度估算方法及系统


    Contributors:
    XIA TIANXING (author) / LI PANPAN (author) / LIU ZONGJIAN (author) / LIU XIAOWEI (author) / GUO XIAORAN (author) / PENG JINLEI (author) / HUANG KUN (author) / DING DING (author)

    Publication date :

    2024-07-12


    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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