Road slope dynamic updating method considering vehicle control state

The invention discloses a road gradient dynamic updating method considering a vehicle control state, which comprises the following steps of: judging a driving scene in an active control process by combining state information and other motion information (excluding acceleration sensor information) of a vehicle in an active control stage on the basis of commonly calculating a gradient through an acceleration sensor; the method further obtains the confidence coefficient of gradient calculation, avoids the error estimation of the road gradient caused by the signal disturbance of an acceleration sensor due to the disturbance of a vehicle body suspension in the vehicle motion control process, and considers and combines the target instruction information and the change trend of the motion state of the vehicle. The gradient of the ramp scene with large change is updated in real time, the smoothness of the active control process is guaranteed, and the driving experience of the vehicle in the active control process is