The invention discloses a vehicle driving gradient estimation method, device and equipment, and the method comprises the steps: determining the actual measurement acceleration of a vehicle based on the measurement data of an acceleration sensor installed in the vehicle, determining the reference acceleration of the vehicle according to the wheel speed of the vehicle, and determining the vehicle body posture information of the vehicle; and according to the actually measured acceleration, the reference acceleration and the vehicle body attitude information, determining a driving gradient corresponding to the vehicle, wherein the gradient comprises a longitudinal gradient and/or a lateral gradient. According to the embodiment of the invention, when the driving gradient is estimated, the influence of the vehicle body posture on gradient estimation is considered, and compared with a traditional scheme, more accurate gradient estimation is realized.
本申请公开了一种车辆行驶坡度估算方法、装置及设备,基于车辆中安装的加速度传感器的测量数据,确定车辆的实测加速度,根据车辆的轮速确定车辆的参考加速度,确定车辆的车身姿态信息,根据实测加速度、参考加速度和车身姿态信息确定车辆对应的行驶坡度,坡度包括纵向坡度和/或侧向坡度。根据本申请实施例,在对行驶坡度进行估算时,考虑了车身姿态对坡度估算的影响,相比传统方案,实现了更精确的坡度估算。
Vehicle driving gradient estimation method, device and equipment
车辆行驶坡度估算方法、装置及设备
2023-08-25
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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