The invention discloses a gradient calculation method, system and device for parking and a medium. The gradient calculation method comprises the steps that the pose of a current vehicle on a road surface position is recognized based on a wheel speed value and a wheel speed direction; acquiring wheel speed values and directions of a front left wheel, a front right wheel, a rear left wheel and a rear right wheel; based on the wheel speed value and the direction, the pose of the current vehicle at the road surface position is recognized, the duration from the initial moment to the end moment of pose recognition is obtained, and the recognition duration of pose recognition is obtained; if the pose and the recognition duration meet preset road surface gradient calculation conditions, acquiring a horizontal acceleration value of the vehicle based on a road surface, calculating the road surface gradient of the current vehicle position based on the horizontal acceleration value of the vehicle, and setting a sensor to acquire the horizontal acceleration of the vehicle relative to the road surface and calculate the road surface gradient of the current vehicle position; and constructing the slope of the road surface at any moment based on the simulation mode. According to the method, the continuity of the gradient is ensured, the delay and the dynamic change rate are reduced, the precision of the gradient is improved, and the vehicle is prevented from sliding on the slope.

    一种泊车用坡度计算方法、系统、设备及介质,该坡度计算方法包括:基于轮速值和轮速方向识别当前车辆在路面位置的位姿;获取前左轮、前右轮、后左轮和后右轮的轮速值和方向;基于轮速值和方向识别当前车辆在路面位置的位姿,以及获取识别位姿的初始时刻至结束时刻的时长,获取识别位姿的识别时长;若位姿和识别时长满足预设的路面坡度计算条件,获取车辆基于路面的水平加速度值,并基于车辆的水平加速度值计算当前车辆位置的路面坡度,设置传感器获取车辆相对于路面的水平加速度计算车辆当前位置上路面的坡度;基于仿真方式构建任一时刻的路面坡度。本发明保证了坡度的连续性,降低了其延时和动态变化率,提升了坡度的精度,避免了车辆溜坡。


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    Title :

    Slope calculation method, system and equipment for parking and medium


    Additional title:

    一种泊车用坡度计算方法、系统、设备及介质


    Contributors:
    LIU CHANGBING (author) / SU PEIJIAN (author) / YU HONGBO (author) / WANG JUNPING (author)

    Publication date :

    2024-10-15


    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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