CN105438178A - Vehicle loading predicting method and system - Google Patents

Vehicle loading predicting method and system Download PDF

Info

Publication number
CN105438178A
CN105438178A CN201510862559.XA CN201510862559A CN105438178A CN 105438178 A CN105438178 A CN 105438178A CN 201510862559 A CN201510862559 A CN 201510862559A CN 105438178 A CN105438178 A CN 105438178A
Authority
CN
China
Prior art keywords
vehicle
vehicle load
load value
data bank
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510862559.XA
Other languages
Chinese (zh)
Other versions
CN105438178B (en
Inventor
刘兴义
陈琳
董英荣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Weichai Power Co Ltd
Original Assignee
Weichai Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Weichai Power Co Ltd filed Critical Weichai Power Co Ltd
Priority to CN201510862559.XA priority Critical patent/CN105438178B/en
Publication of CN105438178A publication Critical patent/CN105438178A/en
Application granted granted Critical
Publication of CN105438178B publication Critical patent/CN105438178B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • 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
    • B60W2520/105—Longitudinal acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides a vehicle loading predicting method and system. The predicting method comprises the following steps of when a vehicle travels at an uniform speed or in an acceleration state, periodically detecting the vehicle traction torque, the vehicle speed and the vehicle acceleration; according to the detected parameters, calculating vehicle loading values at all times; arraying the vehicle loading values at all times from small to large, extracting vehicle loading values at different first N times, or extracting a first vehicle loading valve at the first time and other N-1 vehicle loading values which are smaller than the first vehicle loading valve, and constituting a vehicle loading value database, wherein N is equal to or greater than 3; and determining that the first average value of other N-2 vehicle loading values in the vehicle loading value database without including the maxima value and the minimum value is the first vehicle loading estimating valve. According to the vehicle loading predicting method and system disclosed by the invention, accurate estimation of the vehicle loading under the situation of being free from a slope sensor can be realized, the cost and the failure rate of a vehicle are not increased, and the accuracy of the vehicle loading estimating value can also be guaranteed.

Description

A kind of vehicle load predictor method and system
Technical field
The present invention relates to technical field of vehicle, particularly relate to a kind of vehicle load predictor method and system.
Background technology
Vehicle load refers to the quality of goods that vehicle loads, passenger.Estimate vehicle load exactly to can be used for revising schedule and other control policies, and then improve automatic speed changing vehicle to the adaptive capacity of different operating mode, whether the goods that can also detect in vehicle is lost in the process of moving.
Two kinds are had to the predictor method of vehicle load in prior art:
Method one: install Slope Transducer on vehicle, utilizes slope section sensor to obtain grade angle in real time, and utilizes grade angle, calculates the discreet value of vehicle load in real time.
Method two: alternately fixed vehicle load and the gradient, both estimate mutually.I.e. fixed vehicle load, utilizes fixing vehicle load to go to estimate the gradient, then the gradient of estimation is gone estimating vehicle load as fixed value.
The defect of method one is: on vehicle, install Slope Transducer, adds the cost of vehicle on the one hand, adds the fault rate of vehicle on the other hand.
The defect of method two is: when fixed vehicle load and the gradient, due to both estimated values, utilizes estimated value to go to estimate another value, the error estimated is increased, the estimation precision of both impacts.
Summary of the invention
Based on the defect of prior art, the invention provides a kind of vehicle load predictor method and system, on the basis not increasing vehicle cost and fault rate, solve the technical matters that prior art is low to vehicle load estimate accuracy.
First aspect, the invention provides a kind of vehicle load predictor method, comprising:
At vehicle at the uniform velocity or give it the gun in process, take Preset Time as the cycle, periodically detect vehicle tractive torque, car speed and vehicle acceleration;
According to the vehicle tractive torque do not detected in the same time, car speed and vehicle acceleration, calculate vehicle load value corresponding to each moment;
To vehicle load value corresponding to each moment according to order sequence from small to large, extract top n not vehicle load value in the same time, form vehicle load value data bank, N >=3; Or
Extract other N-1 vehicle load value comprising the first vehicle load value corresponding to the first moment and be less than described first vehicle load value, formation vehicle load value data bank, N >=3;
Determine the first aviation value of other N-2 vehicle load value except maxim and minimum value in described vehicle load value data bank, using described first aviation value as the first vehicle load discreet value.
Alternatively, described method also comprises:
Obtain the vehicle load value calculated in real time;
According to the vehicle load value calculated in real time, upgrade described vehicle load value data bank;
Determine the second aviation value of other N-2 vehicle load value except maxim and minimum value in the vehicle load value data bank after upgrading, using described second aviation value as real-time vehicle load discreet value.
Alternatively, the vehicle load value that described basis calculates in real time, upgrades described vehicle load value data bank, comprising:
When N+1 vehicle load value is less than described maxim, remove the described maxim in described vehicle load value data bank, described N+1 vehicle load value is added in described vehicle load value data bank, form the vehicle load value data bank after described renewal.
Alternatively, described method also comprises:
When meeting pre-conditioned, remove described vehicle load value data bank;
Re-execute described vehicle at the uniform velocity or give it the gun in process, obtain the step of vehicle tractive torque, car speed and a vehicle acceleration at interval of Preset Time.
Alternatively, described according to described vehicle tractive torque, described car speed and described vehicle acceleration, calculate vehicle load value corresponding to each moment, comprising:
According to described vehicle tractive torque, described car speed and described vehicle acceleration, based on following formula, calculate vehicle load value corresponding to each moment;
m ′ = T × i g × i o × η r - C D × A × U a 2 21.15 g × f + δ × a ;
Wherein, m ' is vehicle load value, and T is tractive torque; i gfor transmission ratio; i ofor final driver ratio; η is vehicle transmission system efficiency; R is radius of wheel; C dfor aerodynamic drag factor; A is vehicle wind area; U afor car speed; G is acceleration due to gravity; F is coefficient of rolling resistance; δ is vehicle rotary mass conversion coefficient; A is vehicle acceleration.
Second aspect, the invention provides a kind of vehicle load Prediction System, comprising:
Parameter acquiring unit, at vehicle at the uniform velocity or give it the gun in process, take Preset Time as the cycle, periodically detects vehicle tractive torque, car speed and vehicle acceleration;
Vehicle load value calculating unit, for the vehicle tractive torque do not detected in the same time, car speed and the vehicle acceleration that obtain according to described parameter acquiring unit, calculates vehicle load value corresponding to each moment;
Data bank Component units, vehicle load value corresponding to each moment for calculating described vehicle load value calculating unit, according to order sequence from small to large, stores top n not vehicle load value in the same time, forms vehicle load value data bank, N >=3; Or for storing other N-1 vehicle load value comprising the first vehicle load value corresponding to the first moment and be less than described first vehicle load value, form vehicle load value data bank, N >=3;
Vehicle load discreet value determining unit, for determining the first aviation value of other N-2 vehicle load value except maxim and minimum value in the described vehicle load value data bank that forms in described data bank Component units, using described first aviation value as the first vehicle load discreet value.
Alternatively, described system also comprises:
Real time data acquisition unit, for obtaining the vehicle load value calculated in real time;
Database update unit, for according to the vehicle load value calculated in real time, upgrades described vehicle load value data bank;
Unit is estimated in real-time vehicle load, for determining the second aviation value of other N-2 vehicle load value except maxim and minimum value in the vehicle load value data bank after upgrading, using described second aviation value as real-time vehicle load discreet value.
Alternatively, described database update unit specifically for:
When N+1 vehicle load value is less than described maxim, remove the described maxim in described vehicle load value data bank, described N+1 vehicle load value is added in described vehicle load value data bank, form the vehicle load value data bank after described renewal.
Alternatively, described system also comprises:
Data bank clearing cell, for when meeting pre-conditioned, remove described vehicle load value data bank, and return parameters acquiring unit, to make parameter acquiring unit re-execute described vehicle at the uniform velocity or give it the gun in process, obtain the operation of vehicle tractive torque, car speed and a vehicle acceleration at interval of Preset Time.
Alternatively, described vehicle load value calculating unit, specifically for:
According to described vehicle tractive torque, described car speed and described vehicle acceleration, based on following formula, calculate vehicle load value corresponding to each moment;
m ′ = T × i g × i o × η r - C D × A × U a 2 21.15 g × f + δ × a ;
Wherein, m ' is vehicle load value, and T is tractive torque; i gfor transmission ratio; i ofor final driver ratio; η is vehicle transmission system efficiency; R is radius of wheel; C dfor aerodynamic drag factor; A is vehicle wind area; U afor car speed; G is acceleration due to gravity; F is coefficient of rolling resistance; δ is vehicle rotary mass conversion coefficient; A is vehicle acceleration.
As shown from the above technical solution, vehicle load predictor method of the present invention and system, can be implemented in and without when Slope Transducer, vehicle load is accurately estimated, neither increase the fault rate of vehicle cost and vehicle, can avoid again mutually being estimated by the slope section of the load estimated and estimation in prior art and the problem that the vehicle load estimation precision that causes is low ensure the precision of vehicle load discreet value.Meanwhile, the article loaded in vehicle are lost or are lost in the driving process of vehicle, also detect by the monitoring to vehicle load.
Accompanying drawing explanation
The schematic flow sheet of the vehicle load predictor method that Fig. 1 provides for one embodiment of the invention;
The schematic flow sheet of the vehicle load predictor method that Fig. 2 provides for another embodiment of the present invention;
The schematic flow sheet of the vehicle load predictor method that Fig. 3 provides for another embodiment of the present invention;
The structural representation of the vehicle load Prediction System that Fig. 4 provides for another embodiment of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
Fig. 1 shows the schematic flow sheet of the vehicle load predictor method that one embodiment of the invention provides.As shown in Figure 1, the vehicle load predictor method of the present embodiment comprises step S11 to S14.
S11, at vehicle at the uniform velocity or give it the gun in process, take Preset Time as the cycle, periodically detect vehicle tractive torque, car speed and vehicle acceleration.
When vehicle is at the uniform velocity or give it the gun in process, namely the Das Gaspedal aperture > 0 of vehicle, brake pedal aperture=0 and acceleration/accel a>=0 of vehicle time, take Preset Time as the cycle, periodically detect vehicle tractive torque T, car speed U aand vehicle acceleration a.
S12, according to the vehicle tractive torque, car speed and the vehicle acceleration that do not detect in the same time, calculate vehicle load value corresponding to each moment.
Based on running car equation, the computing formula of the vehicle load of derivation is as shown in (1) formula:
m = T × i g × i o × η r - C D × A × U a 2 21.15 g × f × cos θ + g × sin θ + δ × a - - - ( 1 )
Wherein, m is vehicle load actual value, and T is tractive torque; i gfor transmission ratio; i ofor final driver ratio; η is vehicle transmission system efficiency; R is radius of wheel; C dfor aerodynamic drag factor; A is vehicle wind area; U afor car speed; G is acceleration due to gravity; F is coefficient of rolling resistance; θ is grade angle; δ is vehicle rotary mass conversion coefficient; A is vehicle acceleration.
If during θ=0, then the computing formula of vehicle load is as shown in (2) formula:
m ′ = T × i g × i o × η r - C D × A × U a 2 21.15 g × f + δ × a - - - ( 2 )
Wherein, m ' is without vehicle load value during the gradient; for vehicle drive force; for air resistance; The product of δ × a and m ' is vehicle acceleration resistance; The product of g × f and m ' is vehicle friction resistance.
Vehicle at the uniform velocity or when giving it the gun, a >=0, is therefore all greater than 0 at formula (2) Middle molecule and denominator.
Suppose Δ=f × cos θ+sin θ-f=f × (cos θ-1)+sin θ (3)
Due to 0 < f < 1 and 0 °≤θ≤90 °, then 0≤cos θ≤1;
Then there is Δ=f × (cos θ-1)+sin θ >=cos θ-1+sin θ (4)
Owing to working as 0 °≤θ≤90 °, (sin θ+cos θ) 2=1+2sin θ cos θ>=1, derives sin θ+cos θ>=1, known Δ>=0, namely
f×cosθ+sinθ≥f(5)
From formula (1) (2) (5), there is m ' >=m.
In the present embodiment, when vehicle travels on the slope having grade angle, all according to the computing formula of the vehicle load of grade angle θ=0 correspondence, namely formula (2) calculates.
S13, to vehicle load value corresponding to each moment according to order sequence from small to large, extract top n not vehicle load value in the same time, form vehicle load value data bank, N >=3.
Vehicle is at the uniform velocity or when giving it the gun, all the time calculate according to formula (2), so when θ=0, actual grade angle, the vehicle load value then calculated equals actual vehicle load value, when there being the gradient, namely during actual grade angle θ > 0, then the vehicle load value calculated is greater than actual vehicle load value.
Therefore, first calculate vehicle load value corresponding to each moment, and by each vehicle load value according to order sequence from small to large, extract top n not vehicle load value in the same time, just obtain N number of value minimum in each vehicle load value calculated, form vehicle load value data bank.Require N >=3 herein.
First aviation value of S14, other N-2 vehicle load value except maxim and minimum value determined in described vehicle load value data bank, using described first aviation value as the first vehicle load discreet value.
Remove maxim and the minimum value of the N number of vehicle load value stored, calculate the first aviation value of remaining N-2 vehicle load value, using this first aviation value as the first vehicle load discreet value.
Vehicle load predictor method disclosed in the present embodiment, can be implemented in and accurately estimate vehicle load without when Slope Transducer, neither increases the fault rate of vehicle cost and vehicle, can ensure again the precision of vehicle load discreet value.Meanwhile, the article loaded in vehicle are lost or are lost in the driving process of vehicle, also detect by the monitoring to vehicle load.
Fig. 2 shows the schematic flow sheet of the vehicle load predictor method that another embodiment of the present invention provides.As shown in Figure 2, the vehicle load predictor method of the present embodiment comprises step S21 to S24.
S21, at vehicle at the uniform velocity or give it the gun in process, take Preset Time as the cycle, periodically detect vehicle tractive torque, car speed and vehicle acceleration.
S22, according to the vehicle tractive torque, car speed and the vehicle acceleration that do not detect in the same time, calculate vehicle load value corresponding to each moment.
S23, extract other N-1 vehicle load value comprising the first vehicle load value corresponding to the first moment and be less than described first vehicle load value, formation vehicle load value data bank, N >=3.
Using first vehicle load value corresponding first moment as maxim, each vehicle load value corresponding to other moment calculated all compares with the first vehicle load value, extract N-1 the vehicle load value being less than the first vehicle load value, N number of vehicle load value altogether, form vehicle load value data bank, require N >=3 equally herein.
First aviation value of S24, other N-2 vehicle load value except maxim and minimum value determined in described vehicle load value data bank, using described first aviation value as the first vehicle load discreet value.
Vehicle load predictor method disclosed in the present embodiment, can be implemented in and accurately estimate vehicle load without when Slope Transducer, neither increases the fault rate of vehicle cost and vehicle, can ensure again the precision of vehicle load discreet value.Meanwhile, the article loaded in vehicle are lost or are lost in the driving process of vehicle, also detect by the monitoring to vehicle load.
Fig. 3 shows the schematic flow sheet of the vehicle load predictor method that another embodiment of the present invention provides.As shown in Figure 3, the vehicle load predictor method of the present embodiment comprises step S31 to S312.
S31, beginning.
S32, judge whether vehicle powers on and be at the uniform velocity or state of giving it the gun.
If so, then perform S33, otherwise perform S312.
S33, be the cycle with Preset Time, periodically detect vehicle tractive torque, car speed and vehicle acceleration.
S34, according to the vehicle tractive torque, car speed and the vehicle acceleration that do not detect in the same time, calculate vehicle load value corresponding to each moment.
S35, extract other N-1 vehicle load value comprising the first vehicle load value corresponding to the first moment and be less than described first vehicle load value, formation vehicle load value data bank, N >=3.
First aviation value of S36, other N-2 vehicle load value except maxim and minimum value determined in described vehicle load value data bank, using described first aviation value as the first vehicle load discreet value.
S37, to judge whether vehicle meets pre-conditioned.
If so, then perform S38 ', otherwise perform S38.
The vehicle load that the various situation of pre-conditioned finger herein causes changes.
Such as bus is after stop-start, and because the flowing of passenger on car causes vehicle load generation change clearly, the change curve that this kind of situation increases by 0 gradually by the moving velocity detecting vehicle, determines that the travel conditions of vehicle meets pre-conditioned.
Again such as, vehicle is in the process of slowing down, and passenger dishes out and has the article of certain mass outside car, or the outer personnel of car increase when having the article of certain mass in car, the situation that this kind of situation is less than 0 by the acceleration/accel detecting vehicle, determines that the travel conditions of vehicle meets pre-conditioned.
S38 ', removing vehicle load value data bank.
The vehicle load value that S38, acquisition calculate in real time.
S39, judge whether N+1 vehicle load value is less than maxim.
If so, then S310 is performed, otherwise, return and perform S38.
S310, renewal vehicle load value data bank.
S311, the second aviation value of other N-2 vehicle load value except maxim and minimum value determined in the vehicle load value data bank after upgrading, using described second aviation value as real-time vehicle load discreet value.
After executing S311, return and perform S38.
S312, end.
When only having vehicle power-off or vehicle to be in deceleration regime, terminate the acquisition to each parameter and calculating, therefore, the vehicle load value that the acquisition in S38 calculates also can stop, and so far, the vehicle load predictor method of the present embodiment terminates.
The vehicle load predictor method of the present embodiment has taken into full account that some vehicle (such as bus or lorry) is after stop-start, due to the vehicle load change that the quantity of passenger on car or the quality of goods change and cause, the load value of all types of vehicle can be estimated more accurately.
Fig. 4 shows the structural representation of the vehicle load Prediction System that one embodiment of the invention provides.As shown in Figure 4, the vehicle load Prediction System of the present embodiment comprises: parameter acquiring unit 401, vehicle load value calculating unit 402, data bank Component units 403 and vehicle load discreet value determining unit 404.Wherein:
Parameter acquiring unit 401, at vehicle at the uniform velocity or give it the gun in process, take Preset Time as the cycle, periodically detects vehicle tractive torque, car speed and vehicle acceleration;
Vehicle load value calculating unit 402, for the vehicle tractive torque do not detected in the same time, car speed and the vehicle acceleration that obtain according to described parameter acquiring unit, calculates vehicle load value corresponding to each moment;
Data bank Component units 403, vehicle load value corresponding to each moment for calculating described vehicle load value calculating unit, according to order sequence from small to large, stores top n not vehicle load value in the same time, forms vehicle load value data bank, N >=3; Or for storing other N-1 vehicle load value comprising the first vehicle load value corresponding to the first moment and be less than described first vehicle load value, form vehicle load value data bank, N >=3;
Vehicle load discreet value determining unit 404, for determining the first aviation value of other N-2 vehicle load value except maxim and minimum value in the described vehicle load value data bank that forms in described data bank Component units, using described first aviation value as the first vehicle load discreet value.
Vehicle load predictor method disclosed in the present embodiment, can be implemented in and accurately estimate vehicle load without when Slope Transducer, neither increases the fault rate of vehicle cost and vehicle, can ensure again the precision of vehicle load discreet value.Meanwhile, the article loaded in vehicle are lost or are lost in the driving process of vehicle, also detect by the monitoring to vehicle load.
In a concrete example, above-mentioned vehicle load Prediction System also comprises unshowned Real time data acquisition unit, database update unit and real-time vehicle load in Fig. 4 and estimates unit.Wherein:
Real time data acquisition unit, for obtaining the vehicle load value calculated in real time;
Database update unit, for according to the vehicle load value calculated in real time, upgrades described vehicle load value data bank;
Unit is estimated in real-time vehicle load, for determining the second aviation value of other N-2 vehicle load value except maxim and minimum value in the vehicle load value data bank after upgrading, using described second aviation value as real-time vehicle load discreet value.
In a concrete example, database update unit specifically for:
When N+1 vehicle load value is less than described maxim, remove the described maxim in described vehicle load value data bank, described N+1 vehicle load value is added in described vehicle load value data bank, form the vehicle load value data bank after described renewal.
In a concrete example, above-mentioned vehicle load Prediction System also comprises unshowned data bank clearing cell in Fig. 4, for when meeting pre-conditioned, remove described vehicle load value data bank, and return parameters acquiring unit, to make parameter acquiring unit re-execute described vehicle at the uniform velocity or give it the gun in process, obtain the operation of vehicle tractive torque, car speed and a vehicle acceleration at interval of Preset Time.
Shown in pre-conditioned and Fig. 3 herein, method is pre-conditioned similar, repeats no more herein.
The vehicle load Prediction System of the present embodiment has taken into full account that some vehicle (such as bus or lorry) is after stop-start, due to the vehicle load change that the quantity of passenger on car or the quality of goods change and cause, the load value of all types of vehicle can be estimated more accurately.
Vehicle load predictor method of the present invention and system, can be implemented in and without when Slope Transducer, vehicle load is accurately estimated, neither increase the fault rate of vehicle cost and vehicle, can avoid again mutually being estimated by the slope section of the load estimated and estimation in prior art and the problem that the vehicle load estimation precision that causes is low ensure the precision of vehicle load discreet value.Meanwhile, the article loaded in vehicle are lost or are lost in the driving process of vehicle, also detect by the monitoring to vehicle load.
One of ordinary skill in the art will appreciate that: above each embodiment, only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of the claims in the present invention.

Claims (10)

1. a vehicle load predictor method, is characterized in that, comprising:
At vehicle at the uniform velocity or give it the gun in process, take Preset Time as the cycle, periodically detect vehicle tractive torque, car speed and vehicle acceleration;
According to the vehicle tractive torque do not detected in the same time, car speed and vehicle acceleration, calculate vehicle load value corresponding to each moment;
To vehicle load value corresponding to each moment according to order sequence from small to large, extract top n not vehicle load value in the same time, form vehicle load value data bank, N >=3; Or
Extract other N-1 vehicle load value comprising the first vehicle load value corresponding to the first moment and be less than described first vehicle load value, formation vehicle load value data bank, N >=3;
Determine the first aviation value of other N-2 vehicle load value except maxim and minimum value in described vehicle load value data bank, using described first aviation value as the first vehicle load discreet value.
2. method according to claim 1, is characterized in that, described method also comprises:
Obtain the vehicle load value calculated in real time;
According to the vehicle load value calculated in real time, upgrade described vehicle load value data bank;
Determine the second aviation value of other N-2 vehicle load value except maxim and minimum value in the vehicle load value data bank after upgrading, using described second aviation value as real-time vehicle load discreet value.
3. method according to claim 2, is characterized in that, the vehicle load value that described basis calculates in real time, upgrades described vehicle load value data bank, comprising:
When N+1 vehicle load value is less than described maxim, remove the described maxim in described vehicle load value data bank, described N+1 vehicle load value is added in described vehicle load value data bank, form the vehicle load value data bank after described renewal.
4. method according to claim 1, is characterized in that, described method also comprises:
When meeting pre-conditioned, remove described vehicle load value data bank;
Re-execute described vehicle at the uniform velocity or give it the gun in process, obtain the step of vehicle tractive torque, car speed and a vehicle acceleration at interval of Preset Time.
5. method according to claim 1, is characterized in that, described according to described vehicle tractive torque, described car speed and described vehicle acceleration, calculates vehicle load value corresponding to each moment, comprising:
According to described vehicle tractive torque, described car speed and described vehicle acceleration, based on following formula, calculate vehicle load value corresponding to each moment;
m &prime; = T &times; i g &times; i o &times; &eta; r - C D &times; A &times; U a 2 21.15 g &times; f + &delta; &times; a ;
Wherein, m ' is vehicle load value, and T is tractive torque; i gfor transmission ratio; i ofor final driver ratio; η is vehicle transmission system efficiency; R is radius of wheel; C dfor aerodynamic drag factor; A is vehicle wind area; U afor car speed; G is acceleration due to gravity; F is coefficient of rolling resistance; δ is vehicle rotary mass conversion coefficient; A is vehicle acceleration.
6. a vehicle load Prediction System, is characterized in that, comprising:
Parameter acquiring unit, at vehicle at the uniform velocity or give it the gun in process, take Preset Time as the cycle, periodically detects vehicle tractive torque, car speed and vehicle acceleration;
Vehicle load value calculating unit, for the vehicle tractive torque do not detected in the same time, car speed and the vehicle acceleration that obtain according to described parameter acquiring unit, calculates vehicle load value corresponding to each moment;
Data bank Component units, vehicle load value corresponding to each moment for calculating described vehicle load value calculating unit, according to order sequence from small to large, stores top n not vehicle load value in the same time, forms vehicle load value data bank, N >=3; Or for storing other N-1 vehicle load value comprising the first vehicle load value corresponding to the first moment and be less than described first vehicle load value, form vehicle load value data bank, N >=3;
Vehicle load discreet value determining unit, for determining the first aviation value of other N-2 vehicle load value except maxim and minimum value in the described vehicle load value data bank that forms in described data bank Component units, using described first aviation value as the first vehicle load discreet value.
7. system according to claim 6, is characterized in that, described system also comprises:
Real time data acquisition unit, for obtaining the vehicle load value calculated in real time;
Database update unit, for according to the vehicle load value calculated in real time, upgrades described vehicle load value data bank;
Unit is estimated in real-time vehicle load, for determining the second aviation value of other N-2 vehicle load value except maxim and minimum value in the vehicle load value data bank after upgrading, using described second aviation value as real-time vehicle load discreet value.
8. system according to claim 7, is characterized in that, described database update unit specifically for:
When N+1 vehicle load value is less than described maxim, remove the described maxim in described vehicle load value data bank, described N+1 vehicle load value is added in described vehicle load value data bank, form the vehicle load value data bank after described renewal.
9. system according to claim 6, is characterized in that, described system also comprises:
Data bank clearing cell, for when meeting pre-conditioned, remove described vehicle load value data bank, and return parameters acquiring unit, to make parameter acquiring unit re-execute described vehicle at the uniform velocity or give it the gun in process, obtain the operation of vehicle tractive torque, car speed and a vehicle acceleration at interval of Preset Time.
10. system according to claim 6, is characterized in that, described vehicle load value calculating unit, specifically for:
According to described vehicle tractive torque, described car speed and described vehicle acceleration, based on following formula, calculate vehicle load value corresponding to each moment;
m &prime; = T &times; i g &times; i o &times; &eta; r - C D &times; A &times; U a 2 21.15 g &times; f + &delta; &times; a ;
Wherein, m ' is vehicle load value, and T is tractive torque; i gfor transmission ratio; i ofor final driver ratio; η is vehicle transmission system efficiency; R is radius of wheel; C dfor aerodynamic drag factor; A is vehicle wind area; U afor car speed; G is acceleration due to gravity; F is coefficient of rolling resistance; δ is vehicle rotary mass conversion coefficient; A is vehicle acceleration.
CN201510862559.XA 2015-11-30 2015-11-30 A kind of vehicle load predictor method and system Active CN105438178B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510862559.XA CN105438178B (en) 2015-11-30 2015-11-30 A kind of vehicle load predictor method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510862559.XA CN105438178B (en) 2015-11-30 2015-11-30 A kind of vehicle load predictor method and system

Publications (2)

Publication Number Publication Date
CN105438178A true CN105438178A (en) 2016-03-30
CN105438178B CN105438178B (en) 2017-11-10

Family

ID=55548949

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510862559.XA Active CN105438178B (en) 2015-11-30 2015-11-30 A kind of vehicle load predictor method and system

Country Status (1)

Country Link
CN (1) CN105438178B (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107588843A (en) * 2017-07-19 2018-01-16 北汽福田汽车股份有限公司 Vehicle load recognition methods, system and vehicle
CN108128301A (en) * 2017-12-21 2018-06-08 潍柴动力股份有限公司 A kind of engine power adjusting method, device and electronic equipment
CN108189843A (en) * 2017-12-28 2018-06-22 天津清智科技有限公司 A kind of evaluation method of vehicle weight
CN109466562A (en) * 2018-10-15 2019-03-15 浙江吉利新能源商用车有限公司 Vehicle weight obtains automatically, the system and method for vehicle overloading automatic alarm
CN109849931A (en) * 2019-02-20 2019-06-07 郑州比克新能源汽车有限公司 Pure electric automobile cargo dead-weight obtains system and method
CN110232170A (en) * 2019-06-18 2019-09-13 北京蜂云科创信息技术有限公司 A method of judging vehicle load state
CN111016917A (en) * 2018-10-10 2020-04-17 北汽福田汽车股份有限公司 Vehicle load capacity detection method and device, computer readable storage medium and vehicle
CN111579037A (en) * 2020-04-29 2020-08-25 北理新源(佛山)信息科技有限公司 Method and system for detecting vehicle overload
CN112590804A (en) * 2020-12-23 2021-04-02 苏州挚途科技有限公司 Load trajectory tracking method and device for unmanned vehicle
CN112937596A (en) * 2021-03-22 2021-06-11 潍柴动力股份有限公司 Static vehicle weight measuring method and vehicle starting method
CN112977459A (en) * 2021-04-20 2021-06-18 一汽解放汽车有限公司 Method, apparatus, computer device and storage medium for determining vehicle control parameters
CN113859252A (en) * 2021-10-29 2021-12-31 北汽福田汽车股份有限公司 Vehicle weight determining method and device

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005081967A (en) * 2003-09-08 2005-03-31 Calsonic Kansei Corp Crew detection apparatus
JP2007163157A (en) * 2005-12-09 2007-06-28 Sumitomo Rubber Ind Ltd Method, apparatus, and program for estimating vehicle load
US20080126009A1 (en) * 2006-11-29 2008-05-29 Kun-Soo Huh Method of estimating mass of vehicle
CN102353433A (en) * 2011-06-03 2012-02-15 石家庄开发区天远科技有限公司 Method for dynamically measuring load of vehicle
JP2014145598A (en) * 2013-01-25 2014-08-14 Advics Co Ltd Vehicle mass estimation device
JP2015021810A (en) * 2013-07-18 2015-02-02 いすゞ自動車株式会社 Calculation method for estimated vehicle weight, and vehicle
CN104704331A (en) * 2012-09-11 2015-06-10 雷诺股份公司 Device and method for estimating charge of motor vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005081967A (en) * 2003-09-08 2005-03-31 Calsonic Kansei Corp Crew detection apparatus
JP2007163157A (en) * 2005-12-09 2007-06-28 Sumitomo Rubber Ind Ltd Method, apparatus, and program for estimating vehicle load
US20080126009A1 (en) * 2006-11-29 2008-05-29 Kun-Soo Huh Method of estimating mass of vehicle
CN102353433A (en) * 2011-06-03 2012-02-15 石家庄开发区天远科技有限公司 Method for dynamically measuring load of vehicle
CN104704331A (en) * 2012-09-11 2015-06-10 雷诺股份公司 Device and method for estimating charge of motor vehicle
JP2014145598A (en) * 2013-01-25 2014-08-14 Advics Co Ltd Vehicle mass estimation device
JP2015021810A (en) * 2013-07-18 2015-02-02 いすゞ自動車株式会社 Calculation method for estimated vehicle weight, and vehicle

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107588843A (en) * 2017-07-19 2018-01-16 北汽福田汽车股份有限公司 Vehicle load recognition methods, system and vehicle
CN108128301A (en) * 2017-12-21 2018-06-08 潍柴动力股份有限公司 A kind of engine power adjusting method, device and electronic equipment
CN108189843A (en) * 2017-12-28 2018-06-22 天津清智科技有限公司 A kind of evaluation method of vehicle weight
CN111016917A (en) * 2018-10-10 2020-04-17 北汽福田汽车股份有限公司 Vehicle load capacity detection method and device, computer readable storage medium and vehicle
CN109466562A (en) * 2018-10-15 2019-03-15 浙江吉利新能源商用车有限公司 Vehicle weight obtains automatically, the system and method for vehicle overloading automatic alarm
CN109849931A (en) * 2019-02-20 2019-06-07 郑州比克新能源汽车有限公司 Pure electric automobile cargo dead-weight obtains system and method
CN110232170A (en) * 2019-06-18 2019-09-13 北京蜂云科创信息技术有限公司 A method of judging vehicle load state
CN111579037A (en) * 2020-04-29 2020-08-25 北理新源(佛山)信息科技有限公司 Method and system for detecting vehicle overload
CN111579037B (en) * 2020-04-29 2021-06-04 北理新源(佛山)信息科技有限公司 Method and system for detecting vehicle overload
CN112590804A (en) * 2020-12-23 2021-04-02 苏州挚途科技有限公司 Load trajectory tracking method and device for unmanned vehicle
CN112937596A (en) * 2021-03-22 2021-06-11 潍柴动力股份有限公司 Static vehicle weight measuring method and vehicle starting method
CN112937596B (en) * 2021-03-22 2022-04-26 潍柴动力股份有限公司 Static vehicle weight measuring method and vehicle starting method
CN112977459A (en) * 2021-04-20 2021-06-18 一汽解放汽车有限公司 Method, apparatus, computer device and storage medium for determining vehicle control parameters
CN113859252A (en) * 2021-10-29 2021-12-31 北汽福田汽车股份有限公司 Vehicle weight determining method and device

Also Published As

Publication number Publication date
CN105438178B (en) 2017-11-10

Similar Documents

Publication Publication Date Title
CN105438178A (en) Vehicle loading predicting method and system
CN103661395B (en) Dynamic road gradient is estimated
CN103661394B (en) Road gradient estimation arbitration
CN103661393B (en) Kinematic road gradient is estimated
CN103661352B (en) Static road gradient is estimated
CN103402847B (en) Method for determining the driving resistance of a vehicle
CN106232446B (en) Method for determining an error of an inertial sensor
US20140032068A1 (en) Estimation of road inclination
CN106274906A (en) For asking for or assess the method and apparatus of nominal trajectory of motor vehicles
EP2480436B1 (en) Method for estimating the height of the gravity centre of a vehicle
US20080116739A1 (en) Adaptive Antiskid Means for Rail Vehicles with a Slip Controller
CN105416276A (en) Method for controlling electric automobile stability direct yawing moment based on high-order slip mold
CN103097213A (en) Determination of steering angle for a motor vehicle
CN104691583A (en) Apparatus for controlling speed in railway vehicles
CN110450794B (en) Optimal adhesion control method based on optimal creep speed searching and tracking
CN109767023A (en) A kind of predictor method and system of vehicle load state
CN104029688B (en) A kind of wheel pair idling detection method
CN103245610A (en) Method for estimating pavement peak attachment coefficients of distributed driving electric vehicle
EP3645363B1 (en) Method and system for obtaining reference signals for vehicles control systems and corresponding control system
CN104973069A (en) Online synchronous identification method for heavy truck air resistance composite coefficient and mass
CN111605559B (en) Vehicle mass estimation method, torque control method and device
CN103661384A (en) Dynamic filtering for stop/start vehicle launch preparation
KR101494378B1 (en) Method and device for estimation of weight of a vehicle
JP2004080838A (en) Automatic train operating apparatus
CN109477858A (en) The decision maker that falls off of fall off determination method and the acceleration transducer of acceleration transducer

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant