CN-116639132-B - Vehicle running gradient estimation method, device and equipment

CN116639132BCN 116639132 BCN116639132 BCN 116639132BCN-116639132-B

Abstract

The application discloses a vehicle running gradient estimation method, device and equipment, which are used for determining actual measured acceleration of a vehicle based on measurement data of an acceleration sensor installed in the vehicle, determining reference acceleration of the vehicle according to the wheel speed of the vehicle, determining vehicle body posture information of the vehicle, and determining a corresponding running gradient of the vehicle according to the actual measured acceleration, the reference acceleration and the vehicle body posture information, wherein the gradient comprises a longitudinal gradient and/or a lateral gradient. According to the embodiment of the application, when the running gradient is estimated, the influence of the vehicle body posture on the gradient estimation is considered, and compared with the traditional scheme, the more accurate gradient estimation is realized.

Inventors

LIU XIN
CHEN XI
WANG QINGHUI
WANG PENG

Assignees

北京经纬恒润科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230619

Claims (14)

1. A vehicle travel gradient estimation method, characterized by comprising: based on measurement data of an acceleration sensor mounted in a vehicle, determining a measured acceleration of the vehicle, Determining a reference acceleration of the vehicle based on a wheel speed of the vehicle, Body posture information of the vehicle is determined, Determining a corresponding running gradient of the vehicle according to the measured acceleration, the reference acceleration and the vehicle body posture information, wherein the gradient comprises a longitudinal gradient and/or a lateral gradient; the determining the reference acceleration of the vehicle according to the wheel speed of the vehicle comprises: Acquiring wheel speeds of four wheels in the vehicle, wherein the four wheels comprise a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, For each wheel, determining the corresponding vehicle speed of the wheel according to the wheel speed of the wheel and a preset linear expression of the wheel speed and the vehicle speed of the wheel, Acquiring a pedal signal of the vehicle, the pedal signal comprising an accelerator pedal signal and/or a brake pedal signal, When the vehicle is determined to be in an accelerating state according to the accelerator pedal signal and the vehicle is a two-wheel drive vehicle, determining the third largest vehicle speed among the vehicle speeds corresponding to the four wheels as a reference vehicle speed, In the case where it is determined that the vehicle is in an acceleration state according to the accelerator pedal signal and the vehicle is a four-wheel drive vehicle, the minimum vehicle speed among the vehicle speeds corresponding to the four wheels is determined as a reference vehicle speed, In the case where it is determined that the vehicle is in a decelerating state based on the brake pedal signal, the maximum vehicle speed among the vehicle speeds corresponding to the four wheels is determined as a reference vehicle speed, And under the condition that the vehicle cannot be determined to be in an acceleration state according to the accelerator pedal signal and the vehicle cannot be determined to be in a deceleration state according to the brake pedal signal, determining the reference vehicle speed in a weighted average mode according to the vehicle speeds corresponding to the four wheels.
2. The method of claim 1, wherein the determining the measured acceleration of the vehicle based on an acceleration sensor mounted in the vehicle comprises: acquiring IMU acceleration output by an Inertial Measurement Unit (IMU) installed in the vehicle, The IMU acceleration is subjected to low-pass filtering through a low-pass filter to obtain a first acceleration, And filtering the first acceleration through a notch filter to obtain the actual measured acceleration of the vehicle.
3. The method according to claim 1, wherein determining the reference vehicle speed by means of weighted average according to the vehicle speeds corresponding to the four wheels comprises: An active control signal of the vehicle is acquired, Determining a first weight corresponding to an active control wheel and a second weight corresponding to other wheels, wherein the active control wheel is the wheel controlled by the active control signal in four wheels, the other wheels are the wheels except the active control wheel in four wheels, the first weight is smaller than the second weight, the sum of the first weight and the second weight is 1, According to the vehicle speeds corresponding to the four wheels, the first weight and the second weight, calculating the reference vehicle speed of the vehicle according to a preset reference vehicle speed calculation formula, Wherein, the reference vehicle speed calculation formula includes: In the formula, Indicating the reference vehicle speed, A second weight is indicated as being indicative of a second weight, A first weight is indicated and a second weight is indicated, The vehicle speed corresponding to the wheel i is indicated, Is a marking quantity, the value of which is 0 or 1, and in the case that the wheel i is an active control wheel, The value is 1, and in the case that the wheel i is the other wheel, The value is 0.
4. The method of claim 1, wherein the determining body posture information of the vehicle comprises: the mass of the whole vehicle of the vehicle is determined, Determining the mass center height of the whole vehicle according to the mass of the whole vehicle, Acquiring height information of four wheels, wherein the height information of the wheels is measured based on suspension height sensors installed in the vehicle, the height information of the wheels comprises heights of the wheels relative to a connecting point of the wheels and a vehicle body, Determining the vertical forces of the four wheels according to the height information of the four wheels, Determining the reference longitudinal gradient of the suspension corresponding to the vehicle according to the mass of the whole vehicle, the mass center height of the whole vehicle and the vertical forces of the four wheels, The suspension reference longitudinal gradient is determined as body posture information of the vehicle.
5. The method of claim 4, wherein the determining the mass of the entire vehicle of the vehicle comprises: acquiring an engine output torque, a gear signal and wheel speeds of four wheels of the vehicle, Determining a driving torque obtained for each of the wheel sets based on the engine output torque, Determining the corresponding rotational inertia of the wheel according to the gear signal, For each of the wheels, determining an angular acceleration of the wheel from a wheel speed of the wheel, For each wheel, calculating the longitudinal force of the ground to the wheel based on a preset dynamic relation of the rotational freedom degree of the tire according to the moment of inertia of the wheel, the driving torque obtained by the wheel and the angular acceleration of the wheel, Determining the quotient of the sum of the longitudinal forces of the ground to the four wheels and the measured acceleration as the whole vehicle mass of the vehicle, Wherein the tire rotational freedom dynamics relation comprises: In the formula, Representing the moment of inertia of the wheel, The angular acceleration of the wheel i is indicated, The driving torque obtained by dividing the wheel i is shown, Representing the longitudinal force of the ground on the wheel i.
6. The method of claim 4, wherein said determining the corresponding suspension reference longitudinal grade of the vehicle based on the vehicle mass, the vehicle center of mass height, and the vertical forces of the four wheels comprises: Calculating a corresponding suspension reference longitudinal gradient of the vehicle according to a preset suspension reference longitudinal gradient calculation formula according to the mass of the whole vehicle, the mass center height of the whole vehicle and the vertical forces of four wheels, Wherein, the suspension reference longitudinal gradient calculation formula includes: In the formula, Indicating a reference longitudinal grade of the suspension, Represents the vertical force of the front axle of the vehicle, is the sum of the vertical force of the left front wheel and the vertical force of the right front wheel, Represents the vertical force of the rear axle of the vehicle, is the sum of the vertical force of the left rear wheel and the vertical force of the right rear wheel, Representing the weight of the vehicle, equal to the product of the mass of the whole vehicle and the acceleration of gravity, Representing the distance of the vehicle centroid to the front axle, Representing the distance of the vehicle's center of mass to the rear axle, Representing the overall vehicle center of mass height of the vehicle.
7. The method of claim 1, wherein the determining body posture information of the vehicle comprises: Acquiring height information of four wheels, wherein the height information of the wheels is measured based on suspension height sensors installed in the vehicle, the height information of the wheels comprises heights of the wheels relative to a connecting point of the wheels and a vehicle body, According to the height information of the four wheels, determining a corresponding vehicle body pitch angle and/or a corresponding vehicle body roll angle of the vehicle; and determining the vehicle body pitch angle and/or the vehicle body roll angle as vehicle body posture information of the vehicle.
8. The method according to claim 7, wherein determining a vehicle body pitch angle and/or a vehicle body roll angle corresponding to the vehicle based on the height information of the four wheels comprises: Determining the corresponding vehicle body pitch angle of the vehicle according to the height information of the four wheels and a preset pitch angle calculation formula, and/or, Determining the corresponding rolling angle of the vehicle according to the height information of the four wheels and a preset rolling angle calculation formula, Wherein, the pitch angle calculation formula includes: the roll angle calculation formula includes: In the formula, Represents the pitch angle of the vehicle body, Indicating the roll angle of the vehicle body, Height information representing the left front wheel, Height information representing the left rear wheel, Height information representing the front right wheel, Indicating the distance between the front axle and the rear axle of the vehicle, Representing the tread between the left and right front wheels of the vehicle.
9. The method of claim 4, wherein the determining the corresponding travel gradient of the vehicle based on the measured acceleration, the reference acceleration, and the body posture information comprises: determining a first longitudinal gradient corresponding to the vehicle according to the measured acceleration and the reference acceleration, Correcting the first longitudinal gradient according to the suspension reference longitudinal gradient to obtain a second longitudinal gradient, And determining the second longitudinal gradient as the longitudinal gradient of the corresponding running gradients of the vehicle.
10. The method of claim 9, wherein said modifying said first longitudinal grade based on said suspension reference longitudinal grade to obtain a second longitudinal grade comprises: And under the condition that the suspension reference longitudinal gradient is determined to be greater than or equal to a first angle threshold value or the difference value between the measured acceleration and the reference acceleration is determined to be less than or equal to a first acceleration threshold value, correcting the first longitudinal gradient according to the suspension reference longitudinal gradient to obtain a second longitudinal gradient.
11. The method of claim 7, wherein the body attitude information includes a body pitch angle and a body roll angle, and wherein determining the corresponding travel gradient of the vehicle based on the measured acceleration, the reference acceleration, and the body attitude information comprises: Calculating a third longitudinal gradient according to a preset second longitudinal gradient calculation formula according to the measured acceleration, the reference acceleration and the pitch angle of the vehicle body, Determining the third longitudinal gradient as a longitudinal gradient of the corresponding travel gradients of the vehicle, According to the third longitudinal gradient, the measured acceleration, the reference acceleration, the vehicle body pitch angle and the vehicle body roll angle, calculating a second lateral gradient corresponding to the vehicle according to a preset second lateral gradient calculation formula, Determining the second lateral gradient as the lateral gradient of the corresponding travel gradients of the vehicle, Wherein the second longitudinal gradient calculation formula includes: In the formula, The reference acceleration is indicated as such, Represents the pitch angle of the vehicle body, Indicating the longitudinal gradient of the vehicle, The second lateral gradient calculation formula includes: In the formula, Indicating the lateral gradient of the vehicle, Indicating the roll angle of the vehicle body, Representing the vertical acceleration of the vehicle.
12. The method according to claim 1, wherein before the determining the corresponding running gradient of the vehicle from the measured acceleration, the reference acceleration, and the vehicle body posture information, the method further comprises: a gear signal of the vehicle is acquired, In the case where it is determined that a shift change occurs in the vehicle based on the shift signal, the reference acceleration is corrected, The determining the corresponding running gradient of the vehicle according to the measured acceleration, the reference acceleration and the vehicle body posture information comprises the following steps: and determining the corresponding running gradient of the vehicle according to the measured acceleration, the vehicle body posture information and the corrected reference acceleration.
13. A vehicle running gradient estimation device, characterized by comprising: A measured acceleration determining module for determining a measured acceleration of the vehicle based on measurement data of an acceleration sensor mounted in the vehicle, A reference acceleration determining module for determining a reference acceleration of the vehicle based on a wheel speed of the vehicle, A body posture determining module for determining body posture information of the vehicle, wherein the body posture information includes a suspension reference longitudinal gradient, a suspension reference lateral gradient, a body pitch angle and/or a body roll angle, The gradient determining module is used for determining a corresponding running gradient of the vehicle according to the measured acceleration, the reference acceleration and the vehicle body posture information, wherein the gradient comprises a longitudinal gradient and/or a lateral gradient; the measured acceleration determining module is specifically configured to: Acquiring wheel speeds of four wheels in the vehicle, wherein the four wheels comprise a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, For each wheel, determining the corresponding vehicle speed of the wheel according to the wheel speed of the wheel and a preset linear expression of the wheel speed and the vehicle speed of the wheel, Acquiring a pedal signal of the vehicle, the pedal signal comprising an accelerator pedal signal and/or a brake pedal signal, When the vehicle is determined to be in an accelerating state according to the accelerator pedal signal and the vehicle is a two-wheel drive vehicle, determining the third largest vehicle speed among the vehicle speeds corresponding to the four wheels as a reference vehicle speed, In the case where it is determined that the vehicle is in an acceleration state according to the accelerator pedal signal and the vehicle is a four-wheel drive vehicle, the minimum vehicle speed among the vehicle speeds corresponding to the four wheels is determined as a reference vehicle speed, In the case where it is determined that the vehicle is in a decelerating state based on the brake pedal signal, the maximum vehicle speed among the vehicle speeds corresponding to the four wheels is determined as a reference vehicle speed, And under the condition that the vehicle cannot be determined to be in an acceleration state according to the accelerator pedal signal and the vehicle cannot be determined to be in a deceleration state according to the brake pedal signal, determining the reference vehicle speed in a weighted average mode according to the vehicle speeds corresponding to the four wheels.
14. An electronic device comprising a processor and a memory storing computer program instructions, The processor, when executing the computer program instructions, implements a vehicle travel gradient estimation method as claimed in any one of claims 1-12.

Description

Vehicle running gradient estimation method, device and equipment Technical Field The application belongs to the technical field of automobile electronics, and particularly relates to a vehicle running gradient estimation method, device and equipment. Background During the driving of a vehicle, auxiliary driving, braking and/or vertical control of the vehicle are often required to use the gradient of the road surface on which the vehicle is driving, i.e. the driving gradient. At present, when a vehicle in running carries out gradient estimation, a rigid body model is mostly adopted for analysis, and influences of pitching, rolling, vibration and the like of a vehicle body on gradient estimation are ignored, so that an estimation result is inaccurate. Disclosure of Invention The embodiment of the application provides a vehicle running gradient estimation method, device, equipment, storage medium and program, which can accurately estimate the running gradient of a vehicle. In a first aspect, an embodiment of the present application provides a vehicle running gradient estimation method, including: based on the measurement data of the acceleration sensor mounted in the vehicle, the measured acceleration of the vehicle is determined, The reference acceleration of the vehicle is determined from the wheel speed of the vehicle, Determining body attitude information of a vehicle, wherein the body attitude information includes a suspension reference longitudinal gradient, a body pitch angle, and/or a body roll angle, And determining the corresponding running gradient of the vehicle according to the measured acceleration, the reference acceleration and the vehicle body posture information, wherein the gradient comprises a longitudinal gradient and/or a lateral gradient. In a second aspect, an embodiment of the present application provides a vehicle running gradient estimation device, including: a measured acceleration determining module for determining a measured acceleration of the vehicle based on measurement data of an acceleration sensor mounted in the vehicle, A reference acceleration determining module for determining a reference acceleration of the vehicle based on a wheel speed of the vehicle, A body posture determining module for determining body posture information of the vehicle, wherein the body posture information includes a suspension reference longitudinal gradient, a body pitch angle, and/or a body roll angle, And the gradient determining module is used for determining the corresponding running gradient of the vehicle according to the measured acceleration, the reference acceleration and the vehicle body posture information, wherein the gradient comprises a longitudinal gradient and/or a lateral gradient. In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory storing computer program instructions, The processor, when executing the computer program instructions, implements the vehicle travel gradient estimation method as described in the first aspect. In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the vehicle travel gradient estimation method according to the first aspect. In a fifth aspect, an embodiment of the present application provides a computer program product, the instructions in which, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle driving gradient estimation method according to the first aspect. According to the vehicle running gradient estimation method, device, equipment, storage medium and program, the measured acceleration of the vehicle is determined based on the acceleration sensor installed in the vehicle, the reference acceleration of the vehicle is determined according to the wheel speed of the vehicle, the vehicle body posture information of the vehicle is determined, the corresponding running gradient of the vehicle is determined according to the measured acceleration, the reference acceleration and the vehicle body posture information, and the gradient comprises the longitudinal gradient and/or the lateral gradient. According to the embodiment of the application, when the running gradient is estimated, the influence of the vehicle body posture on the gradient estimation is considered, and compared with the traditional scheme, the more accurate gradient estimation is realized. Drawings In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are needed to be used in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort. Figure 1 is a flow chart of a vehicle travel gradient estimation method prov