CN114852093A - Semi-trailer train weight estimation method and device and electronic equipment - Google Patents
Semi-trailer train weight estimation method and device and electronic equipment Download PDFInfo
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Abstract
The application discloses a semi-trailer train weight estimation method, a semi-trailer train weight estimation device and electronic equipment. The method of the present application comprises: acquiring last state information of a semi-trailer train, and monitoring target state parameters of the semi-trailer train; determining the current state information of the semi-trailer train according to the last state information and the target state parameter; and determining a vehicle weight estimation model according to the current state information, and obtaining the whole vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model. The technical scheme of this application can improve the precision of semi-trailer train's whole car weight estimated value.
Description
Technical Field
The application relates to the technical field of information processing, in particular to a method and a device for estimating the train weight of a semitrailer and electronic equipment.
Background
At present, a semi-trailer train has the characteristic of large variation range of the weight of the whole train, and when the semi-trailer train works, the connection state of a semi-trailer and the cargo carrying state of the semi-trailer have great influence on power control and safety control of the semi-trailer train. Therefore, when estimating the whole vehicle weight of the semi-trailer train, the more accurate the whole vehicle weight estimation value is, the less the influence of the power control and the safety control on the semi-trailer train is.
In the related technology, the method for estimating the mass of the whole vehicle is as follows: acquiring signals of torque, speed, acceleration, gradient and the like of an engine or a driving motor, and acquiring parameters of a transmission ratio, transmission system efficiency, wheel rolling radius, rolling resistance coefficient, air resistance coefficient, windward area, rotational inertia conversion coefficient and the like of a transmission system; and substituting the acquired signals and parameters into an automobile running equation, and estimating the mass of the whole automobile by combining a least square method or Kalman filtering.
In the process of estimating the vehicle weight, the following defects are found in the related art:
first, since the specific power and hundred kilometers acceleration of the semi-trailer train are much lower than those of the passenger vehicle, especially during acceleration and deceleration, the absolute value of the acceleration of the semi-trailer train usually does not exceed 1m/s 2 Therefore, the noise ratio in the signal used by the existing vehicle weight estimation method is large, and the estimation precision is not high.
Secondly, the existing vehicle weight estimation method usually adopts the whole vehicle service mass as an initial value, but for a semitrailer and a tractor whole vehicle in a connection state, the total mass of the whole vehicle is 5-6 times of that of the semitrailer and the tractor whole vehicle in a single tractor state, and under the condition, the convergence speed of the calculation result of the least square method or Kalman filtering adopted in the existing vehicle weight estimation method is too slow, even the result is not converged.
Thirdly, signals such as torque, speed, acceleration and gradient of an engine or a driving motor adopted by the conventional vehicle weight estimation method are transient values, and factors such as uneven road surface, acceleration delay caused by elasticity of a transmission system and the like can seriously influence the vehicle weight estimation precision.
Disclosure of Invention
The embodiment of the application provides a method and a device for estimating the weight of a semi-trailer train and electronic equipment, so as to improve the accuracy of the estimated weight of the whole train.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a method for estimating a weight of a semi-trailer train, including:
acquiring last state information of a semi-trailer train, and monitoring target state parameters of the semi-trailer train;
determining the current state information of the semi-trailer train according to the last state information and the target state parameter;
and determining a vehicle weight estimation model according to the current state information, and obtaining the whole vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model.
In a second aspect, an embodiment of the present application further provides a semi-trailer train weight estimation device, including:
the system comprises a data acquisition unit, a data processing unit and a data processing unit, wherein the data acquisition unit is used for acquiring last state information of a semi-trailer train and monitoring target state parameters of the semi-trailer train, and the semi-trailer train comprises a tractor and a semi-trailer;
the state determining unit is used for determining the current state information of the semi-trailer train according to the previous state information and the target state parameter;
and the vehicle weight estimation unit is used for determining a vehicle weight estimation model according to the current state information and obtaining the whole vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the foregoing semi-trailer train weight estimation methods.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the foregoing methods for estimating a weight of a semi-trailer train.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: according to the method, the device, the electronic equipment and the computer readable storage medium for estimating the weight of the semi-trailer train, the last state information of the semi-trailer train is obtained, the target state parameters of the semi-trailer train are monitored in real time, different state information corresponds to different train weight estimation models, and the target state parameters are parameters related to state information of switching the semi-trailer train, so that the current state information of the semi-trailer train can be determined according to the last state information and the target state parameters, the corresponding train weight estimation model is selected to estimate the estimated value of the total train weight of the semi-trailer train in the current state, and the estimation precision of the total train weight of the semi-trailer train is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart of a method for estimating a weight of a semi-trailer train according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a semi-trailer train according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a state transition of a semi-trailer train according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a semi-trailer train geometry according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a semi-trailer train weight estimation device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the application provides a method for estimating the train weight of a semitrailer, and as shown in fig. 1, the method in the embodiment of the application provides a flow schematic diagram of the method for estimating the train weight of the semitrailer, and the method at least comprises the following steps S110 to S130:
step S110, obtaining last state information of the semi-trailer train and monitoring target state parameters of the semi-trailer train.
The vehicle weight estimation method of the present embodiment is recommended to be integrated in an automatic driving domain controller, a power domain controller or a chassis domain controller, that is, the vehicle weight estimation method may be executed by the automatic driving domain controller, the power domain controller or the chassis domain controller. The automatic driving domain controller is a controller integrating automatic driving software of the vehicle, and comprises algorithms such as positioning, environment sensing, planning control and the like, and can be internally provided with functions such as adaptive cruise, lane keeping, navigation assistance, automatic parking, remote control parking, self-learning parking, automatic passenger-assistant parking, automatic emergency braking and the like. The power domain controller is used for controlling a vehicle power system and a transmission system, and integrates functions of power-on and power-off control, vehicle energy management, vehicle fault management, vehicle torque control, power battery management, charging control, driving motor control, range extender control, transmission control and the like. The chassis domain controller is used for controlling a chassis system of a vehicle, and integrates functions such as service brake control, parking brake control, electronic stability control, electric power steering control, active suspension control and the like.
As shown in fig. 2, the semitrailer train in the embodiment of the present application includes a tractor and a semitrailer, wherein the tractor and the semitrailer are connected by a traction seat installed on the tractor, and a connection state of the semitrailer and the tractor can be determined by a chassis domain controller.
As mentioned above, the overall vehicle weight of the semi-trailer train is greatly different when the semi-trailer of the semi-trailer train is in different connection states or the semi-trailer is in no-load, half-load, full-load and other cargo-carrying states, and the vehicle weight estimation model designed without distinguishing different state information of the semi-trailer train in the prior art generally comprises a plurality of model parameters, the convergence speed of the least square method or kalman filter calculation result of the vehicle weight estimation model is too slow, even is not converged, and the signals used by most parameter values in the model parameters have the conditions of large noise ratio and most of signal values are transient values, so that the vehicle weight estimation precision is poor.
For the situation, the corresponding vehicle weight estimation models are designed according to different state information of the semi-trailer train, each vehicle weight estimation model only aims at a specific scene, so that the model is simple, an integral value of a transient value in a period of time is used in the calculation process of model parameters, and the influence of adverse factors such as uneven road surface and acceleration delay caused by elasticity of a transmission system on the vehicle weight estimation precision is eliminated.
In addition, in the embodiment, the designed target state parameter is a parameter related to the state information of the switched semi-trailer train, so that the current state information of the semi-trailer train can be determined according to the last state information of the semi-trailer train and the monitored target state parameter, and a train weight estimation model which is adopted under the current state information is determined.
And step S120, determining the current state information of the semi-trailer train according to the last state information and the target state parameter.
And S130, determining a vehicle weight estimation model according to the current state information, and obtaining the whole vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model.
Based on the vehicle weight estimation method shown in fig. 1, in the embodiment, the last state information of the semi-trailer train is obtained, and the target state parameter of the semi-trailer train is monitored in real time, and since different state information corresponds to different vehicle weight estimation models, and the target state parameter is a parameter related to the state information of the switched semi-trailer train, the current state information of the semi-trailer train can be determined according to the last state information and the target state parameter, so that the whole vehicle weight estimation value of the semi-trailer train in the current state is estimated by selecting the corresponding vehicle weight estimation model, and the whole vehicle weight estimation precision of the semi-trailer train is improved.
In an embodiment of the application, the state information of the semi-trailer train within a period of time may be stored in a local memory of the controller, where the state information within the period of time at least includes a historical state information of the semi-trailer train, and thus the last state information of the semi-trailer train may be obtained from the local memory of the controller. Of course, the historical state information of the semi-trailer train can also be written into a preset database, and the last state information can be obtained from the historical state information recorded in the database.
In one embodiment of the application, when the estimated value of the whole vehicle weight of the semi-trailer train in the current state is obtained through the vehicle weight estimation model, the estimated value of the whole vehicle weight corresponding to the last state information of the semi-trailer train is used before the estimated value of the whole vehicle weight is obtained;
before the semi-trailer train is in the sleep mode, the current estimated vehicle weight of the semi-trailer train is stored into a preset storage area, and the preset storage area is optionally a charged Erasable Programmable Read-write Memory (EEPROM).
In one embodiment of the application, each state information of the semi-trailer train comprises a state switching condition for switching to other state information, based on which, when the current state information of the semi-trailer train is determined according to the previous state information and the target state parameter, the state switching condition corresponding to the previous state information can be obtained, whether the semi-trailer train meets the state switching condition is determined according to the target state parameter, and when the state switching condition is met, the state information of the semi-trailer train is switched to the current state information meeting the state switching condition.
According to the general working scene of the semi-trailer train, the state information of the semi-trailer train is set to at least comprise an initial state, a single tractor state, a third party train weight detection state and a train weight dynamic detection state.
The initial state refers to that the semi-trailer train is determined to be in the initial state when a controller of the semi-trailer train is awakened, and the scene that the controller is awakened includes that the controller is awakened from a sleep mode or is powered on and awakened in a power-off mode, for example. The single tractor state means that the semitrailer is not coupled to the tractor by a fifth wheel. The third party vehicle weight detection state refers to that the vehicle weight is detected by the third party when the third party vehicle weight detection state is located at a target geographic position, the third party is related to a preset target address position, and in practical application, the target geographic position comprises a high-speed toll station window and a configurable geographic position (for example, a vehicle weight detection position of a cargo area, a vehicle weight detection port of a parking area and the like). The dynamic detection state of the train weight means that when the semi-trailer is connected to the tractor through the traction seat and is not located at a target geographic position, the train weight is estimated through the train self-train parameters of the semi-trailer, and the train weight is estimated mainly through the output value of the axle load sensor. In practical application, the axle load sensor may not be configured in the semi-trailer train, or the axle load sensor fails and is unavailable, and the train weight can be estimated according to the law of energy conservation. That is, the vehicle weight dynamics detection state includes a first sub-state in which the vehicle weight is estimated from the output value of the axle load sensor, and a second sub-state in which the vehicle weight is estimated from the law of conservation of energy.
The target state parameters at least comprise communication state parameters, semi-trailer train position information, semi-trailer connection state parameters, semi-trailer hatch cover state parameters, gear switching parameters and tractor driving wheel axle load validity parameters, wherein the communication state parameters, the semi-trailer train position information, the semi-trailer connection state parameters, the semi-trailer hatch cover state parameters and the gear switching parameters are dynamic change parameters, and the tractor driving wheel axle load validity parameters are static attribute parameters and generally cannot change in the primary initialization process of the vehicle.
In this embodiment, a communication establishment success signal corresponding to the communication state parameter may be obtained through bottom software of the controller, where the communication establishment success signal is a communication establishment success signal generated in response to a test signal sent by another controller after the controller executing the method for estimating the weight of the semi-trailer train according to this embodiment establishes a stable communication connection with another controller, that is, the generated communication establishment success signal is a trusted signal only after the controller establishes a stable communication connection with another controller, and it may be ensured that the state information determined based on the communication state parameter is reliable.
In this embodiment, a parameter of a coupling state of the semitrailer can be acquired through a chassis domain controller, for example, the coupling state of a traction base on the tractor is set to include the unconnected state of the semitrailer and the coupled state of the semitrailer, a coupling state signal provided by the chassis domain controller is "1" indicating that the semitrailer is in the coupled state, and a coupling state signal provided by the chassis domain controller is "0" indicating that the semitrailer is in the unconnected state.
In this embodiment, the semi-trailer train position information may be acquired based on a High precision Map, where the High precision Map (abbreviated as HD Map) is machine-oriented Map data for automatically driving a car, and has sub-meter positioning capability, road-level and lane-level planning capability, and lane-level guidance capability, and the information includes sub-meter (20cm) positioning, gradient of each lane, curvature, heading, elevation, roll data, traffic sign, speed limit, and other information. Whether the semi-trailer train is at the target geographic position can be dynamically determined through a high-precision map, where the target geographic position includes, for example, a high-speed toll station window and a configurable geographic position, and for convenience of description, the target geographic position is taken as an example of the high-speed toll station window in the following embodiments, it can be understood by those skilled in the art that the geographic position where the train weight can be detected by a third party and the train weight can be acquired by the self-trailer train can be the target geographic position in the present embodiment, and it should be noted that the reliability of the detection result of the train weight of the third party provided at the target geographic position should be ensured.
In this embodiment, a semitrailer hatch cover state parameter value can be acquired through a semitrailer hatch cover state signal provided by a chassis domain controller, in this embodiment, it is determined that a semitrailer hatch cover is in a closed state or a non-closed state based on the semitrailer hatch cover state parameter value, when the semitrailer hatch cover is in the non-closed state, a load carried in a semitrailer of a semitrailer train in a driving state may fall off, the total vehicle weight of the semitrailer train in this state may be changed all the time, and at this time, a third-party vehicle weight detection method is no longer applicable.
In this embodiment, the effective parameter value of the axle load of the driving wheel of the tractor can be obtained through the axle load signal of the driving wheel of the tractor provided by the chassis domain controller, and when the axle load sensor is not configured on the semi-trailer train or the axle load sensor fails, the effective parameter value of the axle load of the driving wheel of the tractor is invalid.
In this embodiment, the value of the range switching parameter may be obtained by a range switching signal provided by a power domain controller or an electronically controlled air suspension. Due to the fact that the road surface is uneven, jolting can occur in the running process of a semi-trailer train, the weighing value of the axle load sensor fluctuates all the time, and the reference value is lost; the estimated value of the total vehicle weight is mainly used for vehicle dynamics control and safety system control, so that the estimated value of the total vehicle weight can meet application requirements by estimating the estimated value of the total vehicle weight before the semi-trailer train runs.
The non-power gear refers to a gear for cutting off the power output of the vehicle, and comprises a P gear (also called parking gear) and an N gear (also called neutral gear); power range refers to a range that enables a vehicle to travel, including but not limited to D range (also known as forward range), S range (also known as sport range), R range (also known as reverse range), and the like.
With respect to the state information and the target state parameter provided in the above embodiment, a switching process between the state switching condition and each state information in the embodiment of the present application will be described with reference to the state transition shown in fig. 3.
When the last state information corresponds to the initial state, whether the target state parameters meet the following conditions of a1 and b1 is judged, if the target state parameters meet the condition of determining that the semi-trailer train meets the state switching condition of switching the initial state into the single-tractor state, and the current state information of the semi-trailer train is determined to be the single-tractor state.
a1, establishing communication successfully by the communication state parameter;
b1, and the semitrailer connection state parameter is that the semitrailer is not connected.
Otherwise, whether the target state parameters meet the following conditions of a2, b2, c2 and d2 is judged, if the target state parameters meet the condition of determining that the semi-trailer train meets the state switching condition of switching the initial state into the third-party train weight detection state, and the current state information of the semi-trailer train is determined to be the third-party train weight detection state.
a2, establishing communication successfully for the communication state parameter;
b2, the semitrailer connection state parameter is semitrailer connection;
c2, the location information of the semitrailer train is that the semitrailer train is located at the target geographic location (i.e. the high-speed toll station window in fig. 3);
d2, the semitrailer hatch cover state parameter is semitrailer hatch cover closing.
Otherwise, whether the target state parameters meet the following conditions of a3, b3, c3, d3, e3 and f3 is judged, if the target state parameters meet the condition of determining that the semi-trailer train meets the state switching condition of switching the initial state into the first sub-state of the dynamic train weight detection state, and the current state information of the semi-trailer train is determined to be the first sub-state of the dynamic train weight detection state.
a3, establishing communication successfully by the communication state parameter;
b3, setting the semi-trailer connection state parameter as semi-trailer connection;
c3, the position information of the semi-trailer train is that the semi-trailer train is not positioned at the target geographical position, namely the semi-trailer train is not positioned at the window of the high-speed toll station;
d3, closing the semitrailer hatch cover according to the status parameter of the semitrailer hatch cover;
e3, the validity parameter of the axle load of the driving wheel of the tractor is valid;
f3, the gear shifting parameter is to shift from the non-power gear to the power gear.
And if the target state parameters meet the conditions of a4, a b4, a c4, a d4 and a e4, determining that the semi-trailer train meets the state switching condition of switching the initial state into the second sub-state of the dynamic state of the train weight, and determining that the current state information of the semi-trailer train is the second sub-state of the dynamic state of the train weight.
a4, establishing communication successfully by the communication state parameter;
b4, the semitrailer connection state parameter is semitrailer connection;
c4, the position information of the semi-trailer train is that the semi-trailer train is not positioned at the target geographical position, namely the semi-trailer train is not positioned at the window of the high-speed toll station;
d4, the semitrailer hatch cover state parameter is the semitrailer hatch cover closing;
e4, the validity parameter of the axle load of the driving wheel of the tractor is invalid.
When the last state information corresponds to the single-tractor state, whether the target state parameters meet the following conditions of a5, b5 and c5 is judged, if the target state parameters meet the condition of determining that the semi-trailer train meets the state switching condition of switching the single-tractor state into the third-party train weight detection state, and the current state information of the semi-trailer train is determined to be the third-party train weight detection state.
a5, the semitrailer connection state parameter is semitrailer connection;
b5, the position information of the semi-trailer train is that the semi-trailer train is located at the target geographical position;
c5, the semitrailer hatch cover state parameter is the semitrailer hatch cover closing.
Otherwise, whether the target state parameters meet the following conditions of a6, b6, c6, d6 and e6 is judged, if the target state parameters meet the condition that the semi-trailer train meets the state switching condition that the single tractor state is switched to the first sub-state, and the current state information of the semi-trailer train is determined to be the first sub-state of the dynamic train weight detection state.
a6, the semitrailer connection state parameter is semitrailer connection;
b6, the position information of the semi-trailer train is that the semi-trailer train is not positioned at the target geographical position, namely the semi-trailer train is not positioned at the window of the high-speed toll station;
c6, the semitrailer hatch cover state parameter is the closing of the semitrailer hatch cover;
d6, the validity parameter of the axle load of the driving wheel of the tractor is valid;
e6, the gear shifting parameter is to shift from the non-power gear to the power gear.
And if the target state parameters meet the conditions of a7, b7 and c7, determining that the semi-trailer train meets the state switching condition for switching the state of the single tractor to the second sub-state, and determining that the current state information of the semi-trailer train is the second sub-state of the dynamic detection state of the train weight.
a7, the semitrailer connection state parameter is semitrailer connection;
b7, the position information of the semi-trailer train is that the semi-trailer train is not positioned at the target geographical position, namely the semi-trailer train is not positioned at the window of the high-speed toll station;
c7, the effectiveness parameter of the axle load of the driving wheel of the tractor is invalid.
And when the last state information corresponds to a third-party vehicle weight detection state, firstly judging whether the semi-trailer connection state parameter in the target state parameter is that the semi-trailer is not connected, if the semi-trailer connection state parameter is that the semi-trailer is not connected, determining that the semi-trailer train meets the state switching condition for switching the third-party vehicle weight detection state into a single-tractor state, and determining that the current state information of the semi-trailer train is in the single-tractor state.
Otherwise, whether the target state parameters meet the following conditions of a8, b8, c8 and d8 is judged, if the target state parameters meet the condition of determining that the semi-trailer train meets the state switching condition of switching the third-party train weight detection state into the first sub-state, and the current state information of the semi-trailer train is determined to be the first sub-state of the train weight dynamic detection state.
a8, the semitrailer connection state parameter is semitrailer connection;
b8, the position information of the semi-trailer train is that the semi-trailer train is not positioned at the target geographical position, namely the semi-trailer train is not positioned at the window of the high-speed toll station;
c8, the status parameter of the semitrailer hatch cover is that the semitrailer hatch cover is not closed;
d8, the tractor drive axle load validity parameter is valid.
And if the target state parameters meet the conditions of a9, a b9, a c9 and a d9, determining that the semi-trailer train meets the state switching condition for switching the third-party train weight detection state into the second sub-state, and determining that the current state information of the semi-trailer train is the second sub-state of the train weight dynamic detection state.
a9, the semitrailer connection state parameter is semitrailer connection;
b9, the position information of the semi-trailer train is that the semi-trailer train is not positioned at the target geographical position, namely the semi-trailer train is not positioned at the window of the high-speed toll station;
c9, the status parameter of the semitrailer hatch cover is that the semitrailer hatch cover is not closed;
d9, the tractor drive axle load validity parameter is invalid.
When the last state information corresponds to a first sub-state of a dynamic vehicle weight detection state, whether the semi-trailer connection state parameter in the target state parameter is that the semi-trailer is not connected is judged, if the semi-trailer connection state parameter is that the semi-trailer is not connected, the semi-trailer train is determined to meet a state switching condition for switching the first sub-state into a single-tractor state, and the current state information of the semi-trailer train is determined to be the single-tractor state. And judging the conditions of a10, b10 and c10 in the target state parameters, if the conditions of a10, b10 and c10 are met, determining that the semi-trailer train meets the state switching condition for switching the first sub-state into the third-party train weight detection state, and determining that the current state information of the semi-trailer train is in the third-party train weight detection state.
Similarly, when the last state information corresponds to a second sub-state of the dynamic vehicle weight detection state, whether the semi-trailer connection state parameter in the target state parameter is that the semi-trailer is not connected is judged, if the semi-trailer connection state parameter is that the semi-trailer is not connected, the semi-trailer train is determined to meet the state switching condition for switching the second sub-state into the single-tractor state, and the current state information of the semi-trailer train is determined to be the single-tractor state. And judging the conditions of a10, b10 and c10 in the target state parameters, if the conditions of a10, b10 and c10 are met, determining that the semi-trailer train meets the state switching condition of switching the second sub-state into the third-party train weight detection state, and determining that the current state information of the semi-trailer train is the third-party train weight detection state.
a10, the semitrailer connection state parameter is semitrailer connection;
b10, the position information of the semi-trailer train is that the semi-trailer train is located at the target geographical position;
c10, the semitrailer hatch cover state parameter is the semitrailer hatch cover closing.
The first estimation model in this embodiment is:
m＝m 1 ＝m traction device +m Human being +m Oil (1)
In the formula (1), m is the estimated value of the weight of the whole vehicle, and the unit is kg; m is 1 The unit is kg for the total mass of the tractor; m is Traction device Preparing the mass of the tractor in kg; m is Human being Is the weight of the passenger, and the unit is kg; m is Oil The unit of mass of the fuel oil is kg.
In practice, the mass of a single passenger may be set to 70kg (of course, the mass of a single passenger may also be set to other values, in the alternative, the mass of the individual passenger may also be detected by a gravity sensor), the number of passengers n is provided by a seat occupancy sensor, and the mass of each passenger m is then set to 70kg Human being ＝70×n kg。
The fuel quality is considered for the fuel power semi-trailer train, the volume V of the residual fuel is provided by the fuel quantity sensor, and the fuel quality m Oil ＝ρV kg。
According to the formula (1), m is Human being And m Oil For variables, m should be obtained when estimating the estimated value of the vehicle weight of the entire vehicle using the first estimation model Human being And m Oil The parameter values.
The second estimation model is:
in the formula (2), m is the estimated value of the vehicle weight of the whole vehicle and is expressed in kg; m is Drive Weighing the axle load of a driving axle of the tractor in kg; as shown in fig. 4, a is the horizontal distance from the center of mass of the tractor to the front axle of the tractor, and is expressed in m; b is the center of mass of the tractor to the rear support center of the tractorIn m; c is the horizontal distance from the center of mass of the semitrailer to the rear support center of the tractor, and the unit is m; d is the horizontal distance from the center of mass of the semitrailer to the rear support center of the semitrailer, and the unit is m.
According to the formula (2), m Drive For the variables, m should be obtained when estimating the estimated value of the vehicle weight of the entire vehicle using the second estimation model Drive As mentioned above, the weighing value of the axle load sensor will fluctuate due to the influence of the uneven road surface and other factors, so m Driving device The second estimation model is used to estimate the estimated value of the total vehicle weight, and therefore, the embodiment specifically takes the weighing value of the axle load sensor at the moment when the semi-trailer vehicle is switched from the non-power gear to the power gear as m Drive The accuracy and reliability of the parameter values are ensured.
The third estimation model is:
in the formula (3), m is the estimated value of the vehicle weight of the whole vehicle and is expressed in kg; s is the running distance of the semi-trailer train from the estimation starting moment to the estimation ending moment, and the unit is m; g is the acceleration of gravity, e.g. set to 9.8m/s 2 ；h 1 For the first elevation, h, of the geographical position of the semi-trailer train at the time of the start of the estimation 2 For a second elevation, v, of the geographical position of the semi-trailer train at the end of the estimation 1 For a first instant speed, v, of said semi-trailer train at the time of the start of the estimation 2 F is the instantaneous value of the sum of external forces applied to the semi-trailer train and has the unit of N.
Wherein, when the semi-trailer train is in a non-braking state,
when the semi-trailer train is in a braking state,
where T is an engine or motor torque of the semi-trailer train, i is a transmission ratio of a transmission system of the semi-trailer train, η is a transmission efficiency of the transmission system, R is a wheel rolling radius of the semi-trailer train, f is a wheel rolling resistance coefficient of the semi-trailer train, C D The method is characterized in that the method comprises the following steps of taking the air resistance coefficient of a tractor, A as the windward area of the tractor, v as the instantaneous speed of the semi-trailer train, mu as the brake friction coefficient of the semi-trailer train, r as the brake equivalent friction radius of the semi-trailer train, S as the brake chamber equivalent area of the semi-trailer train, and P1, P2 and Px as the first brake chamber pressure, the second brake chamber pressure and the X brake chamber pressure of the semi-trailer train.
Wherein, the parameters T, i, eta, R, f and C D A, mu, r and S are known parameters determined for the parameter values, the parameter values for P1, P2 … Px may be obtained from signals provided by the chassis domain controller.
In the embodiment, the first estimation model only relates to the quality of the tractor, the fuel and the quality of passengers, the estimation model is simple, the relative error of the estimation value is less than 1%, and the estimation precision is high. The vehicle weight estimation model corresponding to the third-party vehicle weight detection state uses the weighing value provided by the high-speed toll station window, the relative error of the estimated value is less than 1%, and the estimation precision is very high. The second estimation model uses the weighing value of the axle load sensor, the relative error of the estimated value is 5%, and the estimation precision is acceptable in engineering. The third estimation model is estimated by using an energy conservation law, the relative error of the estimated value is less than 10%, and the estimation precision can be accepted in engineering.
As can be seen from fig. 3, the estimation logic of the estimation method for the weight of the semi-trailer train of this embodiment preferentially uses the first estimation model corresponding to the state of the single tractor, then uses the weight estimation model corresponding to the state of the third-party train weight detection, then uses the second estimation model corresponding to the first sub-state of the train weight dynamic detection, and finally uses the third estimation model corresponding to the second sub-state of the train weight dynamic detection, so as to improve the accuracy of the estimated value of the weight of the whole train.
When the train weight estimation model comprises a first estimation model, a second estimation model and a third estimation model, determining the train weight estimation model according to the current state information, and acquiring the whole train weight of the semi-trailer train in the current state through the train weight estimation model, wherein the method comprises the following steps:
when the current state information of the semi-trailer train is in an initial state, acquiring the whole train weight estimated value of the semi-trailer train from a preset storage area of the semi-trailer train.
When the current state information of the semi-trailer train is the state of a single tractor, the quality of passengers and the quality of fuel oil are obtained, for example, the quantity of the passengers is obtained through a seat occupancy sensor, and the mass m of the passengers can be calculated based on the preset mass of the single passenger Human being And the fuel mass can be calculated according to the remaining fuel volume provided by the fuel quantity sensor. And inputting the calculated passenger mass and fuel mass into a first estimation model, and obtaining the estimated value of the total vehicle weight of the semi-trailer train in the current state through the first estimation model.
When the current state information of the semi-trailer train is in a third-party train weight detection state, the train weight information detected by the third party is collected, taking a high-speed toll station window as an example, the train needs to be weighed before entering a high speed, and the weighing information can be displayed in an electronic display screen of the high-speed toll station window. Based on this, in this embodiment, a vehicle-mounted camera (generally, a panoramic camera or an automatic driving camera in the front left direction) may be used to scan the electronic display screen, and the vehicle weight information detected at the high-speed toll station is collected by using a target recognition technology, and the collected vehicle weight information is used as the estimated value of the total vehicle weight of the semi-trailer train in the current state.
It is understood that the vehicle weight information provided by the third-party detection platform can be acquired through other means, for example, when the third-party detection platform provides the wireless data transmission interface, the vehicle weight information provided by the third-party detection platform can be acquired through the wireless data transmission interface.
And when the current state information of the semi-trailer train is in a first sub-state, acquiring a weighing value of the axle load of the tractor drive axle provided by the axle load sensor, inputting the weighing value of the axle load of the tractor drive axle into a second estimation model, and acquiring the estimated value of the whole train weight of the semi-trailer train in the current state through the second estimation model.
Referring to fig. 3, when the state is switched from the single-tractor state to the first sub-state of the dynamic state of the vehicle weight and the initial state is switched to the first sub-state of the dynamic state of the vehicle weight, the weighing value of the axle load sensor at the moment when the semi-trailer train is switched from the non-power gear to the power gear is taken as m Driving device The parameter value of (2).
When the state is switched from the third-party vehicle weight detection state to the first sub-state of the vehicle weight dynamic detection state, the weighing value of the axle load sensor at the moment when the state parameter of the semitrailer hatch cover is detected to be the non-closing state of the semitrailer hatch cover can be taken as m Driving device The parameter value of (2). In some optional embodiments, the weighing value of the axle load sensor can be acquired as m according to a set frequency under the condition that the status parameter of the semitrailer hatch is that the semitrailer hatch is not closed Driving device For example, the weight value of the axle load sensor is taken as m every 1 minute or 5 minutes Driving device And calculating the estimated value of the vehicle weight of the whole vehicle corresponding to each sampling point based on the second estimation model.
When the current state information of the semi-trailer train is in a second sub-state, acquiring a first altitude and a first instant vehicle speed of the semi-trailer train at the estimation starting moment in the second sub-state, a second altitude and a second instant vehicle speed at the estimation ending moment, and acquiring an instantaneous value of the sum of external forces applied to the semi-trailer train, inputting the instantaneous value of the sum of the external forces, the first altitude, the first instant vehicle speed, the second altitude and the second instant vehicle speed into a third estimation model, and acquiring the whole vehicle weight estimation value of the semi-trailer train in the current state through the third estimation model.
Here, the estimation start time may be a time when it is detected that the status parameter of the semitrailer hatch is not closed, or may be a time when the semitrailer hatch is switched to the second substate from other status information, or may be a time set based on a preset strategy, for example, when the semitrailer train is in the second substate, the time set based on the preset strategy is obtained at regular intervals by using the state switching time as an initial estimation start time. The estimation end time and the estimation start time have a set time interval, and for example, 60s after the estimation start time is used as the estimation end time.
A first elevation is obtained through the high-precision map at the estimation starting moment, other existing speed estimation methods are obtained through the speed sensor to obtain a first instant vehicle speed, a second elevation is obtained through the high-precision map at the estimation ending moment, a second instant vehicle speed is obtained, and meanwhile the distance from the estimation starting moment to the estimation ending moment is obtained.
In addition, the instantaneous value F at each sampling point from the estimation starting time to the estimation ending time is obtained, the instantaneous value F is integrated through the formula (3), a partial differential equation is obtained by inputting the parameter values into the formula (3), and the estimated vehicle weight of the semi-trailer train can be obtained by solving the partial differential equation.
In conclusion, the method for estimating the train weight of the semi-trailer train adopts the scheme of obtaining the weighing by the existing parameters, avoids the problem of large noise ratio in signals used by the existing whole train weight estimation algorithm, and improves the estimation precision; the four vehicle weight estimation models are designed, and the problem that the convergence speed of the least square method or Kalman filtering calculation result is too slow or even not converged is solved; in addition, the third estimation model is used for calculating the total mass of the whole semi-trailer train by adopting the integral value of the instantaneous value of the sum of the external forces borne by the semi-trailer train on a section of driving distance and combining the law of energy conservation, so that adverse factors such as uneven road surface, acceleration delay caused by elasticity of a transmission system and the like are eliminated, and the estimation precision is ensured.
The method for estimating the train weight in the foregoing embodiment belongs to a technical concept, and an embodiment of the present application further provides a device 500 for estimating the train weight of a semi-trailer train, as shown in fig. 5, which provides a schematic structural diagram of the device 500 for estimating the train weight of a semi-trailer train in the embodiment of the present application, and the device 500 includes: a data acquisition unit 510, a state determination unit 520, and a vehicle weight estimation unit 530, wherein:
a data obtaining unit 510, configured to obtain last state information of a semi-trailer train, and monitor a target state parameter of the semi-trailer train, where the semi-trailer train includes a tractor and a semi-trailer;
a state determining unit 520, configured to determine current state information of the semi-trailer train according to the previous state information and the target state parameter;
and a vehicle weight estimation unit 530, configured to determine a vehicle weight estimation model according to the current state information, and obtain a vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model.
In an embodiment of the present application, the state determining unit 520 is configured to obtain a state switching condition corresponding to previous state information; determining whether the semi-trailer train meets the state switching condition or not according to the target state parameter; and when the state switching condition is met, switching the state information of the semi-trailer train into the current state information meeting the state switching condition.
In one embodiment of the application, the state information of the semi-trailer train at least comprises an initial state, a single tractor state, a third party train weight detection state and a train weight dynamic detection state, the train weight dynamic detection state comprises a first sub-state and a second sub-state, and the target state parameters at least comprise a communication state parameter, semi-trailer train position information, a semi-trailer connection state parameter, a semi-trailer cabin cover state parameter, a gear switching parameter and a tractor driving wheel axle load validity parameter;
the state determination unit 520 includes a first state switching condition judgment module, a second state switching condition judgment module, a third state switching condition judgment module, and a fourth state switching condition judgment module;
the first state switching condition judgment module is used for determining that the semi-trailer train meets the state switching condition for switching the initial state into the single-tractor state if the communication state parameter is that the communication establishment is successful and the semi-trailer connection state parameter is that the semi-trailer is not connected when the last state information corresponds to the initial state;
if the communication state parameter is that communication establishment is successful, the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is located at a target geographic position, and the semitrailer hatch state parameter is that the semitrailer hatch is closed, it is determined that the semitrailer train meets a state switching condition for switching an initial state to a third-party train weight detection state;
if the communication state parameter is that communication establishment is successful, the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at a target geographic position, the semitrailer hatch state parameter is that a semitrailer hatch is closed, the tractor driving wheel axle load validity parameter is valid, the gear switching parameter is that the semitrailer train is switched from a non-power gear to a power gear, and the semitrailer train is determined to meet a state switching condition for switching an initial state to the first sub-state;
if the communication state parameter is that communication establishment is successful, the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at the target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is closed, the tractor driving wheel axle load validity parameter is invalid, and the semitrailer train is determined to meet the state switching condition for switching the initial state into the second substate.
The second state switching condition judgment module is used for determining that the semi-trailer train meets a state switching condition for switching the single tractor state into a third-party vehicle weight detection state if the semi-trailer connection state parameter is semi-trailer connection, the semi-trailer train position information is that the semi-trailer train is located at a target geographic position, and the semi-trailer cabin cover state parameter is that the semi-trailer cabin cover is closed when the last state information corresponds to the single tractor state;
if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at a target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is closed, the tractor driving axle load validity parameter is valid, and the gear switching parameter is that when a non-power gear is switched to a power gear, the semitrailer train is determined to meet a state switching condition for switching a single tractor state into the first sub-state;
and if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at the target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is closed, the tractor driving axle load validity parameter is invalid, and the semitrailer train is determined to meet the state switching condition for switching the single tractor state into the second sub-state.
The third state switching condition judgment module is used for determining that the semi-trailer train meets the state switching condition for switching the third-party vehicle weight detection state into the single-tractor state if the semi-trailer connection state parameter is that the semi-trailer is not connected when the last state information corresponds to the third-party vehicle weight detection state;
if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at a target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is not closed, and the tractor driving axle load validity parameter is valid, determining that the semitrailer train meets a state switching condition for switching a third-party train weight detection state into a first sub-state;
and if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at the target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is not closed, and the tractor driving axle load validity parameter is invalid, so that the semitrailer train is determined to meet the state switching condition for switching the third-party vehicle weight detection state into the second substate.
The fourth state switching condition judgment module is used for determining that the semi-trailer train meets the state switching condition for switching the dynamic vehicle weight detection state into the single tractor state if the semi-trailer connection state parameter is that the semi-trailer is not connected when the last state information corresponds to the dynamic vehicle weight detection state;
and if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is located at a target geographic position, the semitrailer hatch state parameter is semitrailer hatch closing, and the semitrailer train is determined to meet a state switching condition for switching the dynamic vehicle weight detection state into a third-party vehicle weight detection state.
In an embodiment of the present application, the vehicle weight estimation unit 530 is further configured to, when the estimated vehicle weight of the semi-trailer train in the current state is obtained through the vehicle weight estimation model, continue to use the estimated vehicle weight of the whole train corresponding to the last state information of the semi-trailer train before obtaining the estimated vehicle weight;
the device 500 further comprises a data storage unit for storing the current estimated vehicle weight of the semi-trailer train in a preset storage area before the semi-trailer train is in the sleep mode.
In an embodiment of the present application, the train weight estimation model includes a first estimation model, a second estimation model and a third estimation model, and the train weight estimation unit 530 is specifically configured to obtain a total train weight estimation value of the semi-trailer train from a preset storage area of the semi-trailer train when the current state information of the semi-trailer train is an initial state;
when the current state information of the semi-trailer train is in a single-tractor state, acquiring the quality of passengers and the quality of fuel oil, inputting the quality of the passengers and the quality of the fuel oil into a first estimation model, and acquiring the estimated value of the whole train weight of the semi-trailer train in the current state through the first estimation model;
when the current state information of the semi-trailer train is in a third-party train weight detection state, acquiring the train weight information detected by a third party, and taking the acquired train weight information as the whole train weight estimation value of the semi-trailer train in the current state;
when the current state information of the semi-trailer train is in a first sub-state, acquiring a weighing value of the axle load of the driving axle of the tractor, which is provided by an axle load sensor, inputting the weighing value of the axle load of the driving axle of the tractor into a second estimation model, and acquiring the estimated value of the whole train weight of the semi-trailer train in the current state through the second estimation model;
when the current state information of the semi-trailer train is in a second sub-state, acquiring a first elevation and a first instant speed of the semi-trailer train at the estimation starting moment, a second elevation and a second instant speed at the estimation ending moment and acquiring an instantaneous value of the sum of external forces borne by the semi-trailer train in the second sub-state, inputting the instantaneous value of the sum of the external forces borne, the first elevation, the first instant speed, the second elevation and the second instant speed into a third estimation model, and acquiring a finished train weight estimated value of the semi-trailer train in the current state through the third estimation model;
wherein the first estimation model is: m is m 1 ＝m Traction device +m Human being +m Oil ；
The second estimation model is:
the third estimation model is:
m is the estimated value of the vehicle weight of the whole vehicle, M 1 Is the total mass m of the tractor Traction device For preparing masses, m, for tractors Human being Mass m of the passenger Oil M is fuel mass Driving device For the value of weighing of tractor transaxle axle load, an is the horizontal distance of tractor barycenter to tractor front axle, and b is the horizontal distance of tractor barycenter to rear support center of tractor, and c is the horizontal distance of semitrailer barycenter to rear support center of tractor, and d is the horizontal distance of semitrailer barycenter to rear support center of semitrailerHorizontal distance, s is the running distance of the semi-trailer train from the estimation starting moment to the estimation ending moment, g is the gravity acceleration, h 1 For the first elevation, h, of the geographical position of the semi-trailer train at the time of the start of the estimation 2 For a second elevation, v, of the geographical position of the semi-trailer train at the end of the estimation 1 For a first instant speed, v, of said semi-trailer train at the time of the start of the estimation 2 F is the instantaneous value of the sum of the external forces applied to the semi-trailer train for the second instantaneous speed of the geographical location of the semi-trailer train at the estimated ending time, when the semi-trailer train is in a non-braking state,
when the semi-trailer train is in a braking state,
t is the torque of the engine or motor of the semi-trailer train, i is the transmission ratio of the transmission system of the semi-trailer train, η is the transmission efficiency of the transmission system, R is the rolling radius of the wheels of the semi-trailer train, f is the rolling resistance coefficient of the wheels of the semi-trailer train, C D The method is characterized in that the method comprises the following steps of taking the air resistance coefficient of a tractor, A as the windward area of the tractor, v as the instantaneous speed of the semi-trailer train, mu as the brake friction coefficient of the semi-trailer train, r as the brake equivalent friction radius of the semi-trailer train, S as the brake chamber equivalent area of the semi-trailer train, and P1, P2 and Px as the first brake chamber pressure, the second brake chamber pressure and the X brake chamber pressure of the semi-trailer train.
It can be understood that the above estimation device for train weight of semitrailer can implement the steps of the estimation method for train weight of semitrailer provided in the foregoing embodiment, and the explanations related to the estimation method for train weight of semitrailer are applicable to the estimation device for train weight of semitrailer, and are not repeated herein.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 6, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs to form the semi-trailer train weight estimation device on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring last state information of a semi-trailer train, and monitoring target state parameters of the semi-trailer train, wherein the semi-trailer train comprises a tractor and a semi-trailer;
determining the current state information of the semi-trailer train according to the last state information and the target state parameter;
and determining a vehicle weight estimation model according to the current state information, and obtaining the whole vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model.
The method performed by the semi-trailer train weight estimation device disclosed in the embodiment of fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the semi-trailer train weight estimation device in fig. 1, and implement the functions of the semi-trailer train weight estimation device in the embodiment shown in fig. 1, which are not described herein again in this application embodiment.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the method performed by the semi-trailer train weight estimation apparatus in the embodiment shown in fig. 1, and are specifically configured to perform:
acquiring last state information of a semi-trailer train, and monitoring target state parameters of the semi-trailer train, wherein the semi-trailer train comprises a tractor and a semi-trailer;
determining the current state information of the semi-trailer train according to the last state information and the target state parameter;
and determining a vehicle weight estimation model according to the current state information, and obtaining the whole vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A semi-trailer train weight estimation method is characterized by comprising the following steps:
acquiring last state information of a semi-trailer train, and monitoring target state parameters of the semi-trailer train;
determining the current state information of the semi-trailer train according to the last state information and the target state parameter;
and determining a vehicle weight estimation model according to the current state information, and obtaining the whole vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model.
2. The method of claim 1, wherein determining the current state information of the semi-trailer train based on the previous state information and the target state parameter comprises:
acquiring a state switching condition corresponding to the last state information;
determining whether the semi-trailer train meets the state switching condition or not according to the target state parameter;
and when the state switching condition is met, switching the state information of the semi-trailer train into the current state information meeting the state switching condition.
3. The method according to claim 2, wherein the semi-trailer train comprises a tractor and a semi-trailer, the state information of the semi-trailer train at least comprises an initial state, a single tractor state, a third party vehicle weight detection state and a vehicle weight dynamic detection state, the vehicle weight dynamic detection state comprises a first sub-state and a second sub-state, and the target state parameter at least comprises a communication state parameter, semi-trailer train position information, a semi-trailer connection state parameter, a semi-trailer cover state parameter, a gear switching parameter and a tractor driving wheel axle load validity parameter;
if the last state information corresponds to an initial state, determining whether the semi-trailer train meets the state switching condition according to the target state parameter, wherein the determining comprises the following steps:
if the communication state parameter is that the communication establishment is successful, the semitrailer connection state parameter is that the semitrailer is not connected, and the semitrailer train is determined to meet a state switching condition for switching the initial state into the single tractor state;
if the communication state parameter is that communication establishment is successful, the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is located at a target geographic position, and the semitrailer hatch state parameter is that the semitrailer hatch is closed, so that the semitrailer train is determined to meet a state switching condition for switching an initial state into a third-party vehicle weight detection state;
if the communication state parameter is that communication establishment is successful, the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at a target geographic position, the semitrailer hatch state parameter is that a semitrailer hatch is closed, the tractor driving wheel axle load validity parameter is valid, the gear switching parameter is that the semitrailer train is switched from a non-power gear to a power gear, and the semitrailer train is determined to meet a state switching condition for switching an initial state to the first sub-state;
if the communication state parameter is that communication establishment is successful, the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at the target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is closed, the tractor driving wheel axle load validity parameter is invalid, and the semitrailer train is determined to meet the state switching condition for switching the initial state into the second substate.
4. The method of claim 3, wherein if the previous state information corresponds to a single-tractor state, the determining whether the semi-trailer train satisfies the state-switching condition according to the target state parameter includes:
if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is located at a target geographic position, and the semitrailer hatch state parameter is semitrailer hatch closing, determining that the semitrailer train meets a state switching condition for switching a single tractor state into a third party train weight detection state;
if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at a target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is closed, the tractor driving axle load validity parameter is valid, and the gear switching parameter is that when a non-power gear is switched to a power gear, the semitrailer train is determined to meet a state switching condition for switching a single tractor state into the first sub-state;
and if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at the target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is closed, the tractor driving axle load validity parameter is invalid, and the semitrailer train is determined to meet the state switching condition for switching the single tractor state into the second sub-state.
5. The method of claim 3, wherein if the previous state information corresponds to a third party vehicle weight detection state, the determining whether the semi-trailer train satisfies the state switching condition according to the target state parameter includes:
if the semitrailer connection state parameter is that the semitrailer is not connected, determining that the semitrailer train meets a state switching condition for switching a third-party train weight detection state into a single-tractor state;
if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at a target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is not closed, and the tractor driving axle load validity parameter is valid, determining that the semitrailer train meets a state switching condition for switching a third-party train weight detection state into a first sub-state;
and if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is not located at the target geographic position, the semitrailer hatch state parameter is that the semitrailer hatch is not closed, the tractor driving axle load validity parameter is invalid, and the semitrailer train is determined to meet the state switching condition for switching the third-party train weight detection state into the second sub-state.
6. The method of claim 3, wherein if the previous state information corresponds to a dynamic state of train weight detection, the determining whether the semi-trailer train satisfies the state switching condition according to the target state parameter comprises:
if the semitrailer connection state parameter is that the semitrailer is not connected, determining that the semitrailer train meets a state switching condition for switching a dynamic detection state of train weight into a single-tractor state;
and if the semitrailer connection state parameter is semitrailer connection, the semitrailer train position information is that the semitrailer train is located at a target geographic position, the semitrailer hatch state parameter is semitrailer hatch closing, and the semitrailer train is determined to meet a state switching condition for switching the dynamic vehicle weight detection state into a third-party vehicle weight detection state.
7. The method of claim 3, wherein the method further comprises:
when the whole vehicle weight estimation value of the semi-trailer train in the current state is obtained through the vehicle weight estimation model, the whole vehicle weight estimation value corresponding to the last state information of the semi-trailer train is used before the whole vehicle weight estimation value is obtained;
and before the semi-trailer train is in the sleep mode, storing the current whole train weight estimated value of the semi-trailer train into a preset storage area.
8. The method of claim 7, wherein the vehicle weight estimation model comprises a first estimation model, a second estimation model and a third estimation model, the determining the vehicle weight estimation model based on the current state information, and the obtaining the total vehicle weight of the semi-trailer train in the current state by the vehicle weight estimation model comprises:
when the current state information of the semi-trailer train is in an initial state, acquiring the estimated finished train weight value of the semi-trailer train from a preset storage area of the semi-trailer train;
when the current state information of the semi-trailer train is in a single-tractor state, acquiring the quality of passengers and the quality of fuel oil, inputting the quality of the passengers and the quality of the fuel oil into a first estimation model, and acquiring the estimated value of the whole train weight of the semi-trailer train in the current state through the first estimation model;
when the current state information of the semi-trailer train is in a third-party train weight detection state, acquiring the train weight information detected by a third party, and taking the acquired train weight information as the whole train weight estimation value of the semi-trailer train in the current state;
when the current state information of the semi-trailer train is in a first sub-state, acquiring a weighing value of the axle load of the driving axle of the tractor, which is provided by an axle load sensor, inputting the weighing value of the axle load of the driving axle of the tractor into a second estimation model, and acquiring the estimated value of the whole train weight of the semi-trailer train in the current state through the second estimation model;
when the current state information of the semi-trailer train is in a second sub-state, acquiring a first elevation and a first instant speed of the semi-trailer train at the estimation starting moment, a second elevation and a second instant speed at the estimation ending moment and acquiring an instantaneous value of the sum of external forces borne by the semi-trailer train in the second sub-state, inputting the instantaneous value of the sum of the external forces borne, the first elevation, the first instant speed, the second elevation and the second instant speed into a third estimation model, and acquiring a finished train weight estimated value of the semi-trailer train in the current state through the third estimation model;
wherein the first estimation model is: m is m 1 ＝m Traction device +m Human being +m Oil ；
The second estimation model is:
the third estimation model is:
m is the estimated value of the vehicle weight of the whole vehicle, M 1 Is the total mass m of the tractor Traction device For preparing masses, m, for tractors Human being Mass m of the passenger Oil M is fuel mass Driving device For the value of weighing of tractor transaxle axle load, an is the horizontal distance of tractor barycenter to tractor front axle, b is the horizontal distance of tractor barycenter to tractor rear support center, c is the horizontal distance of semitrailer barycenter to tractor rear support center, d is the horizontal distance of semitrailer barycenter to semitrailer rear support center, s is the distance of travel of semitrailer train from estimation inception moment to estimation end moment, g is acceleration of gravity, h 1 For the first elevation, h, of the geographical position of the semi-trailer train at the time of the start of the estimation 2 For a second elevation, v, of the geographical position of the semi-trailer train at the end of the estimation 1 For a first instant speed, v, of said semi-trailer train at the time of the start of the estimation 2 F is the instantaneous value of the sum of the external forces applied to the semi-trailer train for the second instantaneous speed of the geographical location of the semi-trailer train at the estimated ending time, when the semi-trailer train is in a non-braking state,
when the semi-trailer train is in a braking state,
t is the torque of the engine or motor of the semi-trailer train, i is the transmission ratio of the transmission system of the semi-trailer train, η is the transmission efficiency of the transmission system, R is the rolling radius of the wheels of the semi-trailer train, f is the rolling resistance coefficient of the wheels of the semi-trailer train, C D The method is characterized in that the method comprises the following steps of taking the air resistance coefficient of a tractor, A as the windward area of the tractor, v as the instantaneous speed of the semi-trailer train, mu as the brake friction coefficient of the semi-trailer train, r as the brake equivalent friction radius of the semi-trailer train, S as the brake chamber equivalent area of the semi-trailer train, and P1, P2 and Px as the first brake chamber pressure, the second brake chamber pressure and the X brake chamber pressure of the semi-trailer train.
9. A semi-trailer train weight estimation device, comprising:
the system comprises a data acquisition unit, a data processing unit and a data processing unit, wherein the data acquisition unit is used for acquiring last state information of a semi-trailer train and monitoring target state parameters of the semi-trailer train;
the state determining unit is used for determining the current state information of the semi-trailer train according to the previous state information and the target state parameter;
and the vehicle weight estimation unit is used for determining a vehicle weight estimation model according to the current state information and obtaining the whole vehicle weight estimation value of the semi-trailer train in the current state through the vehicle weight estimation model.
10. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which when executed cause the processor to perform the method of semi-trailer train weight estimation of any one of claims 1 to 8.
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