Road slope real-time estimation method for automobile

Abstract

The invention discloses a road slope real-time estimation method for an automobile, which aims to solve the shortcomings of the prior art, such as many quantities of calibration, heavy influence of automobile acceleration and deceleration, large use of sensors, high cost, much dependence on automobile parameters, complex models and poor robustness. The real-time estimation method comprises the following steps: 1, initializing signal, initializing sensors after each power supply, and correcting the original errors of data; 2, pre-processing input signal, including 1) threshold limit, 2) slope limit, 3) low-pass filtering and 4) sliding average filtering; 3, correcting longitudinal acceleration signal; 4, based on Kalman filtering algorithm, calculating the parameters needed for weighted fusion and conducting data fusion by determining the reliable degree of acceleration signals and the situation of the automobile going up and down slope; and 5, correcting the slope and outputting the optimal estimate of the road slope.

Description

technical field [0001] The invention relates to a road gradient recognition method for automobiles, in particular to a method for real-time estimation of road gradients for automobiles by using an accelerometer and a gyroscope. Background technique [0002] Road slope is particularly important in increasingly automated cars, and plays an important role in the convenience and comfort of the car. For example, on heavy-duty trucks with AMT, especially on rugged mountain roads, the gears can be automatically adjusted according to the change of the slope, which greatly reduces the burden on the driver and at the same time improves the fuel economy of the car. . [0003] The general idea of ​​slope recognition uses the acceleration collected by the accelerometer and the angular velocity collected by the gyroscope for data fusion. Since the value collected by the accelerometer in the longitudinal direction is equal to the sum of the acceleration of the car itself and the gradient ...

AI Technical Summary

Problems solved by technology

[0006] The present invention aims to solve the shortcomings of the prior art that there are many calibration quantities, greatly affected by vehicle acceleration and deceleration, many sensors are used, high cost, too much dependence on vehicle parameters, and poor robustness of the model, and proposes a cheap, simple and accurate, Real-time estimation method of road slope for automobiles and catering to market demand

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