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A method for real-time estimation of vehicle-mounted road slope

A road gradient, vehicle-mounted technology, applied in the field of gradient recognition

Active Publication Date: 2021-07-09
FAW JIEFANG AUTOMOTIVE CO
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the processing method of directly weighting and merging signals in the time domain, which is equivalent to the problem of improper processing such as direct weighting of different frequency signals, the present invention proposes a method for real-time estimation of road slope by combining time domain and frequency domain transformation technology

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  • A method for real-time estimation of vehicle-mounted road slope
  • A method for real-time estimation of vehicle-mounted road slope
  • A method for real-time estimation of vehicle-mounted road slope

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Embodiment Construction

[0058] The present invention is described in detail below in conjunction with accompanying drawing:

[0059] refer to figure 1 , the signal carries out time-domain processing 1, frequency-domain processing, and time-domain processing 2 successively, and described time-domain processing 1 includes digital filtering of acceleration and angular velocity signals, that is, the ax and gy collected by the sensor are respectively filtered as the input quantities of IIR Processing, filter calculation according to formula (9).

[0060]

[0061] In the formula, M and N are the control coefficients of the IIR filter

[0062] a k ——The coefficient of the IIR filter about y(n-k)

[0063] b k ——The coefficient of the IIR filter about x(n-k)

[0064] x(k)——kth input quantity of IIR filter

[0065] y(k)——the kth output of the IIR filter

[0066] Then from time domain processing 1 to frequency domain processing, the time domain signal is converted into a frequency signal by Fourier tr...

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Abstract

The invention discloses a method for real-time estimation of vehicle-mounted road slope, which uses an acceleration sensor and an angular velocity sensor to respectively collect vehicle-mounted longitudinal acceleration and pitch angular velocity, aiming to solve the shortcomings of existing methods that directly process signals in the time domain and are seriously interfered by vehicle acceleration and deceleration . The method comprises the following steps: one, time-domain filtering, performing time-domain filtering on the acceleration and angular velocity signals; two, signal Fourier transform, converting the time-domain signal into a frequency-domain signal; Angular velocity is normalized in overlapping frequency domain signals; 4. Inverse Fourier transform, transforming the signal from frequency domain to time domain; 5. Denormalization processing; 6. Signal weighted fusion to obtain the final estimated road slope .

Description

technical field [0001] The invention relates to a slope recognition method, in particular to a method for real-time estimation of the road slope by combining time domain and frequency domain transformation techniques. Background technique [0002] Accurate environmental perception technology is an important part of building a modern automotive intelligent transportation system. Under complex and changeable road conditions, it can quickly and accurately estimate road slope information. Shift control and other aspects have important practical significance. [0003] The general method based on kinematics is to use the acceleration and angular velocity collected by the IMU sensor for data fusion, but the longitudinal acceleration of the vehicle changes greatly under the complex and changeable road and driver operation conditions, and the collected acceleration value often contains a lot of noise and vehicle noise. The longitudinal acceleration of itself affects the optimal esti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/076
CPCB60W40/076B60W2520/105B60W2520/16
Inventor 苑卫松谷京哲刘四海江进于洪剑王占春于维东马治王宇聂冬琦
Owner FAW JIEFANG AUTOMOTIVE CO