Road slope adaptive fusion estimation method and device, vehicle and storage medium

The invention relates to the technical field of parameter estimation, in particular to a road slope self-adaptive fusion estimation method and device, a vehicle and a storage medium, and the method comprises the steps: recognizing the positioning information of the vehicle to obtain a velocity vector and a pitch angle, constructing a Kalman filter according to the velocity vector and the pitch angle, designing a corresponding noise calculation method, and calculating the noise of the vehicle according to the Kalman filter. Self-adaptive estimation of the first gradient and the second gradient of the road where the vehicle is located is achieved; based on a preset kinetic equation/kinematics equation and vehicle state information, a slope state equation is established with the vehicle pitch angle speed as the slope change rate, reasonable modeling is conducted on noise, and self-adaptive estimation of the third slope and the fourth slope of the road where the vehicle is located is achieved ...