The invention provides a vehicle ramp estimation method, device and equipment and a readable storage medium, and the method comprises the steps that driving force, braking force, vehicle speed, first acceleration and second acceleration of a target vehicle are obtained, the first acceleration is longitudinal acceleration measured by a three-axis inertia sensor of the target vehicle, and the second acceleration is longitudinal acceleration measured by a three-axis inertia sensor of the target vehicle; the second acceleration is the speed change rate of the target vehicle; corrected acceleration is calculated according to the driving force, the braking force, the vehicle speed and the first acceleration of the target vehicle, and the corrected acceleration corrects errors caused by vehicle body pitching of the target vehicle relative to the first acceleration; and calculating ramp information according to the second acceleration, the corrected acceleration and the gravitational acceleration. According to the application, the error caused by the pitching of the vehicle body to the longitudinal acceleration measured by the three-axis inertia sensor is corrected according to the driving force, the braking force and the vehicle speed, and then the ramp information is calculated by combining the vehicle speed change rate and the gravitational acceleration, so that the error of the ramp information is reduced.

    本申请提供一种车辆坡道估算方法、装置、设备及可读存储介质,该方法包括:获取目标车辆的驱动力、制动力、车速、第一加速度和第二加速度,其中,第一加速度为目标车辆的三轴惯量传感器测量的纵向加速度,第二加速度为目标车辆的车速变化率;根据目标车辆的驱动力、制动力、车速和第一加速度计算得到修正加速度,其中,修正加速度相对第一加速度修正了目标车辆的车身俯仰造成的误差;根据第二加速度、修正加速度和重力加速度计算得到坡道信息。通过本申请,先根据驱动力、制动力和车速修正车身俯仰对三轴惯量传感器测量的纵向加速度造成的误差,再结合车速变化率和重力加速度计算得到坡道信息,从而降低坡道信息的误差。


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    Title :

    Vehicle ramp estimation method, device and equipment and readable storage medium


    Additional title:

    车辆坡道估算方法、装置、设备及可读存储介质


    Contributors:
    DONG WEI (author) / LIU BIN (author) / LIU WU (author) / LI SHUO (author) / PEI JINSHUN (author)

    Publication date :

    2024-09-27


    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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