CN-121973789-A - Road gradient estimation method, device, electronic equipment, storage medium and vehicle

CN121973789ACN 121973789 ACN121973789 ACN 121973789ACN-121973789-A

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a road gradient estimation method and device, electronic equipment, a storage medium and a vehicle. The method comprises the steps of obtaining at least one piece of vehicle state information, establishing a first vehicle longitudinal power equation based on vehicle longitudinal kinematics, calculating a first road gradient according to the first vehicle longitudinal power equation and the at least one piece of vehicle state information, establishing a second vehicle longitudinal power equation based on inertial navigation signals, calculating a second road gradient according to the second vehicle longitudinal power equation and the at least one piece of vehicle state information, and estimating the current driving road gradient at least according to the first road gradient, the second road gradient and a preset weight coefficient set. The embodiment of the invention can at least support a distributed driving control configuration, and is beneficial to improving the instantaneity, economy and stability of the whole vehicle control system and the coverage of the driving working condition.

Inventors

LIU SHENGTAO
LI SONGSONG
PANG XUEWEN
YANG SHUAI
CAI WENWEN
Yun Qianrui

Assignees

一汽解放汽车有限公司

Dates

Publication Date: 20260505
Application Date: 20260120

Claims (10)

1. A road grade estimation method, characterized by at least comprising: acquiring at least one vehicle state information; Establishing a first vehicle longitudinal power equation based on vehicle longitudinal kinematics, and calculating a first road gradient according to the first vehicle longitudinal power equation and at least one vehicle state information; Establishing a second vehicle longitudinal power equation based on inertial navigation signals, and calculating a second road gradient according to the second vehicle longitudinal power equation and at least one vehicle state information; and estimating the current driving road surface gradient at least according to the first road gradient, the second road gradient and a preset weight coefficient set.
2. The road grade estimation method of claim 1, wherein the first vehicle longitudinal power equation is determined by at least: ; In the above expression, T tp denotes the vehicle drive torque, i g denotes the transmission speed ratio, i 0 denotes the final speed reducer speed ratio, η T denotes the transmission efficiency, r ω denotes the wheel radius, m denotes the vehicle mass, g denotes the gravitational acceleration, f denotes the rolling resistance coefficient, C D denotes the air resistance coefficient, a denotes the windward area, v denotes the driving vehicle speed, Φ Slope denotes the model longitudinal gradient, δ denotes the vehicle rotational mass conversion coefficient, and a x denotes the longitudinal acceleration in the vehicle's own coordinate system.
3. The road gradient estimation method according to claim 2, characterized in that the first road gradient is calculated at least by: ; in the above equation, slope Dyn represents the first road grade.
4. The road grade estimation method of claim 1, wherein the second vehicle longitudinal power equation is determined by at least: ; In the above formula, a x,IMU represents the longitudinal acceleration of the vehicle based on the global coordinate system of the IMU, a x represents the longitudinal acceleration of the vehicle under the self coordinate system of the vehicle, phi slope1 represents the theoretical gradient of the road where the vehicle is located under the current driving working condition, and g represents the gravitational acceleration.
5. The road gradient estimation method according to claim 4, characterized in that the second road gradient is calculated at least by: ; In the above equation, phi slope represents the road grade on which the vehicle is currently driving, a x_Filter,IMU represents the filtered IMU acceleration, a x_Filter represents the filtered longitudinal acceleration, and Slope Ser represents the second road grade.
6. The road gradient estimation method according to claim 1, characterized in that the current driving road surface gradient is estimated by at least: ; in the above formula, slope Dyn represents the first road gradient, slope Ser represents the second road gradient, slope represents the current driving road gradient, and k 1 and k 2 constitute the preset weight coefficient set.
7. A road gradient estimation apparatus for performing the road gradient estimation method according to any one of claims 1 to 6; The road gradient estimation device includes at least: the information acquisition module is used for acquiring at least one vehicle state information; The first calculation module is used for establishing a first vehicle longitudinal power equation based on vehicle longitudinal kinematics and calculating a first road gradient according to the first vehicle longitudinal power equation and at least one piece of vehicle state information; the second calculation module is used for establishing a second vehicle longitudinal power equation based on the inertial navigation signal and calculating a second road gradient according to the second vehicle longitudinal power equation and at least one piece of vehicle state information; And the gradient estimation module is used for estimating the current driving road gradient at least according to the first road gradient, the second road gradient and a preset weight coefficient set.
8. An electronic device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that the processor implements the steps of the road slope estimation method of any of claims 1 to 6 when the program is executed.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps in the road gradient estimation method as claimed in any one of claims 1 to 6.
10. A vehicle in which at least the road gradient estimation device according to claim 7 is integrated.

Description

Road gradient estimation method, device, electronic equipment, storage medium and vehicle Technical Field The present invention relates to the field of vehicle technologies, and in particular, to a road gradient estimation method, a device, an electronic apparatus, a storage medium, and a vehicle. Background The commercial vehicle has excellent prospect under the current development background at home and abroad, and a plurality of vehicle enterprises start to be distributed and adopt a distributed driving control configuration, so that the structure can effectively simplify the structure of a transmission system, reduce the quality of the whole vehicle, effectively reduce the energy consumption and improve the arrangement flexibility of a chassis system. For the distributed drive control configuration, each driving wheel is provided with an independent electric drive system, and the controller is used for controlling the output rotating speed and torque of each driving motor, so that the robustness of the vehicle running on a complex road surface can be realized, and the comfort and the steering stability of the vehicle are improved. At the same time, however, the distributed drive configuration places high demands on the accuracy and comprehensiveness of the vehicle sensed state information. The whole vehicle quality and the road gradient can influence the load condition of each axle of the vehicle, further influence the distribution and control of torque, influence the stability and economic dynamic performance of the vehicle, and are important vehicle parameters and the input of distributed driving control. Based on a large amount of actual driving data analysis, the road gradient plays an important role in driving safety, fuel economy and comfort, and not only affects the dynamic performance of the vehicle, but also directly affects the dynamic characteristics of the vehicle and the drivability of a driver. When a vehicle passes through a road surface with a larger gradient, phenomena of unsuitable acceleration and deceleration, frequent gear shifting operation and the like are easy to occur, so that potential hazards of traffic accidents can be brought, and a large amount of oil consumption and emission can be increased. Therefore, it is extremely important how to ensure the accuracy of the road gradient real-time estimation. Disclosure of Invention The invention aims to provide a road gradient estimation method, a device, electronic equipment, a storage medium and a vehicle, which can at least improve the instantaneity, economy, stability and coverage of a driving condition of a whole vehicle control system. In order to solve the above technical problem, in a first aspect, the present invention provides a road gradient estimation method, at least including: acquiring at least one vehicle state information; Establishing a first vehicle longitudinal power equation based on vehicle longitudinal kinematics, and calculating a first road gradient according to the first vehicle longitudinal power equation and at least one vehicle state information; Establishing a second vehicle longitudinal power equation based on inertial navigation signals, and calculating a second road gradient according to the second vehicle longitudinal power equation and at least one vehicle state information; and estimating the current driving road surface gradient at least according to the first road gradient, the second road gradient and a preset weight coefficient set. Optionally, the first vehicle longitudinal power equation is determined by at least: ; In the above expression, T tp denotes the vehicle drive torque, i g denotes the transmission speed ratio, i 0 denotes the final speed reducer speed ratio, η T denotes the transmission efficiency, r ω denotes the wheel radius, m denotes the vehicle mass, g denotes the gravitational acceleration, f denotes the rolling resistance coefficient, C D denotes the air resistance coefficient, a denotes the windward area, v denotes the driving vehicle speed, Φ Slope denotes the model longitudinal gradient, δ denotes the vehicle rotational mass conversion coefficient, and a x denotes the longitudinal acceleration in the vehicle's own coordinate system. Optionally, the first road grade is calculated by at least: ; in the above equation, slope Dyn represents the first road grade. Optionally, the second vehicle longitudinal power equation is determined by at least: ; In the above formula, a x,IMU represents the longitudinal acceleration of the vehicle based on the global coordinate system of the IMU, a x represents the longitudinal acceleration of the vehicle under the self coordinate system of the vehicle, phi slope1 represents the theoretical gradient of the road where the vehicle is located under the current driving working condition, and g represents the gravitational acceleration. Optionally, the second road gradient is calculated at least by: ; In the above equation, phi slope represents t