CN-121989961-A - Gradient value calculating method and related device for running road where vehicle is located

CN121989961ACN 121989961 ACN121989961 ACN 121989961ACN-121989961-A

Abstract

The application discloses a gradient value calculating method and a related device of a running road where a vehicle is located, and relates to the technical field of traffic engineering, wherein the method comprises the following steps: the obtained motor electromagnetic torque at the current moment, the prior error, the least square gain, the least square inverse matrix and the weight, and the longitudinal acceleration and the vehicle speed of the vehicle at the current moment. And determining the rolling resistance of the vehicle, and calculating the gradient force of the vehicle at the current moment based on the electromagnetic torque of the motor at the current moment, the longitudinal acceleration of the vehicle at the current moment and the vehicle speed. The method comprises the steps of constructing an iteration formula of the vehicle by using prior errors, least square gains, least square inverse matrixes, weights, gradient forces and rolling resistance at the current moment, carrying out least square iteration on the iteration formula of the vehicle, calculating to obtain an initial gradient value of a running road where the vehicle is located at the current moment, and introducing pitch angle speed and pitch angle acceleration to correct the initial gradient value to obtain an accurate gradient value of the running road where the vehicle is located.

Inventors

ZHANG HAN
MA HONGTAO
LIU ZHONG
Lv Yuheng
CAO WEIQIANG
Cui Baitong
LU HENGHUI

Assignees

陕西汉德车桥有限公司

Dates

Publication Date: 20260508
Application Date: 20260128

Claims (10)

1. A gradient value calculating method of a traveling road on which a vehicle is traveling, comprising: the method comprises the steps of obtaining motor electromagnetic torque at the current moment, longitudinal acceleration of the vehicle at the current moment, vehicle speed of the vehicle at the current moment, priori error at the current moment, least square gain at the current moment, least square inverse matrix at the current moment and weight at the current moment; Determining rolling resistance of the vehicle, and calculating gradient force of the vehicle at the current moment based on the motor electromagnetic torque at the current moment, the longitudinal acceleration of the vehicle at the current moment and the vehicle speed of the vehicle at the current moment; Constructing an iterative formula of the vehicle by using the prior error of the current moment, the least square gain of the current moment, the least square inverse matrix of the current moment, the weight of the current moment, the gradient force of the vehicle at the current moment and the rolling resistance of the vehicle; Performing least square iteration on the iteration formula of the vehicle, calculating to obtain the least square gain after the current iteration, and calculating to obtain the initial gradient value of the running road where the vehicle is located at the current moment based on the least square gain after the current iteration; And calculating to obtain a target gradient value of the running road of the vehicle at the current moment based on the obtained pitch angle speed of the vehicle at the current moment, the pitch angle acceleration of the vehicle at the current moment and the initial gradient value of the running road of the vehicle at the current moment.
2. The gradient value calculating method of the traveling road on which the vehicle is traveling according to claim 1, wherein the determining the rolling resistance of the vehicle and calculating the gradient force of the vehicle at the present time based on the motor electromagnetic torque at the present time, the longitudinal acceleration of the vehicle at the present time, and the vehicle speed of the vehicle at the present time includes: calculating the rolling resistance of the vehicle based on the obtained rolling resistance coefficient of the vehicle, the mass of the vehicle and the gravity acceleration; Calculating to obtain the longitudinal driving force of the vehicle at the current moment based on the acquired transmission ratio of the integrated electric drive bridge of the vehicle, the transmission efficiency of the integrated electric drive bridge, the tire rolling radius of the vehicle and the motor electromagnetic torque at the current moment; calculating the inertia force of the vehicle at the current moment based on the mass of the vehicle and the longitudinal acceleration of the vehicle at the current moment; Calculating the air resistance of the vehicle at the current moment based on the acquired windward area of the vehicle, the vehicle speed of the vehicle at the current moment, the air resistance coefficient and the air density; and calculating the gradient force of the vehicle at the current moment based on the longitudinal driving force of the vehicle at the current moment, the inertia force of the vehicle at the current moment and the air resistance of the vehicle at the current moment.
3. The gradient value calculation method of the traveling road on which the vehicle is traveling according to claim 1, wherein the iterative formulas include a first iterative formula, a second iterative formula, a third iterative formula, and a fourth iterative formula; The constructing an iterative formula of the vehicle by using the prior error of the current moment, the least square gain of the current moment, the least square inverse matrix of the current moment, the weight of the current moment, the gradient force of the vehicle at the current moment and the rolling resistance of the vehicle, wherein the iterative formula comprises the following steps: Constructing the first iteration formula by using the obtained weight of the previous moment, the prior error of the current moment, the gradient force of the vehicle at the current moment and the rolling resistance of the vehicle; constructing the second iteration formula by using the obtained least square inverse matrix of the previous moment, the least square gain of the current moment, the rolling resistance of the vehicle and a preset forgetting factor; constructing the third iteration formula by using the current least square gain of the vehicle, the rolling resistance of the vehicle, the least square inverse matrix at the current moment, the least square inverse matrix at the last moment and the preset forgetting factor; And constructing the fourth iteration formula by using the weight of the current moment, the current priori error of the vehicle, the current least square gain of the vehicle and the weight of the previous moment.
4. The method for calculating a gradient value of a traveling road on which a vehicle is located according to claim 1, wherein the calculating a target gradient value of the traveling road on which the vehicle is located at a current time based on the obtained pitch angle speed of the vehicle at the current time, the pitch angle acceleration of the vehicle at the current time, and an initial gradient value of the traveling road on which the vehicle is located at the current time includes: acquiring a pitch angle speed of the vehicle at the current moment, a pitch angle acceleration of the vehicle at the current moment, a pitch angle speed zero drift value of the vehicle and a pitch angle speed jitter minimum value of the vehicle; Determining the variation of the pitch angle speed of the vehicle at the current moment based on the pitch angle speed of the vehicle at the current moment, the pitch angle speed zero drift value of the vehicle and the pitch angle speed jitter minimum value of the vehicle; acquiring a contribution value of the pitch angle speed of the vehicle at the current moment based on the pitch angle acceleration of the vehicle at the current moment; And calculating a target gradient value of the running road of the vehicle at the current moment based on the initial gradient value of the running road of the vehicle at the current moment, the variation of the pitch angle speed of the vehicle at the current moment and the contribution value of the pitch angle speed of the vehicle at the current moment.
5. The gradient value calculation method of a traveling road on which a vehicle is traveling according to claim 4, wherein the determining the amount of change in the pitch angle rate of the vehicle at the present moment based on the pitch angle rate of the vehicle at the present moment, the pitch angle rate zero drift value of the vehicle, and the pitch angle rate shake minimum value of the vehicle includes: Judging whether the pitch angle speed of the vehicle at the current moment is smaller than the opposite number of the sum of the pitch angle speed zero drift value of the vehicle and the pitch angle speed jitter minimum value of the vehicle or larger than the sum of the pitch angle speed zero drift value of the vehicle and the pitch angle speed jitter minimum value of the vehicle; If the pitch angle speed of the vehicle at the current moment is smaller than the opposite number of the sum of the pitch angle speed zero drift value of the vehicle and the pitch angle speed jitter minimum value of the vehicle or is larger than the sum of the pitch angle speed zero drift value of the vehicle and the pitch angle speed jitter minimum value of the vehicle, integrating the pitch angle speed of the vehicle at the current moment based on a first preset moment and a second preset moment to obtain the variation of the pitch angle speed of the vehicle at the current moment; And if the pitch angle speed of the vehicle at the current moment is not less than the opposite number of the sum of the pitch angle speed zero drift value of the vehicle and the pitch angle speed jitter minimum value of the vehicle or is not greater than the sum of the pitch angle speed zero drift value of the vehicle and the pitch angle speed jitter minimum value of the vehicle, determining that the variation of the pitch angle speed of the vehicle at the current moment is zero.
6. The gradient value calculation method of a traveling road on which the vehicle is located according to claim 1, characterized in that, after the calculation of the target gradient value of the traveling road on which the vehicle is located at the present time based on the acquired pitch angle rate of the vehicle at the present time, the pitch angle acceleration of the vehicle at the present time, and the initial gradient value of the traveling road on which the vehicle is located at the present time, the method further comprises: Acquiring the accelerator opening of the vehicle at the current moment, the rotation speed of an output shaft of the vehicle at the current moment, the rotation speed of a motor of the vehicle at the current moment and a target gradient value of the vehicle at the last moment; Judging whether the accelerator opening of the vehicle at the current moment is smaller than a preset accelerator opening threshold value, whether the output shaft rotating speed of the vehicle at the current moment is larger than a preset output shaft rotating speed, and whether the motor rotating speed of the vehicle at the current moment is larger than a preset motor rotating speed; And if the accelerator opening of the vehicle at the current moment is smaller than a preset accelerator opening threshold value, the rotation speed of the output shaft of the vehicle at the current moment is larger than the preset output shaft rotation speed, and the rotation speed of the motor of the vehicle at the current moment is larger than the preset motor rotation speed, updating the target gradient value of the running road of the vehicle at the current moment based on the target gradient value of the running road of the vehicle at the current moment and the target gradient value of the vehicle at the last moment.
7. A gradient value calculating device of a road on which a vehicle is traveling, comprising: the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the electromagnetic torque of a motor at the current moment, the longitudinal acceleration of the vehicle at the current moment, the speed of the vehicle at the current moment, the priori error of the current moment, the least square gain of the current moment, the least square inverse matrix of the current moment and the weight of the current moment; A first calculation unit, configured to determine a rolling resistance of the vehicle, and calculate a gradient force of the vehicle at a current time based on the electromagnetic torque of the motor at the current time, a longitudinal acceleration of the vehicle at the current time, and a vehicle speed of the vehicle at the current time; The construction unit is used for constructing an iterative formula of the vehicle by using the prior error of the current moment, the least square gain of the current moment, the least square inverse matrix of the current moment, the weight of the current moment, the gradient force of the vehicle at the current moment and the rolling resistance of the vehicle; The second calculation unit is used for carrying out least square iteration on the iteration formula of the vehicle, calculating to obtain the least square gain after the current iteration, and calculating to obtain the initial gradient value of the running road where the vehicle is located at the current moment based on the least square gain after the current iteration; And the third calculation unit is used for calculating and obtaining a target gradient value of the running road where the vehicle is located at the current moment based on the obtained pitch angle speed of the vehicle at the current moment, the pitch angle acceleration of the vehicle at the current moment and the initial gradient value of the running road where the vehicle is located at the current moment.
8. A computer program product comprising computer readable instructions which, when run on an electronic device, cause the electronic device to implement a gradient value calculation method of a road on which a vehicle as claimed in any one of claims 1 to 6 is travelling.
9. An electronic device comprising at least one processor and a memory coupled to the processor, wherein: the memory is used for storing a computer program; the processor is configured to execute the computer program to enable the electronic apparatus to implement the gradient value calculation method of the traveling road on which the vehicle is traveling according to any one of claims 1 to 6.
10. A computer storage medium carrying one or more computer programs which, when executed by an electronic device, enable the electronic device to implement the gradient value calculation method of the road on which the vehicle according to any one of claims 1 to 6 is traveling.

Description

Gradient value calculating method and related device for running road where vehicle is located Technical Field The application relates to the technical field of traffic engineering, in particular to a gradient value calculating method and a related device of a running road where a vehicle is located. Background With the rapid development of intelligent automobiles, the accuracy requirements of the automobiles on environment perception and state estimation are increasingly improved. The gradient value of the running road where the vehicle is located is used as a key external environment parameter to directly influence the control performance, the safety performance and the key factors of energy consumption management of the whole vehicle. Therefore, it is important to determine the gradient value of the road on which the vehicle is traveling. At present, the gradient value of a running road on which a vehicle is positioned is reversely pushed through a longitudinal stress balance equation of the vehicle by combining information such as the speed, the longitudinal acceleration and the like provided by an inertia measurement unit of the vehicle by utilizing a motor electromagnetic torque signal provided by an integrated electric drive axle of the vehicle. However, when the vehicle runs on a non-smooth road surface, pitching motion is generated when the vehicle body is excited by the road surface, so that non-gravity components caused by suspension dynamic deformation, inertia force and load transfer can be mixed in longitudinal acceleration, and the gradient value of the running road of the vehicle calculated by a longitudinal stress balance equation of the vehicle based on the longitudinal acceleration is inaccurate. Disclosure of Invention In view of the above, the present application provides a method and related apparatus for calculating a gradient value of a road on which a vehicle is traveling, so as to improve accuracy of the calculated gradient value of the road on which the vehicle is traveling. The specific scheme is as follows: the first aspect of the present application provides a gradient value calculation method of a road on which a vehicle is traveling, including: the method comprises the steps of obtaining motor electromagnetic torque at the current moment, longitudinal acceleration of the vehicle at the current moment, vehicle speed of the vehicle at the current moment, priori error at the current moment, least square gain at the current moment, least square inverse matrix at the current moment and weight at the current moment; Determining rolling resistance of the vehicle, and calculating gradient force of the vehicle at the current moment based on the motor electromagnetic torque at the current moment, the longitudinal acceleration of the vehicle at the current moment and the vehicle speed of the vehicle at the current moment; Constructing an iterative formula of the vehicle by using the prior error of the current moment, the least square gain of the current moment, the least square inverse matrix of the current moment, the weight of the current moment, the gradient force of the vehicle at the current moment and the rolling resistance of the vehicle; Performing least square iteration on the iteration formula of the vehicle, calculating to obtain the least square gain after the current iteration, and calculating to obtain the initial gradient value of the running road where the vehicle is located at the current moment based on the least square gain after the current iteration; And calculating to obtain a target gradient value of the running road of the vehicle at the current moment based on the obtained pitch angle speed of the vehicle at the current moment, the pitch angle acceleration of the vehicle at the current moment and the initial gradient value of the running road of the vehicle at the current moment. In one possible implementation, the determining the rolling resistance of the vehicle, and calculating the gradient force of the vehicle at the current moment based on the electromagnetic torque of the motor at the current moment, the longitudinal acceleration of the vehicle at the current moment, and the vehicle speed of the vehicle at the current moment, includes: calculating the rolling resistance of the vehicle based on the obtained rolling resistance coefficient of the vehicle, the mass of the vehicle and the gravity acceleration; Calculating to obtain the longitudinal driving force of the vehicle at the current moment based on the acquired transmission ratio of the integrated electric drive bridge of the vehicle, the transmission efficiency of the integrated electric drive bridge, the tire rolling radius of the vehicle and the motor electromagnetic torque at the current moment; calculating the inertia force of the vehicle at the current moment based on the mass of the vehicle and the longitudinal acceleration of the vehicle at the current moment; Calculating the air resistance of