The embodiment of the invention discloses a transverse gradient estimation method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a current observation variable; and obtaining the current transverse gradient based on the current observation variable and a pre-constructed Kalman filter. By means of the mode, the current observation variable can be obtained, the current transverse slope can be obtained based on the current observation variable and the pre-constructed Kalman filter, and the measured transverse acceleration in the observation variable is measured by the acceleration sensor arranged in the transverse movement direction of the vehicle, so that the transverse slope can be obtained. The measured transverse acceleration is also associated with the transverse component of the gravitational acceleration, the state variable of the Kalman filter also comprises the transverse component of the gravitational acceleration, and the transverse component of the gravitational acceleration is related to the transverse gradient, so that the accuracy of the obtained transverse gradient can be improved.
本申请实施例公开了一种横向坡度估计方法、装置、车辆以及存储介质。该方法包括:获取当前的观测变量;基于当前的观测变量和预先构建的卡尔曼滤波器,得到当前的横向坡度。通过上述方式使得,可以获取当前的观测变量,基于当前的观测变量和预先构建的卡尔曼滤波器,得到当前的横向坡度,其中,由于观测变量中的测量横向加速度为设置于车辆横向运动方向上的加速度传感器所测得的,使得测量横向加速度也与重力加速度的横向分量有关联,且卡尔曼滤波器的状态变量也包括重力加速度的横向分量,而重力加速度的横向分量与横向坡度有关,因此可以提高获取到的横向坡度的准确性。
Transverse gradient estimation method and device, vehicle and storage medium
横向坡度估计方法、装置、车辆以及存储介质
2025-03-04
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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