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

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 und