The invention provides a pitch angle and roll angle determination method, a vehicle and a computer program product, which are applied to the field of vehicles, and the method comprises the following steps: acquiring inertial measurement unit (IMU) data and wheel speed meter data of a target vehicle; determining driving attribute information of each IMU data point based on the IMU data and the wheel speed meter data, and determining initial gravitational acceleration information corresponding to each IMU data point based on the IMU data; the initial gravitational acceleration information comprises acceleration components of gravitational acceleration in different directions; based on the driving attribute information, optimizing the initial gravitational acceleration information of the IMU data points to obtain target gravitational acceleration information; and determining a pitch angle and a roll angle of the target vehicle based on the target gravitational acceleration information. In this way, the accuracy of the pitch angle and the roll angle can be improved, and further, the effect is better when attitude estimation and driving planning are carried out based on the pitch angle and the roll angle.

    本公开提供了一种俯仰角和横滚角的确定方法、车辆及计算机程序产品,应用于车辆领域,该方法包括:获取目标车辆的惯性测量单元IMU数据和轮速计数据;基于所述IMU数据和轮速计数据,确定各IMU数据点的行驶属性信息,并基于所述IMU数据确定各IMU数据点对应的初始重力加速度信息;所述初始重力加速度信息包括重力加速度在不同方向上的加速度分量;基于所述行驶属性信息,对所述IMU数据点的初始重力加速度信息进行优化,得到目标重力加速度信息;基于所述目标重力加速度信息确定所述目标车辆的俯仰角和横滚角。通过这种方式,可以提高俯仰角和横滚角的精度,进一步的在基于俯仰角和横滚角进行姿态估计以及驾驶规划时,效果更佳。


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    Title :

    Method for determining pitch angle and roll angle, vehicle and computer program product


    Additional title:

    一种俯仰角和横滚角的确定方法、车辆及计算机程序产品


    Contributors:
    ZHONG ZEBIN (author) / LI XIANG (author)

    Publication date :

    2024-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung





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