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Method and device for detecting road lateral slope value

A technology of road slope and detection method, which is applied in the direction of measuring device, surveying and navigation, measuring inclination, etc., can solve the problem of not being able to accurately detect the road slope value, not being able to accurately detect the road side slope value, and not being able to accurately trigger the car And other issues

Active Publication Date: 2021-09-10
GREAT WALL MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention aims to propose a method and device for detecting the lateral slope value of the road to solve the problem that the vehicle cannot be accurately triggered to drive on a slope due to the absence of a method for accurately detecting the lateral slope value of the road in the prior art. When the auxiliary function is used, it brings a lot of inconvenience and unsafe factors to driving
It solves the problem that there is no method that can accurately detect the road slope value in the prior art, which leads to the inability to accurately trigger some slope driving electronic control auxiliary functions of the car, which brings a lot of inconvenience and unsafe factors to driving.

Method used

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  • Method and device for detecting road lateral slope value
  • Method and device for detecting road lateral slope value
  • Method and device for detecting road lateral slope value

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] refer to figure 1 , which is a flow chart of a method for detecting a road lateral slope value according to an embodiment of the present invention, specifically may include the following steps:

[0052] Step 101, acquiring the driving parameters at the first moment when the vehicle is running; the driving parameters at least include: vehicle yaw rate, lateral acceleration and driving reference speed.

[0053] In the embodiment of the present invention, when the vehicle is running on a longitudinal slope, sensors are used to collect the current moment of vehicle operation, that is, various parameters at the first moment: vehicle speed, vehicle longitudinal acceleration, vehicle ramp acceleration, engine speed, torque, overall Car quality, etc., and return these parameters to the car's central control computer, and the programs input in the central control computer will be processed to meet the requirements of starting various driving assistance programs when driving.

...

Embodiment 2

[0061] refer to figure 2 , which is a flow chart of a method for detecting a road lateral slope value according to an embodiment of the present invention, specifically may include the following steps:

[0062] Step 201, acquiring the driving parameters at the first moment when the vehicle is running; the driving parameters at least include: vehicle yaw rate, lateral acceleration and driving reference speed.

[0063] This step is the same as step 101 and will not be described in detail here.

[0064] Step 202, obtaining the Kalman optimal state value at the second moment; the second moment is before the first moment and separated by a preset time period.

[0065] In the embodiment of the present invention, if it is necessary to calculate the Kalman optimal state value at the current moment during the driving process of the car, it is necessary to first calculate the previous moment of the preset interval time from the current moment, that is, the Kalman optimal state at the s...

Embodiment 3

[0107] refer to Figure 8 , is a structural block diagram of a road lateral slope value detection device according to an embodiment of the present invention.

[0108] The driving parameter acquisition module 301 at the first moment, the Kalman optimal state value acquisition module 302 at the first moment, and the road gradient value acquisition module 303 at the first moment.

[0109] refer to Figure 9 The functions of each module and the interaction between each module are introduced in detail below.

[0110] The driving parameter acquisition module 301 at the first moment is used to acquire the driving parameters at the first moment when the car is running; the driving parameters at least include: vehicle yaw rate, lateral acceleration and driving reference speed;

[0111] Preferably, it also includes:

[0112] The Kalman optimal state value acquisition module 304 at the second moment is configured to acquire the Kalman optimal state value at the second moment; the seco...

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Abstract

The present invention provides a method and device for detecting the lateral slope value of a road. The method includes: obtaining the driving parameters at the first moment when the vehicle is running; the driving parameters at least include: vehicle yaw rate, lateral acceleration and driving parameters Reference speed; input the driving parameters at the first moment into the Kalman model to obtain the Kalman optimal state value at the first moment; obtain the road slope value at the first moment according to the optimal Kalman state value at the first moment. The invention solves the problems in the prior art that some electronic control auxiliary functions of the vehicle cannot be accurately triggered due to the inability to accurately detect the slope angle of the road, which brings a lot of inconvenience and unsafe factors to driving.

Description

technical field [0001] The invention relates to the field of automobiles, and includes a method and a device for detecting a road lateral slope value. Background technique [0002] The type of road and the condition of the road surface are one of the important factors that affect the smoothness and comfort of the vehicle when the vehicle is driving. Sometimes it is also one of the judgment conditions for activating or closing some electronic control systems, such as detecting when the car is going downhill longitudinally. When the slope is relatively large, the steep slope descent function is automatically activated. Generally, there are usually two working conditions for vehicles driving on slope roads: one is running longitudinally on slope roads, and the other is driving laterally on slope roads. The detection technology has become more and more mature, but when the car is driving sideways on the slope, there is no effective technical means to detect the angle of the roa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C9/00
CPCG01C9/00
Inventor 周申光孙玉牛小锋戚一超郝海波刘自敏张凯邦
Owner GREAT WALL MOTOR CO LTD