Study on Verification of Slope Angle Recognition Algorithm based on Vehicle Speed

In this paper, a verification algorithm for the vehicle slope angle recognition is studied. The actual slope signal is extracted from the longitudinal acceleration and the actual vehicle speed of the three-coordinate acceleration sensor. The problem that the longitudinal acceleration signal of the three-coordinate acceleration sensor includes both the actual slope and the vehicle acceleration information is solved. The longitudinal acceleration of the sensor is subtracted from the acceleration calculated from the actual vehicle speed to obtain the actual slope angle. In order to engineering the algorithm, two Kalman filters are added to optimize the algorithm, and filter the longitudinal comprehensive value and the calculated slope angle measured by the three-coordinate acceleration sensor. The method is suitable for different vehicle load, speed, actual acceleration, wind resistance and braking torque. Based on Simulink simulation environment, four kinds of working conditions were simulated respectively. The vehicle load variation condition based on dynamics algorithm; The vehicle speed variation condition based on dynamic algorithm; The condition that the acceleration signal is increased step by step, and then reduced step by step, based on the optimization algorithm; Based on the optimization algorithm, the vehicle speed is increased from a standstill and then reduced in the uphill condition. The simulation results show that the effectiveness of the proposed verification algorithm based on the longitudinal acceleration and vehicle speed signals of the three-coordinate acceleration sensor. And it is obviously better than that of the slope angle calculated by the dynamic algorithm.