The invention provides a road gradient dynamic updating method, electronic equipment, a storage medium and a program product, and relates to the field of automatic driving. The method comprises the following steps: acquiring driving parameters representing the driving state of a vehicle in a non-pitching state of the vehicle; according to the driving parameters, based on a preset gradient estimation strategy, determining first gradient data of a road where the vehicle is located in the driving process; and based on a preset dynamic updating strategy, dynamically updating the first gradient data corresponding to the vehicle in different motion states to obtain second gradient data as a dynamic updating result. Thus, signal disturbance caused by vehicle acceleration and deceleration or road surface protrusion and the like is eliminated, and various data of the vehicle in a pitching-free state is used as a basis of gradient calculation, so that the stability and accuracy of road gradient calculation are enhanced, and the problem that a traditional road gradient recognition mode cannot completely eliminate vehicle body pitching and cannot completely recognize road gradient is solved. That is, the influence of sensor sampling longitudinal acceleration disturbance on a slope recognition result exists, and slope recognition is not accurate.
本申请提供一种道路坡度动态更新方法、电子设备、存储介质及程序产品,涉及自动驾驶领域。方法包括:获取车辆在无俯仰状态下表征车辆行车状态的行车参数;根据行车参数,基于预设坡度估算策略,确定车辆行车过程中所处道路的第一坡度数据;基于预设动态更新策略,对不同运动状态下的车辆对应的第一坡度数据进行动态更新,得到第二坡度数据,作为动态更新结果。如此,剔除由车辆加减速或路面突起等原因带来的信号扰动,将车辆无俯仰状态下的各项数据作为坡度计算的基础,从而增强道路坡度计算的稳定性、准确性,改善传统道路坡度识别方式无法完全消除车身俯仰,即传感器采样纵向加速度扰动,对坡度识别结果的影响,存在坡度识别不准确的问题。
Road slope dynamic updating method, electronic equipment, storage medium and program product
道路坡度动态更新方法、电子设备、存储介质及程序产品
2025-05-16
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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