For intelligent vehicles, a fast and accurate estimation of road slope is of great significance for many aspects, including the steering comfort, fuel economy, vehicle stability control, driving decision-making, etc. But the commonly used estimation methods nowadays usually demand additional sensors or complex dynamic models, causing increase in system complexity as well as decrease in accuracy. To solve these problems, this paper puts forward a real-time road slope estimation algorithm leveraging the relationship between pitch angle and road slope, which only requires low sensors cost and computational complexity. Firstly, a GNSS/INS fusion system is established to obtain the pitch angle with respect to the navigation frame, which couples the vehicle’s pitch angle in vehicle frame and road slope angle. Then, based on the different characteristics in frequency domain of the two components, frequency domain analysis is conducted and low-pass filter is used to separate out road slope signal. Besides, considering the slope change during driving, a parameter adaption strategy is designed in order to timely track changes of slope conditions. Experimental results show that the proposed method has a good real-time performance and the average error is below 0.3 deg even when the road slope changes rapidly.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-Time Road Slope Estimation Based on GNSS/INS Fusion System Considering Slope Change


    Additional title:

    Sae Technical Papers


    Contributors:
    Gao, Letian (author) / Xiong, Lu (author) / Chen, Mengyuan (author)

    Conference:

    SAE 2023 Intelligent and Connected Vehicles Symposium ; 2023



    Publication date :

    2023-12-20




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Road Slope Estimation

    Larsson, Martin | BASE | 2010

    Free access

    Automobile road slope estimation method based on information fusion

    ZENG XIAOHUA / GAO HAOMING / SONG DAFENG et al. | European Patent Office | 2022

    Free access

    VEHICLE POSITIONING METHOD AND DEVICE CONSIDERING ROAD SLOPE

    HWANG SUNGHO / NA HOYONG / JEONG SEYOUNG et al. | European Patent Office | 2024

    Free access

    VEHICLE POSITIONING METHOD AND DEVICE CONSIDERING ROAD SLOPE

    European Patent Office | 2024

    Free access

    ROAD SLOPE ESTIMATION METHOD FOR VEHICLE

    PARK JUN SUNG / LEE JAE BIN | European Patent Office | 2023

    Free access