All-condition road slope estimation method, system and device and storage medium
All-condition road slope estimation method, system and device and storage medium
The invention discloses an all-condition road slope estimation method, system and device and a storage medium, and relates to the technical field of vehicle engineering and intelligent traffic. According to the method, a system state equation and a system observation equation for road slope estimation under all working conditions are determined according to a constructed vehicle longitudinal dynamic model, state variables of the system state equation comprise the longitudinal speed and the road slope angle, and then a system error compensation equation of a minimum model error criterion is determined according to the system observation equation. Based on the combination of a volume Kalman filtering algorithm and a minimum model error criterion algorithm, a state value is updated according to compensation values output by a system state equation, a system observation equation and a system error compensation equation, and error compensation is carried out in the road slope robust estimation process under all working conditions. The road slope estimation is high in real-time performance, high in precision and high in robustness.
本发明公开一种全工况道路坡度估算方法、系统、装置及存储介质，涉及车辆工程和智能交通技术领域。本申请根据构建的车辆纵向动力学模型确定全工况下的道路坡度估计的系统状态方程和系统观测方程，系统状态方程的状态变量包括纵向速度和道路坡度角，然后根据系统观测方程确定最小模型误差准则的系统误差补偿方程，基于容积卡尔曼滤波算法和最小模型误差准则算法相结合，根据系统状态方程、系统观测方程和系统误差补偿方程输出的补偿值更新状态值，实现全工况下的道路坡度鲁棒估计过程中进行误差补偿，道路坡度估计实时性强、精度高和鲁棒性强。
Dokumentinformationen
All-condition road slope estimation method, system and device and storage medium
全工况道路坡度估算方法、系统、装置及存储介质
2023-08-18
Patent
Elektronische Ressource
Chinesisch
| 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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