Road slope calculation method and device
A technology of road slope and calculation method, which is applied in the field of vehicles, can solve the problems of slope value error, lack of real-time performance and applicability, and inaccurate acceleration signal, etc., to achieve the effect of accurate road slope
Active Publication Date: 2021-06-15
WEICHAI POWER CO LTD +1
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Problems solved by technology
[0003] At present, when the acceleration sensor is used to estimate the road slope, the vibration of the vehicle itself caused by the engine operation of the hybrid vehicle and the noise generated by the bumpy road will make the acceleration signal collected by the acceleration sensor inaccurate, and then the estimated slope value There is an error
[0004] Moreover, most of the existing technical solutions are to conduct off-line analysis of the collected acceleration data to obtain an estimated road slope value, which does not have real-time and applicability
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[0066] In order to make the above objects, features and advantages of the present application more obvious and understandable, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.
[0067] In order to facilitate understanding and explanation of the technical solutions provided by the embodiments of the present application, the background technology of the embodiments of the present application will be described first.
[0068] Vehicles usually drive on complex and changeable road conditions, and quickly and accurately knowing the slope of the road where the vehicle is located has important guiding significance for the smooth shift control of automatic transmissions in hybrid power systems. At present, when the acceleration sensor is used to estimate the road slope, the vibration of the vehicle itself caused by the engine operation of the hybrid vehicle and the nois...
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The invention discloses a road slope calculation method and device. The method comprises the steps that: the three-axis acceleration of a vehicle is obtained in real time; real-time gravitational acceleration of the vehicle is calculated in real time according to the three-axis acceleration of the vehicle; a gravitational acceleration estimated value of the vehicle is obtained; if the vehicle working condition at the current moment is that a vehicle engine is started and the vehicle speed is not zero, a three-axis acceleration set corresponding to the current moment is obtained based on the real-time gravitational acceleration of the vehicle and the gravitational acceleration estimated value of the vehicle; data cleaning is performed on the three-axis acceleration group to obtain a target three-axis acceleration group corresponding to the current moment; the slope of the road where the vehicle is located at the current moment is calculated based on the target three-axis acceleration group; and when the working condition of the vehicle is that the engine of the vehicle is started and the vehicle speed is not 0, the three-axis acceleration set with small noise vibration is selected, abnormal acceleration data in the three-axis acceleration set is cleaned, and the gradient of the road where the vehicle is located at the current moment calculated by using the target three-axis acceleration set obtained after cleaning is more accurate.
Description
technical field [0001] The present application relates to the technical field of vehicles, in particular to a method and device for calculating road slope. Background technique [0002] Vehicles usually drive on complex and changeable road conditions, and quickly and accurately knowing the slope of the road where the vehicle is located has important guiding significance for the smooth shift control of automatic transmissions in hybrid power systems. [0003] At present, when the acceleration sensor is used to estimate the road slope, the vibration of the vehicle itself caused by the engine operation of the hybrid vehicle and the noise generated by the bumpy road will make the acceleration signal collected by the acceleration sensor inaccurate, and then the estimated slope value There is an error. [0004] Moreover, most of the existing technical solutions are to conduct off-line analysis of the collected acceleration data to obtain an estimated road slope value, which does ...
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IPC IPC(8): B60W40/076
CPCB60W40/076B60W2520/105B60W2520/125
Inventor 连凤霞姜峰邓金涛
Owner WEICHAI POWER CO LTD