Vehicle ramp slope identification method and device

The invention provides a vehicle ramp slope identification method and device. The method comprises the steps: obtaining the average wheel speed of front wheels, the average wheel speed of rear wheels,the engine torque change rate, the brake master cylinder pressure and the longitudinal acceleration measured by an inertial acceleration sensor of a vehicle; performing filtering differential processing on the average wheel speed of the rear wheel and the average wheel speed of the front wheels to obtain a rear wheel acceleration filtering value and a front wheel acceleration filtering value; filtering the longitudinal acceleration measured by the inertial acceleration sensor to obtain an inertial longitudinal acceleration filtering value; and determining the slope angle of the vehicle on a ramp according to the difference between the rear wheel acceleration filtering value and the front wheel acceleration filtering value, the engine torque change rate, the brake master cylinder pressureand the difference between