Slope detection method, system and vehicle
A detection method and slope technology, applied in the automotive field, can solve the problems of large computational load, narrow application scope, and difficult application.
Active Publication Date: 2021-10-26
GREAT WALL MOTOR CO LTD
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Problems solved by technology
[0003] In the related technology, the longitudinal acceleration sensor is equipped as standard on the car. The longitudinal acceleration sensor can measure the acceleration value generated by the slope when the vehicle is completely stationary, and then obtain the slope value, but the vehicle cannot effectively calculate the slope during driving. The slope value of the road, that is, the application range is relatively narrow, and the slope value of the vehicle can no longer be calculated when the vehicle is driving
[0004] The method of multi-sensing information fusion (single pendulum angular displacement sensor, longitudinal acceleration sensor, displacement sensor, etc.) can accurately calculate the slope value of the road, but its information is complex, the amount of calculation is large, and the cost is high and it is difficult to apply To the real vehicle controller, that is: information processing is very complicated, the amount of calculation is large, and the cost is high, so it is difficult to be widely used in vehicles
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[0036] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0037] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0038] figure 1 is a flowchart of a slope detection method according to an embodiment of the present invention.
[0039] Before describing the slope detection method of the embodiment of the present invention, a slope detection model based on Kalman filtering is constructed first. details as follows:
[0040] If a parameter T k-1 The optimal value of the state at any time X k-1 , and there are two ways to get this parameter in T kThe value of the moment, one is the prediction method, and the other is the measurement method. The expressions of the two methods are as follows:
[0041] T k Time prediction method relational formula: X k,k-1 =A k,k-1 *X k-1 +w k-1 , whose A k,k-1 ...
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The invention provides a slope detection method, system and vehicle. Wherein, the slope detection method includes: receiving T k The relevant parameters of the vehicle at the moment, to obtain the parameters that can be used for Kalman iteration according to the relevant parameters; Obtain one-step prediction mean square error according to the parameters that can be used for Kalman iteration; According to the parameters that can be used for Kalman iteration and the T k The Kalman gain value at the moment; According to the parameters that can be used for Kalman iterations and the Kalman gain value, by T k The optimal value of the state at any time X k updated to get T k+1 The optimal value of the state at any time X k+1 ; according to the T k+1 The optimal value of the state at any time X k+1 get T k+1 The slope value of the road at the moment. The method of the invention can calculate the slope value of the road simply, conveniently and accurately without adding additional hardware, and has the advantages of simple operation and low cost.
Description
technical field [0001] The invention relates to the technical field of automobiles, in particular to a slope detection method, system and vehicle. 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 running, and sometimes it is also one of the judgment conditions for activating or closing some electronic control systems (such as: when the car is going downhill longitudinally After a large slope is detected, the steep slope descent function is automatically activated). If the type of road can be accurately and timely detected, it will be more convenient for developers to formulate different control strategies for different road surface information and different control systems in the design and development stage, thereby improving the quality of the vehicle. Among them, there are usually two working conditions for the vehicle to run on t...
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IPC IPC(8): B60W40/076
CPCB60W40/076B60W2520/10B60W2520/105
Inventor 周申光孙玉牛小锋王彬彬张士亮贾具宾郝兴
Owner GREAT WALL MOTOR CO LTD