A detection method for longitudinal slope road based on accelerator pedal position and vehicle velocity

The online detection of longitudinal slope road is very helpful to improve the driving safety for intelligent vehicles. A detection method for longitudinal slope road based on accelerator pedal position and vehicle velocity is proposed. The vehicle´s dynamic model is established according to the force analysis for the vehicle on longitudinal slope road. Then a function of slope angle is derived from the driven force and velocity of the vehicle. The function between the slope angle and the accelerator pedal position and vehicle velocity can be obtained by combining the relation between the driven force and the accelerator pedal position. Thus, the slope angle can be directly computed with the accelerator pedal position and the vehicle velocities at two samplings. Simulation results verify the effectiveness of the proposed method.