The invention discloses an all-working-condition road surface gradient estimation method and device and a storage medium. The method comprises the steps that vehicle measurement data, a vehicle longitudinal kinematics model and a vehicle longitudinal dynamics model are obtained; constructing a kinematic system state equation and a kinematic system observation equation; constructing a dynamic system state equation and a dynamic system observation equation; performing abnormal point detection processing on the vehicle measurement data by using a box graph method to obtain target vehicle data; calculating a first road slope value under the vehicle longitudinal kinematics model by using a Kalman filtering method; calculating a second road surface slope value under the vehicle longitudinal dynamic model by using a recursive least square method; and carrying out data fusion by utilizing an interactive multi-model method to obtain a full-working-condition road surface slope value which is used for adjusting vehicle driving parameters. According to the invention, all-condition road slope estimation is realized, and the accuracy is improved. The method can be widely applied to the technical field of vehicle engineering.

    本发明公开了一种全工况路面坡度估算方法、装置及存储介质,方法包括:获取车辆测量数据、车辆纵向运动学模型和车辆纵向动力学模型;构建运动学系统状态方程和运动学系统观测方程;构建动力学系统状态方程和动力学系统观测方程;利用箱型图法对车辆测量数据进行异常点检测处理,得到目标车辆数据;利用卡尔曼滤波法计算车辆纵向运动学模型下的第一路面坡度值;利用递归最小二乘法计算车辆纵向动力学模型下的第二路面坡度值;利用交互式多模型法进行数据融合,得到全工况路面坡度值,全工况路面坡度值用于调整车辆行驶参数。本发明实现了全工况路面坡度估算,提高了精确度。本发明可广泛应用于车辆工程技术领域。


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    Title :

    All-condition road slope estimation method and device and storage medium


    Additional title:

    一种全工况路面坡度估算方法、装置及存储介质


    Contributors:
    HE YI (author) / HE RUNTIAN (author) / YIN JIANHUA (author) / ZHANG DAQING (author) / WU KANG (author) / YI HANZHI (author)

    Publication date :

    2025-03-14


    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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