Vehicle pitch angle estimation method and system, computer equipment and storage medium

Abstract

The invention relates to a vehicle pitch angle estimation method and system, computer equipment and a storage medium, and the method comprises the steps: obtaining the current vehicle speed of a vehicle, and obtaining a first longitudinal acceleration according to the current vehicle speed; acquiring a current slope angle and a second longitudinal acceleration currently detected by a vehicle acceleration sensor; obtaining a measured pitch angle according to the first longitudinal acceleration, the current slope angle and the second longitudinal acceleration; and performing Kalman filtering according to the measured pitch angle to obtain a pitch angle estimated value of the vehicle. The system corresponds to the method, and the computer equipment and the storage medium comprise programs capable of executing the method. According to the invention, the problem that the estimation precision is not high when the vehicle pitch angle is estimated according to other vehicle sensor signals at present can be solved under the condition that the hardware cost of the vehicle is not increased.

Description

technical field [0001] The invention relates to the technical field of vehicle motion state estimation, in particular to a vehicle pitch angle estimation method and system, computer equipment, and a storage medium. Background technique [0002] Vehicle pitch is a very important state of the vehicle, which is closely related to ride comfort. One goal of dynamic suspension control is to control vehicle pitch. In the field of intelligent assisted driving, it is also necessary to obtain the pitch angle of the vehicle to perceive the environment more accurately. There are also some vehicles that automatically adjust the height of the headlights through the pitch angle of the vehicle. Therefore, it is of great significance to obtain a more accurate pitch angle of the vehicle. At present, passenger cars are generally equipped with ESP (Electronic Vehicle Stability System) to control the stability of the vehicle under extreme conditions. It has inertial sensors to measure longitud...

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Problems solved by technology

[0003] The purpose of the present invention is to propose a vehicle pitch angle estimation method and its system, computer equipment, and storage medium, so as to solve the problem of insufficient estimation accuracy existing in current vehicle pitch angle estimation based on other existing vehicle sensor signals without increasing the cost of vehicle hardware. high problem

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