CN118144802A - Whole vehicle weight determining method and device, vehicle and storage medium - Google Patents
Whole vehicle weight determining method and device, vehicle and storage medium Download PDFInfo
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- CN118144802A CN118144802A CN202410476106.2A CN202410476106A CN118144802A CN 118144802 A CN118144802 A CN 118144802A CN 202410476106 A CN202410476106 A CN 202410476106A CN 118144802 A CN118144802 A CN 118144802A
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- 238000000034 method Methods 0.000 title claims abstract description 59
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- 238000004590 computer program Methods 0.000 claims description 17
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- 238000005265 energy consumption Methods 0.000 claims description 9
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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Abstract
The invention discloses a method and a device for determining the weight of a whole vehicle, a vehicle and a storage medium, wherein the method comprises the following steps: after the starting of the target vehicle is detected, acquiring state data corresponding to the target vehicle in real time; the state data comprise a vehicle body inclination angle, a gear signal and a vehicle speed of the whole vehicle corresponding to the target vehicle, and torque, working voltage and current corresponding to the driving motor; according to the state data corresponding to the target vehicle, determining the predicted weight corresponding to the target vehicle; and determining a frictional resistance measurement value corresponding to the target vehicle according to the value interval corresponding to the predicted weight, and correcting the predicted weight according to the frictional resistance measurement value to obtain the target weight corresponding to the target vehicle. The technical scheme of the embodiment of the invention can improve the accuracy of the weight determination result of the whole vehicle and reduce the maintenance cost of the vehicle.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method and apparatus for determining a weight of a whole vehicle, a vehicle, and a storage medium.
Background
The weight of the whole vehicle of the electric drive transport vehicle has great influence on the control performance such as the braking distance, the acceleration response speed and the like of the whole vehicle, the weight of the whole vehicle is determined in the running process of the vehicle, and the control performance of the whole vehicle is improved by adjusting the braking strength and the like according to the weight of the whole vehicle.
In the prior art, for a transport vehicle, a common method for acquiring the weight of the whole vehicle is to install a resistance strain gauge on the vehicle to sense the weight of the whole vehicle or to sense the weight of the whole vehicle through tire pressure data acquired by a tire pressure sensor.
However, in the existing method for determining the weight of the whole vehicle, a sensor is usually required to be additionally installed on the vehicle, so that the maintenance cost of the vehicle is increased, and the accuracy of the determined weight result is lower.
Disclosure of Invention
The invention provides a method and a device for determining the weight of a whole vehicle, a vehicle and a storage medium, which can improve the accuracy of the weight determination result of the whole vehicle and reduce the maintenance cost of the vehicle.
According to an aspect of the present invention, there is provided a method for determining a weight of a whole vehicle, the method including:
after the starting of the target vehicle is detected, acquiring state data corresponding to the target vehicle in real time;
The state data comprise a vehicle body inclination angle, a gear signal and a vehicle speed of the whole vehicle corresponding to the target vehicle, and torque, working voltage and current corresponding to the driving motor;
determining the predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle;
and determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight, and correcting the predicted weight according to the friction resistance measurement value to obtain the target weight corresponding to the target vehicle.
Optionally, determining the predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle includes:
judging whether the target vehicle is in a starting creeping state according to the state data corresponding to the target vehicle;
If yes, acquiring the corresponding whole vehicle speed of the target vehicle within a preset time period, and determining the whole vehicle displacement of the target vehicle according to the whole vehicle speed and the preset time period;
Determining the average acceleration corresponding to the target vehicle according to the whole vehicle displacement of the target vehicle;
and determining the predicted weight corresponding to the target vehicle according to the whole vehicle driving force transmitted to the wheel edge by the driving motor output torque and the average acceleration.
Optionally, determining whether the target vehicle is in a starting creeping state according to the state data corresponding to the target vehicle includes:
judging whether the longitudinal inclination angle of the vehicle body of the target vehicle is smaller than a preset angle, whether the driving gear of the target vehicle is changed from neutral gear to forward gear, whether an accelerator pedal in the target vehicle is not triggered, and whether a driving motor outputs fixed torque;
if yes, determining that the target vehicle is in a starting creeping state.
Optionally, determining the predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle includes:
judging whether the target vehicle is in an acceleration running state or not according to the state data corresponding to the target vehicle;
if yes, acquiring the whole vehicle speed, the working voltage and the working current corresponding to the driving motor, which correspond to the target vehicle in the preset time period;
Determining the energy consumption value of the driving motor in a preset time period according to the corresponding working voltage and current of the driving motor;
According to the whole vehicle speed, determining the whole vehicle displacement of the target vehicle within a preset time period, and determining the average acceleration corresponding to the target vehicle according to the whole vehicle displacement;
And determining the average driving force corresponding to the target vehicle according to the energy consumption value of the driving motor in the preset time period and the whole vehicle displacement, and determining the predicted weight corresponding to the target vehicle according to the average driving force and the average acceleration.
Optionally, determining whether the target vehicle is in an acceleration running state according to the state data corresponding to the target vehicle includes:
Judging whether the longitudinal inclination angle of the body of the target vehicle is smaller than a preset angle or not, and judging whether the output torque of the driving motor changes the torque acceleration process or not;
if yes, determining that the target vehicle is in an acceleration running state.
Optionally, correcting the predicted weight according to the frictional resistance measurement value to obtain a target weight corresponding to the target vehicle, including:
Subtracting the average driving force corresponding to the target vehicle from a friction resistance measurement value;
And determining the target weight corresponding to the target vehicle according to the subtraction result and the average acceleration corresponding to the target vehicle.
Optionally, after detecting that the target vehicle is started, before acquiring the state data corresponding to the target vehicle in real time, the method further includes:
The method comprises the steps of obtaining predicted weights corresponding to a plurality of reference vehicles in advance, and testing each reference vehicle to obtain mapping relations between different predicted weight intervals and different friction resistance measurement values;
According to the numerical interval corresponding to the predicted weight, determining a friction resistance measurement value corresponding to the target vehicle comprises the following steps:
And determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight and the mapping relation.
According to another aspect of the present invention, there is provided a vehicle weight determining apparatus, the apparatus including:
the data acquisition module is used for acquiring state data corresponding to the target vehicle in real time after the start of the target vehicle is detected;
The state data comprise a vehicle body inclination angle, a gear signal and a vehicle speed of the whole vehicle corresponding to the target vehicle, and torque, working voltage and current corresponding to the driving motor;
the predicted weight determining module is used for determining the predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle;
And the target weight determining module is used for determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight, and correcting the predicted weight according to the friction resistance measurement value to obtain the target weight corresponding to the target vehicle.
According to another aspect of the present invention, there is provided a vehicle including:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the vehicle weight determination method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the method for determining the weight of the whole vehicle according to any embodiment of the present invention.
According to the technical scheme provided by the embodiment of the invention, after the starting of the target vehicle is detected, the state data corresponding to the target vehicle, including the vehicle body inclination angle, the gear signal and the vehicle speed corresponding to the target vehicle, and the torque, the working voltage and the current corresponding to the driving motor, are obtained in real time, the predicted weight corresponding to the target vehicle is determined according to the state data corresponding to the target vehicle, the frictional resistance measurement value corresponding to the target vehicle is determined according to the value interval corresponding to the predicted weight, and the predicted weight is corrected according to the frictional resistance measurement value, so that the accuracy of the determination result of the vehicle weight can be improved, and the maintenance cost of the vehicle is reduced.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for determining the weight of a whole vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another vehicle weight determination method provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle weight determining device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle implementing the whole vehicle weight determining method according to the embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a method for determining a weight of a whole vehicle according to an embodiment of the present invention, where the method may be performed by a whole vehicle weight determining device, and the whole vehicle weight determining device may be implemented in hardware and/or software, and the whole vehicle weight determining device may be configured in a vehicle. As shown in fig. 1, the method includes:
Step 110, after the start of the target vehicle is detected, acquiring state data corresponding to the target vehicle in real time; the state data comprise a vehicle body inclination angle, a gear signal and a vehicle speed of the whole vehicle corresponding to the target vehicle, and torque, working voltage and current corresponding to the driving motor.
In this embodiment, the target vehicle may be a transport vehicle waiting for determining the weight of the whole vehicle, and optionally, after the target vehicle is detected to be started, the state data corresponding to the target vehicle may be obtained in real time through an instrument panel in the target vehicle.
And 120, determining the predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle.
In this embodiment, optionally, after the state data corresponding to the target vehicle is obtained, the weight of the target vehicle may be predicted according to the corresponding relationship between the state data of the reference vehicle after the start and the weight of the reference vehicle, so as to obtain the predicted weight corresponding to the target vehicle.
And 130, determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight, and correcting the predicted weight according to the friction resistance measurement value to obtain the target weight corresponding to the target vehicle.
In this embodiment, alternatively, the frictional resistance corresponding to the target vehicle may be estimated according to the value interval corresponding to the predicted weight, and then the frictional resistance measurement value corresponding to the target vehicle may be determined according to the estimation result. For example, the greater the predicted weight corresponding to the target vehicle, the greater the frictional resistance measurement value.
In this step, optionally, after determining the frictional resistance measurement value corresponding to the target vehicle, the predicted weight may be linearly or nonlinearly calculated using the frictional resistance measurement value to obtain the final weight corresponding to the target vehicle (i.e., the target weight).
According to the technical scheme provided by the embodiment of the invention, after the starting of the target vehicle is detected, state data corresponding to the target vehicle is obtained in real time, wherein the state data comprise a vehicle body inclination angle, a gear signal and a vehicle speed corresponding to the target vehicle, and torque, working voltage and current corresponding to a driving motor, the predicted weight corresponding to the target vehicle is determined according to the state data corresponding to the target vehicle, the frictional resistance measurement value corresponding to the target vehicle is determined according to the value interval corresponding to the predicted weight, and the predicted weight is corrected according to the frictional resistance measurement value, so that the technical means of the target weight corresponding to the target vehicle is obtained, the accuracy of the determination result of the vehicle weight can be improved, and the technical difficulty of the determination process of the vehicle weight is reduced; secondly, the technical scheme of the embodiment does not need to additionally install a sensor on the vehicle, so that the maintenance cost of the vehicle can be reduced.
Fig. 2 is a flowchart of another method for determining the weight of a whole vehicle according to an embodiment of the present invention, as shown in fig. 2, where the method includes:
step 210, after the start of the target vehicle is detected, acquiring state data corresponding to the target vehicle in real time.
And 220, determining the predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle.
In one implementation manner of the present embodiment, determining, according to the state data corresponding to the target vehicle, a predicted weight corresponding to the target vehicle includes: judging whether the target vehicle is in a starting creeping state according to the state data corresponding to the target vehicle; if yes, acquiring the corresponding whole vehicle speed of the target vehicle within a preset time period, and determining the whole vehicle displacement of the target vehicle according to the whole vehicle speed and the preset time period; determining the average acceleration corresponding to the target vehicle according to the whole vehicle displacement of the target vehicle; and determining the predicted weight corresponding to the target vehicle according to the whole vehicle driving force transmitted to the wheel edge by the driving motor output torque and the average acceleration.
In a specific embodiment, according to the state data corresponding to the target vehicle, determining whether the target vehicle is in a starting creeping state includes: judging whether the longitudinal inclination angle of the vehicle body of the target vehicle is smaller than a preset angle, whether the driving gear of the target vehicle is changed from neutral gear to forward gear, whether an accelerator pedal in the target vehicle is not triggered, and whether a driving motor outputs fixed torque; if yes, determining that the target vehicle is in a starting creeping state.
In this embodiment, if the longitudinal inclination angle of the body of the target vehicle is smaller than the preset angle, whether the driving gear is changed from neutral gear to forward gear, the accelerator pedal is not stepped on, and the driving motor outputs a fixed torque, the vehicle speed V of the target vehicle within the preset duration Δt may be obtained, and then the vehicle displacement S of the target vehicle may be determined according to the following formula:
After the whole vehicle displacement S is obtained in the above manner, the average acceleration a of the target vehicle may be determined according to the formula s=v 0t+(1/2)at2, and finally the predicted weight m e corresponding to the target vehicle may be determined according to the formula f=ma.
V 0 is the initial speed of the target vehicle, and F is the whole vehicle driving force of the driving motor which outputs torque and transmits the torque to the wheel rim.
In another implementation manner of the present embodiment, determining, according to the state data corresponding to the target vehicle, a predicted weight corresponding to the target vehicle includes: judging whether the target vehicle is in an acceleration running state or not according to the state data corresponding to the target vehicle; if yes, acquiring the whole vehicle speed, the working voltage and the working current corresponding to the driving motor, which correspond to the target vehicle in the preset time period; determining the energy consumption value of the driving motor in a preset time period according to the corresponding working voltage and current of the driving motor; according to the whole vehicle speed, determining the whole vehicle displacement of the target vehicle within a preset time period, and determining the average acceleration corresponding to the target vehicle according to the whole vehicle displacement; and determining the average driving force corresponding to the target vehicle according to the energy consumption value of the driving motor in the preset time period and the whole vehicle displacement, and determining the predicted weight corresponding to the target vehicle according to the average driving force and the average acceleration.
In a specific embodiment, determining whether the target vehicle is in an acceleration running state according to the state data corresponding to the target vehicle includes: judging whether the longitudinal inclination angle of the body of the target vehicle is smaller than a preset angle or not, and judging whether the output torque of the driving motor changes the torque acceleration process or not; if yes, determining that the target vehicle is in an acceleration running state.
In this embodiment, if the longitudinal inclination angle of the body of the target vehicle is smaller than the preset angle and the output torque of the driving motor is the variable torque acceleration process, the working voltage U and the current I of the driving motor of the target vehicle within the preset duration Δt and the vehicle speed V of the whole vehicle can be obtained, and the energy consumption value W of the driving motor within the preset duration can be determined according to the following formula:
then according to the formula The whole vehicle displacement S is determined, the average acceleration a of the target vehicle is determined according to a formula S=V 0t+(1/2)at2, the average driving force F corresponding to the target vehicle is determined according to a formula W=F.S, and finally the predicted weight m e corresponding to the target vehicle is determined according to a formula F=ma.
And 230, determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight.
In one implementation of this embodiment, before step 210, the method further includes: and pre-acquiring the predicted weights corresponding to the plurality of reference vehicles, and testing each reference vehicle to obtain the mapping relation between different predicted weight intervals and different friction resistance measurement values.
In this step, specifically, determining, according to the value interval corresponding to the predicted weight, a friction resistance measurement value corresponding to the target vehicle includes: and determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight and the mapping relation.
The method has the advantages that the friction resistance measurement value corresponding to the value interval where the current predicted weight is located can be obtained rapidly by constructing the mapping relation between different predicted weight intervals and different friction resistance measurement values in advance, so that the determination efficiency of the weight of the whole vehicle is improved.
And 240, subtracting the average driving force corresponding to the target vehicle from the frictional resistance measurement value.
And 250, determining the target weight corresponding to the target vehicle according to the subtraction result and the average acceleration corresponding to the target vehicle.
In this embodiment, specifically, assuming that the frictional resistance measurement value is F, the average driving force corresponding to the target vehicle is F, and the average acceleration is a, the target weight m i may be determined according to the following formula:
F-f＝ma
According to the technical scheme provided by the embodiment of the invention, after the starting of the target vehicle is detected, the state data corresponding to the target vehicle is acquired in real time, the predicted weight corresponding to the target vehicle is determined according to the state data corresponding to the target vehicle, the frictional resistance measurement value corresponding to the target vehicle is determined according to the numerical interval corresponding to the predicted weight, the average driving force corresponding to the target vehicle is subtracted from the frictional resistance measurement value, and the target weight corresponding to the target vehicle is determined according to the subtraction result and the average acceleration corresponding to the target vehicle.
Fig. 3 is a schematic structural diagram of a device for determining the weight of a whole vehicle according to an embodiment of the present invention, where the device is applied to a vehicle, as shown in fig. 3, and the device includes: a data acquisition module 310, a predicted weight determination module 320, and a target weight determination module 330.
The data acquisition module 310 is configured to acquire, in real time, status data corresponding to the target vehicle after detecting that the target vehicle is started;
The state data comprise a vehicle body inclination angle, a gear signal and a vehicle speed of the whole vehicle corresponding to the target vehicle, and torque, working voltage and current corresponding to the driving motor;
A predicted weight determining module 320, configured to determine a predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle;
The target weight determining module 330 is configured to determine a frictional resistance measurement value corresponding to the target vehicle according to the value interval corresponding to the predicted weight, and correct the predicted weight according to the frictional resistance measurement value to obtain the target weight corresponding to the target vehicle.
According to the technical scheme provided by the embodiment of the invention, after the starting of the target vehicle is detected, the state data corresponding to the target vehicle, including the vehicle body inclination angle, the gear signal and the vehicle speed corresponding to the target vehicle, and the torque, the working voltage and the current corresponding to the driving motor, are obtained in real time, the predicted weight corresponding to the target vehicle is determined according to the state data corresponding to the target vehicle, the frictional resistance measurement value corresponding to the target vehicle is determined according to the value interval corresponding to the predicted weight, and the predicted weight is corrected according to the frictional resistance measurement value, so that the accuracy of the determination result of the vehicle weight can be improved, and the maintenance cost of the vehicle is reduced.
On the basis of the above embodiment, the apparatus further includes:
The mapping relation determining module is used for obtaining the predicted weights corresponding to the plurality of reference vehicles in advance, and testing each reference vehicle to obtain the mapping relation between different predicted weight intervals and different friction resistance measurement values.
The predicted weight determination module 320 includes:
The starting state judging unit is used for judging whether the target vehicle is in a starting creeping state according to the state data corresponding to the target vehicle; if yes, acquiring the corresponding whole vehicle speed of the target vehicle within a preset time period, and determining the whole vehicle displacement of the target vehicle according to the whole vehicle speed and the preset time period; determining the average acceleration corresponding to the target vehicle according to the whole vehicle displacement of the target vehicle; determining the predicted weight corresponding to the target vehicle according to the whole vehicle driving force transmitted to the wheel edge by the driving motor output torque and the average acceleration;
A starting state determining unit for determining whether a longitudinal inclination angle of a vehicle body of the target vehicle is smaller than a preset angle, whether a driving gear of the target vehicle is changed from a neutral gear to a forward gear, whether an accelerator pedal in the target vehicle is not triggered, and whether a driving motor outputs a fixed torque; if yes, determining that the target vehicle is in a starting creeping state;
The acceleration state judging unit is used for judging whether the target vehicle is in an acceleration running state according to the state data corresponding to the target vehicle; if yes, acquiring the whole vehicle speed, the working voltage and the working current corresponding to the driving motor, which correspond to the target vehicle in the preset time period; determining the energy consumption value of the driving motor in a preset time period according to the corresponding working voltage and current of the driving motor; according to the whole vehicle speed, determining the whole vehicle displacement of the target vehicle within a preset time period, and determining the average acceleration corresponding to the target vehicle according to the whole vehicle displacement; determining the average driving force corresponding to the target vehicle according to the energy consumption value of the driving motor in the preset time period and the whole vehicle displacement, and determining the predicted weight corresponding to the target vehicle according to the average driving force and the average acceleration;
An acceleration state determining unit, configured to determine whether the target vehicle is in an acceleration running state according to state data corresponding to the target vehicle, including: judging whether the longitudinal inclination angle of the body of the target vehicle is smaller than a preset angle or not, and judging whether the output torque of the driving motor changes the torque acceleration process or not; if yes, determining that the target vehicle is in an acceleration running state.
The target weight determination module 330 includes:
the mapping relation query unit is used for determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight and the mapping relation;
A resistance measurement value processing unit, configured to subtract a frictional resistance measurement value from an average driving force corresponding to the target vehicle; and determining the target weight corresponding to the target vehicle according to the subtraction result and the average acceleration corresponding to the target vehicle.
The device can execute the method provided by all the embodiments of the invention, and has the corresponding functional modules and beneficial effects of executing the method. Technical details not described in detail in the embodiments of the present invention can be found in the methods provided in all the foregoing embodiments of the present invention.
Fig. 4 shows a schematic structural diagram of a vehicle 10 that may be used to implement an embodiment of the present invention. As shown in fig. 4, the vehicle 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the vehicle 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunications networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the whole vehicle weight determination method.
In some embodiments, the vehicle weight determination method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the vehicle 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the above-described vehicle weight determination method may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle weight determination method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or a trackball) by which a user can provide input to the vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The method for determining the weight of the whole vehicle is characterized by comprising the following steps of:
after the starting of the target vehicle is detected, acquiring state data corresponding to the target vehicle in real time;
The state data comprise a vehicle body inclination angle, a gear signal and a vehicle speed of the whole vehicle corresponding to the target vehicle, and torque, working voltage and current corresponding to the driving motor;
determining the predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle;
and determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight, and correcting the predicted weight according to the friction resistance measurement value to obtain the target weight corresponding to the target vehicle.
2. The method of claim 1, wherein determining a predicted weight for the target vehicle based on the state data for the target vehicle comprises:
judging whether the target vehicle is in a starting creeping state according to the state data corresponding to the target vehicle;
If yes, acquiring the corresponding whole vehicle speed of the target vehicle within a preset time period, and determining the whole vehicle displacement of the target vehicle according to the whole vehicle speed and the preset time period;
Determining the average acceleration corresponding to the target vehicle according to the whole vehicle displacement of the target vehicle;
and determining the predicted weight corresponding to the target vehicle according to the whole vehicle driving force transmitted to the wheel edge by the driving motor output torque and the average acceleration.
3. The method of claim 2, wherein determining whether the target vehicle is in a launch creep state based on the state data corresponding to the target vehicle comprises:
judging whether the longitudinal inclination angle of the vehicle body of the target vehicle is smaller than a preset angle, whether the driving gear of the target vehicle is changed from neutral gear to forward gear, whether an accelerator pedal in the target vehicle is not triggered, and whether a driving motor outputs fixed torque;
if yes, determining that the target vehicle is in a starting creeping state.
4. The method of claim 1, wherein determining a predicted weight for the target vehicle based on the state data for the target vehicle comprises:
judging whether the target vehicle is in an acceleration running state or not according to the state data corresponding to the target vehicle;
if yes, acquiring the whole vehicle speed, the working voltage and the working current corresponding to the driving motor, which correspond to the target vehicle in the preset time period;
Determining the energy consumption value of the driving motor in a preset time period according to the corresponding working voltage and current of the driving motor;
According to the whole vehicle speed, determining the whole vehicle displacement of the target vehicle within a preset time period, and determining the average acceleration corresponding to the target vehicle according to the whole vehicle displacement;
And determining the average driving force corresponding to the target vehicle according to the energy consumption value of the driving motor in the preset time period and the whole vehicle displacement, and determining the predicted weight corresponding to the target vehicle according to the average driving force and the average acceleration.
5. The method of claim 4, wherein determining whether the target vehicle is in an acceleration driving state based on the state data corresponding to the target vehicle comprises:
Judging whether the longitudinal inclination angle of the body of the target vehicle is smaller than a preset angle or not, and judging whether the output torque of the driving motor changes the torque acceleration process or not;
if yes, determining that the target vehicle is in an acceleration running state.
6. The method of claim 1, wherein correcting the predicted weight based on the frictional resistance measurement value to obtain a target weight for the target vehicle comprises:
Subtracting the average driving force corresponding to the target vehicle from a friction resistance measurement value;
And determining the target weight corresponding to the target vehicle according to the subtraction result and the average acceleration corresponding to the target vehicle.
7. The method of claim 1, wherein after detecting that the target vehicle is started, before acquiring the state data corresponding to the target vehicle in real time, further comprising:
The method comprises the steps of obtaining predicted weights corresponding to a plurality of reference vehicles in advance, and testing each reference vehicle to obtain mapping relations between different predicted weight intervals and different friction resistance measurement values;
According to the numerical interval corresponding to the predicted weight, determining a friction resistance measurement value corresponding to the target vehicle comprises the following steps:
And determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight and the mapping relation.
8. A vehicle weight determination apparatus, the apparatus comprising:
the data acquisition module is used for acquiring state data corresponding to the target vehicle in real time after the start of the target vehicle is detected;
The state data comprise a vehicle body inclination angle, a gear signal and a vehicle speed of the whole vehicle corresponding to the target vehicle, and torque, working voltage and current corresponding to the driving motor;
the predicted weight determining module is used for determining the predicted weight corresponding to the target vehicle according to the state data corresponding to the target vehicle;
And the target weight determining module is used for determining a friction resistance measurement value corresponding to the target vehicle according to the numerical interval corresponding to the predicted weight, and correcting the predicted weight according to the friction resistance measurement value to obtain the target weight corresponding to the target vehicle.
9. A vehicle, characterized in that the vehicle comprises:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle weight determination method of any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the vehicle weight determination method of any one of claims 1-7 when executed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410476106.2A CN118144802A (en) | 2024-04-19 | 2024-04-19 | Whole vehicle weight determining method and device, vehicle and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410476106.2A CN118144802A (en) | 2024-04-19 | 2024-04-19 | Whole vehicle weight determining method and device, vehicle and storage medium |
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| CN118144802A true CN118144802A (en) | 2024-06-07 |
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| CN202410476106.2A Pending CN118144802A (en) | 2024-04-19 | 2024-04-19 | Whole vehicle weight determining method and device, vehicle and storage medium |
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| Country | Link |
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| CN (1) | CN118144802A (en) |
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2024
- 2024-04-19 CN CN202410476106.2A patent/CN118144802A/en active Pending
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