The invention discloses a slope identification method and device, a vehicle and a computer readable storage medium, and relates to the technical field of intelligent driving, and the slope identification method comprises the steps: determining a first prediction result vector of a target vehicle at a first moment based on an extended Kalman filtering model, the first prediction result vector represents the predicted driving speed and the predicted acceleration of the target vehicle and the predicted gradient of the road where the target vehicle is located; a detected driving speed and a detected acceleration of the target vehicle at a second moment are obtained, an observation vector is constructed based on the detected driving speed and the detected acceleration, the first moment and the second moment are adjacent slope identification moments, and the first moment is earlier than the second moment; and inputting the first prediction result vector and the observation vector into an extended Kalman filtering model to obtain a target slope of a road where the target vehicle is located at the second moment. According to the invention, the accuracy of slope identification can be improved.
本申请公开了一种坡度辨识方法、装置、车辆及计算机可读存储介质,本申请涉及智能驾驶技术领域,所述坡度辨识方法包括:基于扩展卡尔曼滤波模型确定目标车辆在第一时刻的第一预测结果向量,其中,第一预测结果向量表征目标车辆的预测行驶速度、预测加速度和所在道路的预测坡度;获取目标车辆在第二时刻的检测行驶速度和检测加速度,并基于检测行驶速度和检测加速度构建观测向量,其中,第一时刻和第二时刻为相邻的坡度辨识时刻,且第一时刻早于第二时刻;将第一预测结果向量和观测向量输入至扩展卡尔曼滤波模型,得到目标车辆在第二时刻所在道路的目标坡度。本申请能够提高坡度辨识的准确性。
Gradient identification method and device, vehicle and computer readable storage medium
坡度辨识方法、装置、车辆及计算机可读存储介质
2024-12-03
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 |
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