CN207594866U - A kind of vehicle load measurement system of vehicle load - Google Patents
A kind of vehicle load measurement system of vehicle load Download PDFInfo
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- CN207594866U CN207594866U CN201721074680.7U CN201721074680U CN207594866U CN 207594866 U CN207594866 U CN 207594866U CN 201721074680 U CN201721074680 U CN 201721074680U CN 207594866 U CN207594866 U CN 207594866U
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- vehicle load
- vehicle
- combined weight
- measuring device
- acceleration
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Abstract
The utility model provides a kind of vehicle load measurement system of vehicle load, engine controller, car-mounted terminal, vehicle load measuring device and acceleration transducer.Vehicle load measuring device is connected by CAN bus with engine controller and the car-mounted terminal, and the input terminal of vehicle load measuring device is connected with the output terminal of acceleration transducer.Engine controller sends engine output torque message by CAN bus, acceleration transducer is used to detect the acceleration of vehicle traveling, vehicle load measuring device determines vehicle traction, and obtain vehicular gross combined weight according to the acceleration calculation according to engine output torque message.Vehicle load measuring device also sends vehicular gross combined weight message by CAN bus, and car-mounted terminal obtains vehicular gross combined weight according to the vehicular gross combined weight message, and passes through communication network and send the vehicular gross combined weight to monitoring center.The utility model can monitor the weight information of vehicle in real time, and improve measurement efficiency and reduce measurement cost.
Description
Technical field
The utility model is related to technical field of automotive electronics more particularly to a kind of vehicle load measurement systems of vehicle load.
Background technology
For being used to transport the vehicle of cargo, weight information is extremely important.For fleet manager, weight information
It can be used to monitor Vehicular behavior；For vehicle supervision department, weight information can be used for whether monitoring vehicle surpasses
It carries, traffic safety is avoided to lose.However, obtaining truckload information needs pays very big cost of human and material resources, in the market
Lack the system or device of intelligent measurement truckload.
It is existing mainly to obtain vehicle load information using following two methods：Method one：By the way of weight bridge weighing come
Vehicle load information is obtained, vehicle is allowed to be parked on weighbridge, weight is shown by display device after weighing.Kind mode efficiency is low, needs
Test point of weighing is set in specific section, vehicle stops behind the section weighs.Method two：To use weighing sensor
Mode obtain vehicle load information, weighing sensor pacified displacement sensor using displacement sensor, pressure sensor etc.
Deflection is detected on support spring or pressure sensor is detected into pressure value on axle.Weighing sensor
The information of acquisition is analog signal, and analog signal is passed to controller by harness.Storage sensor inside controller
Parameter specification, controller convert analog signals into digital signal and obtain weight information.Lorry is shown by display device
Load-carrying.This mode needs multiple sensors, and cost of this load measuring sensor itself is higher.It needs to arrange multiple Load sensors
The matching precision requirement of device, sensor and lorry is high, needs manually to demarcate after installation, time-consuming and laborious.In maintenance process after sale, hold
Easily by artificial destruction, while with the increase of vehicle service life, precision can also decline therewith.
Utility model content
The utility model provides a kind of vehicle load measurement system of vehicle load, and it is main to solve existing vehicle acquisition weight information
Obtained using weighbridge or weighing sensor mode, exist measurement spend it is of high cost and cannot in transportational process to vehicle load into
Dynamic real-time monitor and tracking the problem of, the weight information of vehicle can be monitored in real time, and improve measurement efficiency and reduce measure into
This.
In order to achieve the above object, the utility model provides following technical scheme：
A kind of vehicle load measurement system of vehicle load, engine controller, car-mounted terminal, vehicle load measuring device and add
Velocity sensor；
The vehicle load measuring device is connected by CAN bus with the engine controller and the car-mounted terminal,
The first input end of the vehicle load measuring device is connected with the output terminal of the acceleration transducer；
The engine controller sends engine output torque message by CAN bus, and the acceleration transducer is used
In the acceleration of detection vehicle traveling, the vehicle load measuring device determines vehicle according to the engine output torque message
Tractive force, and vehicular gross combined weight is obtained according to the acceleration calculation；
The vehicle load measuring device also by CAN bus send vehicular gross combined weight message, the car-mounted terminal according to
The vehicular gross combined weight message obtains the vehicular gross combined weight, and passes through communication network and send the vehicular gross combined weight in monitoring
The heart.
Preferably, the vehicle load measuring device includes：CAN communication module and microprocessor；
The microprocessor is connected by serial ports with the CAN communication module, and the input terminal of the microprocessor is as institute
State the input terminal of vehicle load measuring device；
The vehicular gross combined weight is calculated according to formula F=ma in the microprocessor, and wherein F is vehicle traction, m
For vehicular gross combined weight, a is acceleration.
Preferably, the microprocessor includes：Tractive force computing unit, tractive force changing value computing unit, acceleration become
Change value computing unit, quality calculation unit and average calculation unit；
The tractive force computing unit is used to be calculated the value of thrust of engine output according to engine output torque；
The tractive force changing value computing unit is used to be calculated according to the tractive force that the engine that each moment obtains exports
Obtain the tractive force changing value Δ F in setting time；
The acceleration calculation that the acceleration change value computing unit is used to be obtained according to each moment obtains setting time
Interior acceleration change value Δ a；
The vehicular gross combined weight in setting time is calculated according to formula m=Δ F/ Δ a in the quality calculation unit；
Average gross mass is calculated according to the vehicular gross combined weight in each setting time in the average calculation unit, and will
The average gross mass is as the vehicular gross combined weight.
Preferably, the microprocessor further includes：Filter out rules unit；
It is described to filter out rules unit for judging whether vehicle is in anxious acceleration, suddenly slow down or clutch is in half-clutch work
Condition, if it is, removing the calculated value of the vehicular gross combined weight under the operating mode.
Preferably, it further includes：The gearbox control being connected with CAN bus；
The gearbox control sends clutch state message according to the state of clutch, and the vehicle load measures dress
The state that clutch is determined according to the clutch state message is put, it is described to filter out rule when clutch is in half-clutch state
Then unit removes the calculated value of the period vehicular gross combined weight.
Preferably, it further includes：Accelerator pedal position sensor；
The output terminal of the accelerator pedal position sensor is connected with the second input terminal of the vehicle load measuring device；
When the accelerator pedal position sensor detects that the instantaneous variation value of gas pedal is more than setting throttle threshold value,
The vehicle load measuring device determines that vehicle is in anxious accelerating mode, and the rules unit that filters out is removed under the urgency accelerating mode
Vehicular gross combined weight calculated value.
Preferably, it further includes：Brake pedal position sensor；
The output terminal of the brake pedal position sensor is connected with the third input terminal of the vehicle load measuring device；
When the accelerator pedal position sensor detects that the instantaneous variation value of brake pedal is more than setting braking threshold,
The vehicle load measuring device determines that vehicle is in anxious decelerating mode, and the rules unit that filters out is removed under the urgency decelerating mode
Vehicular gross combined weight calculated value.
Preferably, it further includes：Temperature sensor；
The output terminal of the temperature sensor is connected with the input terminal of the engine controller, and the temperature sensor is used
In the water temperature and oil temperature of detection vehicle motor；
When the water temperature or oil temperature of the engine are more than set temperature threshold value, the engine controller sends temperature report
Warning message, the vehicle load measuring device determine that vehicle motor is in temperature and crosses senior engineer according to the temperature alarming message
Condition, the calculated value for filtering out the vehicular gross combined weight that rules unit is removed under the excessively high operating mode of the temperature.
Preferably, the car-mounted terminal includes：Wireless communication unit；
The car-mounted terminal realizes data communication by the wireless communication unit and the monitoring center；
The wireless communication unit includes：Mobile communication module, bluetooth communication module and WLAN LAN communication moulds
Block.
Preferably, the acceleration transducer is arranged in gyroscope.
The utility model provides a kind of vehicle load measurement system of vehicle load, passes through vehicle load measuring device and engine
The CAN communication of controller obtains vehicle traction and acceleration, and calculates acquisition vehicular gross combined weight, also using car-mounted terminal by vehicle
Gross mass is transmitted to monitoring center in real time, solves existing vehicle and obtain weight information mainly to use weighbridge or weighing sensor side
Formula obtains, and there is measurement and spends of high cost and vehicle load cannot be asked into dynamic real-time monitor and tracking in transportational process
Topic, can monitor the weight information of vehicle in real time, and improves measurement efficiency and reduce measurement cost.
Description of the drawings
It, below will be to needed in the embodiment attached in order to illustrate more clearly of specific embodiment of the utility model
Figure is briefly described.
Fig. 1：It is a kind of vehicle load measurement system schematic of vehicle load provided by the utility model.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the scheme of the utility model embodiment, below in conjunction with the accompanying drawings and
Embodiment is described in further detail the utility model embodiment.
Weight information is obtained for current vehicle mainly to obtain using weighbridge or weighing sensor mode, be there is measurement and is spent
It is of high cost and cannot in transportational process to vehicle load into dynamic real-time monitor and tracking the problem of, the utility model provide one
The vehicle load measurement system of kind vehicle load, solves the above problems, can monitor the weight information of vehicle in real time, and improve measurement efficiency
With reduction measurement cost.
As shown in Figure 1, a kind of vehicle load measurement system of vehicle load, engine controller, car-mounted terminal, vehicle load are surveyed
Measure device and acceleration transducer.The vehicle load measuring device passes through CAN buses and the engine controller and described
Car-mounted terminal is connected, and the first input end of the vehicle load measuring device is connected with the output terminal of the acceleration transducer.
The engine controller sends engine output torque message by CAN bus, and the acceleration transducer is used to detect vehicle
The acceleration of traveling, the vehicle load measuring device determines vehicle traction according to the engine output torque message,
And vehicular gross combined weight is obtained according to the acceleration calculation.The vehicle load measuring device also sends vehicle by CAN bus
Gross mass message, the car-mounted terminal obtains the vehicular gross combined weight according to the vehicular gross combined weight message, and passes through communication network
Network sends the vehicular gross combined weight to monitoring center.
Further, the vehicle load measuring device includes：CAN communication module and microprocessor.The microprocessor leads to
It crosses serial ports with the CAN communication module to be connected, the input terminal of the microprocessor is as the defeated of the vehicle load measuring device
Enter end.According to formula F=ma the vehicular gross combined weight is calculated, wherein F is vehicle traction, and m is vehicle in the microprocessor
Gross mass, a is acceleration.
Further, the microprocessor includes：Tractive force computing unit, tractive force changing value computing unit, acceleration
Changing value computing unit, quality calculation unit and average calculation unit.The tractive force computing unit is used for defeated according to engine
Go out torque arithmetic and obtain the value of thrust of engine output.The tractive force changing value computing unit is used to be obtained according to each moment
The tractive force changing value Δ F in setting time is calculated in the tractive force of engine output obtained.The acceleration change value meter
It calculates the acceleration calculation that unit is used to obtain according to each moment and obtains the acceleration change value Δ a in setting time.The matter
Computing unit is measured according to formula m=Δ F/ Δ a, the vehicular gross combined weight in setting time is calculated.The average calculation unit
Average gross mass is calculated, and using the average gross mass as the vehicle according to the vehicular gross combined weight in each setting time
Gross mass.
Specifically, car-mounted terminal collection vehicle CAN bus data, and obtain acceleration information from built-in gyroscope.Vehicle
Mounted terminal judges that whether demand is filtered out current state, carries out load-carrying calculating if not filtering out according to the information of acquisition.It calculates
Then tractive force Δ F and acceleration Δ a in unit interval obtain quality m, then multiple quality m are averaging processing, obtain
Final load-carrying.
Based on Newton's second law F=ma, can obtain：The size of vehicle acceleration is directly proportional with active force tractive force, with
The gross mass of vehicle is inversely proportional, directly proportional to the inverse of vehicle mass.In automobile application field, the main determining factor of F includes
Engine traction, windage friction power, road friction power, gradient gravity.Vehicle is near in the longitudinal traction suffered by motion process
It is seemingly：F=F (engine)-F (wind)-F (friction)-F (slope), wherein, F (engine) is turned round for engine output
Square is transmitted to the forward driving force on wheel by vehicle transmission system, is directly obtained from CAN bus, and calculates； F
(wind) it is windage suffered by truck, F (friction) is pavement friction resistance suffered by truck, and F (slope) is for truck because of gravity
The resistance being subject in the gradient.
In automobile application field, the numerical measuring of acceleration a can also be obtained by speed difference.Such as, speed signal can derive from
Bridge vehicle speed sensor or instrument vehicle speed data, directly obtain from CAN bus before vehicle.Assuming that the speed CAN message period is T,
Previous moment speed is V1, and later moment in time speed is V2, then in cycle T, vehicle acceleration a=(v2-v1)/T.
In practical applications, F (wind), F (friction), F (slope) only are difficult to accurately estimate by CAN data,
In order to exclude their interference, can be referred to as institute resistant and for Fz, Fz=F (wind)+F (friction)+F (slope).It takes
One shorter interval of delta t, because Δ t is smaller, pavement friction situation approximately equal where truck at this time, place gradient situation institute
Patibhaga-nimitta etc., suffered windage situation approximately equal, therefore suffered resistance tractive force Fz1 and Fz2 are approximately equal, i.e. Fz1-
Fz2 ≈ 0, surrounding time tractive force F1 and F2 difference subtract each other can obtain it is following：Tractive force difference component suffered by vehicle is：F1-F2
=F1 (engine)-F2 (engine)-(Fz1-Fz2), due to Fz1-Fz2 ≈ 0, i.e. Δ F=F1-F2=F1 (engine)-F2
(engine).The influence of road surface, landform and windage to tractive force can be excluded in this way.Vehicular gross combined weight can be by formula m=Δ F/ Δs a
It is calculated.
The microprocessor further includes：Rules unit is filtered out, it is described to filter out rules unit for judging whether vehicle is in
Anxious acceleration, anxious deceleration or clutch are in half-clutch operating mode, if it is, removing the calculating of the vehicular gross combined weight under the operating mode
Value.
Further, which further includes：The gearbox control being connected with CAN bus.The gearbox control according to
The state of clutch sends clutch state message, and the vehicle load measuring device is determined according to the clutch state message
The state of clutch, when clutch is in half-clutch state, the rules unit that filters out removes the period vehicular gross combined weight
Calculated value.
The system further includes：Accelerator pedal position sensor, the output terminal of the accelerator pedal position sensor with it is described
Second input terminal of vehicle load measuring device is connected.The moment of gas pedal is detected in the accelerator pedal position sensor
When changing value is more than setting throttle threshold value, the vehicle load measuring device determines that vehicle is in anxious accelerating mode, described to filter out
Rules unit removes the calculated value of the vehicular gross combined weight under the urgency accelerating mode.
The system further includes：Brake pedal position sensor, the output terminal of the brake pedal position sensor with it is described
The third input terminal of vehicle load measuring device is connected.The moment of brake pedal is detected in the accelerator pedal position sensor
When changing value is more than setting braking threshold, the vehicle load measuring device determines that vehicle is in anxious decelerating mode, described to filter out
Rules unit removes the calculated value of the vehicular gross combined weight under the urgency decelerating mode.
The system further includes：Temperature sensor, the output terminal of the temperature sensor are defeated with the engine controller
Enter end to be connected, the temperature sensor is used to detect the water temperature and oil temperature of vehicle motor.In the water temperature or oil of the engine
When temperature is more than set temperature threshold value, the engine controller sends temperature alarming message, the vehicle load measuring device root
Determine that vehicle motor is in the excessively high operating mode of temperature according to the temperature alarming message, the rules unit that filters out removes the temperature mistake
The calculated value of vehicular gross combined weight under high operating mode.
The car-mounted terminal includes：Wireless communication unit, the car-mounted terminal by the wireless communication unit with it is described
Monitoring center realizes data communication.The wireless communication unit includes：Mobile communication module, bluetooth communication module and wireless local
Net LAN communication modules.
In practical applications, acceleration transducer may be provided in gyroscope.
As it can be seen that the utility model provides a kind of vehicle load measurement system of vehicle load, by vehicle load measuring device with
The CAN communication of engine controller obtains vehicle traction and acceleration, and calculates acquisition vehicular gross combined weight, also using vehicle-mounted end
Vehicular gross combined weight is transmitted to monitoring center by end in real time, is solved existing vehicle and is obtained weight information mainly using weighbridge or re-transmission
Sensor mode obtains, exist measurement spend it is of high cost and cannot in transportational process to vehicle load into dynamic real-time monitor and with
The problem of track, the weight information of vehicle can be monitored in real time, and improve measurement efficiency and reduce measurement cost.
The structure, feature and effect of the utility model are described in detail according to diagrammatically shown embodiment above, with
Upper described is only the preferred embodiment of the utility model, but the utility model is to limit practical range shown in drawing, it is every according to
Change that conception according to the utility model is made or the equivalent embodiment for being revised as equivalent variations, still without departing from specification and figure
When showing covered spirit, it should be within the protection scope of the present utility model.
Claims (10)
1. the vehicle load measurement system of a kind of vehicle load, which is characterized in that engine controller, car-mounted terminal, vehicle load are surveyed
Measure device and acceleration transducer；
The vehicle load measuring device is connected by CAN bus with the engine controller and the car-mounted terminal, described
The first input end of vehicle load measuring device is connected with the output terminal of the acceleration transducer；
The engine controller sends engine output torque message by CAN bus, and the acceleration transducer is used to examine
The acceleration of measuring car traveling, the vehicle load measuring device determine that vehicle is drawn according to the engine output torque message
Power, and vehicular gross combined weight is obtained according to the acceleration calculation；
The vehicle load measuring device also sends vehicular gross combined weight message by CAN bus, and the car-mounted terminal is according to
Vehicular gross combined weight message obtains the vehicular gross combined weight, and passes through communication network and send the vehicular gross combined weight to monitoring center.
2. the vehicle load measurement system of vehicle load according to claim 1, which is characterized in that the vehicle load measures dress
Put including：CAN communication module and microprocessor；
The microprocessor is connected by serial ports with the CAN communication module, and the input terminal of the microprocessor is as the vehicle
The input terminal of load-carrying measuring device；
According to formula F=ma the vehicular gross combined weight is calculated, wherein F is vehicle traction, and m is vehicle in the microprocessor
Gross mass, a is acceleration.
3. the vehicle load measurement system of vehicle load according to claim 2, which is characterized in that the microprocessor includes：
Tractive force computing unit, tractive force changing value computing unit, acceleration change value computing unit, quality calculation unit and mean value meter
Calculate unit；
The tractive force computing unit is used to be calculated the value of thrust of engine output according to engine output torque；
The tractive force that the tractive force changing value computing unit is used for the engine obtained according to each moment output is calculated
Tractive force changing value Δ F in setting time；
The acceleration calculation that the acceleration change value computing unit is used to be obtained according to each moment is obtained in setting time
Acceleration change value Δ a；
The vehicular gross combined weight in setting time is calculated according to formula m=Δ F/ Δ a in the quality calculation unit；
Average gross mass is calculated according to the vehicular gross combined weight in each setting time in the average calculation unit, and by described in
Average gross mass is as the vehicular gross combined weight.
4. the vehicle load measurement system of vehicle load according to claim 3, which is characterized in that the microprocessor also wraps
It includes：Filter out rules unit；
It is described to filter out rules unit for judging whether vehicle is in anxious acceleration, suddenly slow down or clutch is in half-clutch operating mode,
If it is, remove the calculated value of the vehicular gross combined weight under the operating mode.
5. the vehicle load measurement system of vehicle load according to claim 4, which is characterized in that further include：With CAN bus phase
Gearbox control even；
The gearbox control sends clutch state message, the vehicle load measuring device root according to the state of clutch
The state of clutch is determined according to the clutch state message, it is described to filter out regular list when clutch is in half-clutch state
Member removes the calculated value of the period vehicular gross combined weight.
6. the vehicle load measurement system of vehicle load according to claim 5, which is characterized in that further include：Gas pedal position
Put sensor；
The output terminal of the accelerator pedal position sensor is connected with the second input terminal of the vehicle load measuring device；
It is described when the accelerator pedal position sensor detects that the instantaneous variation value of gas pedal is more than setting throttle threshold value
Vehicle load measuring device determines that vehicle is in anxious accelerating mode, and the rules unit that filters out removes vehicle under the urgency accelerating mode
The calculated value of gross mass.
7. the vehicle load measurement system of vehicle load according to claim 6, which is characterized in that further include：Brake pedal position
Put sensor；
The output terminal of the brake pedal position sensor is connected with the third input terminal of the vehicle load measuring device；
It is described when the accelerator pedal position sensor detects that the instantaneous variation value of brake pedal is more than setting braking threshold
Vehicle load measuring device determines that vehicle is in anxious decelerating mode, and the rules unit that filters out removes vehicle under the urgency decelerating mode
The calculated value of gross mass.
8. the vehicle load measurement system of vehicle load according to claim 7, which is characterized in that further include：Temperature sensor；
The output terminal of the temperature sensor is connected with the input terminal of the engine controller, and the temperature sensor is used to examine
Survey the water temperature and oil temperature of vehicle motor；
When the water temperature or oil temperature of the engine are more than set temperature threshold value, the engine controller sends temperature alarming report
Text, the vehicle load measuring device determine that vehicle motor is in the excessively high operating mode of temperature, institute according to the temperature alarming message
State the calculated value for filtering out the vehicular gross combined weight that rules unit is removed under the excessively high operating mode of the temperature.
9. according to the vehicle load measurement system of claim 1 to 8 any one of them vehicle load, which is characterized in that described vehicle-mounted
Terminal includes：Wireless communication unit；
The car-mounted terminal realizes data communication by the wireless communication unit and the monitoring center；
The wireless communication unit includes：Mobile communication module, bluetooth communication module and WLAN LAN communication modules.
10. according to the vehicle load measurement system of claim 1 to 8 any one of them vehicle load, which is characterized in that the acceleration
Degree sensor is arranged in gyroscope.
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| CN201721074680.7U CN207594866U (en) | 2017-08-25 | 2017-08-25 | A kind of vehicle load measurement system of vehicle load |
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| CN201721074680.7U CN207594866U (en) | 2017-08-25 | 2017-08-25 | A kind of vehicle load measurement system of vehicle load |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111717214A (en) * | 2019-03-22 | 2020-09-29 | 长沙智能驾驶研究院有限公司 | Vehicle mass estimation method and device, electronic equipment and storage medium |
| CN112265501A (en) * | 2020-10-26 | 2021-01-26 | 湖南行必达网联科技有限公司 | Method and device for detecting abnormality of trailer steering lamp, storage medium and electronic equipment |
| CN112477877A (en) * | 2019-09-11 | 2021-03-12 | 北汽福田汽车股份有限公司 | Method and device for acquiring vehicle load, storage medium and vehicle |
| 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 |
| CN113639838A (en) * | 2021-09-15 | 2021-11-12 | 安徽江淮汽车集团股份有限公司 | Automatic weighing system for vehicle |
| CN113859253A (en) * | 2021-11-24 | 2021-12-31 | 吉林大学 | Real-time estimation method for quality in vehicle driving process |
| CN115826480A (en) * | 2023-02-20 | 2023-03-21 | 山东兴盛矿业有限责任公司 | Mining is with long-range bidirectional control system |
| CN115914283A (en) * | 2022-11-01 | 2023-04-04 | 东风柳州汽车有限公司 | Method and device for sending axle shoe temperature information, terminal equipment and storage medium |
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2017
- 2017-08-25 CN CN201721074680.7U patent/CN207594866U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111717214A (en) * | 2019-03-22 | 2020-09-29 | 长沙智能驾驶研究院有限公司 | Vehicle mass estimation method and device, electronic equipment and storage medium |
| CN111717214B (en) * | 2019-03-22 | 2021-11-30 | 长沙智能驾驶研究院有限公司 | Vehicle mass estimation method and device, electronic equipment and storage medium |
| CN112477877A (en) * | 2019-09-11 | 2021-03-12 | 北汽福田汽车股份有限公司 | Method and device for acquiring vehicle load, storage medium and vehicle |
| CN112477877B (en) * | 2019-09-11 | 2022-03-04 | 北汽福田汽车股份有限公司 | Method and device for acquiring vehicle load, storage medium and vehicle |
| CN112265501A (en) * | 2020-10-26 | 2021-01-26 | 湖南行必达网联科技有限公司 | Method and device for detecting abnormality of trailer steering lamp, storage medium and electronic equipment |
| 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 |
| CN113639838A (en) * | 2021-09-15 | 2021-11-12 | 安徽江淮汽车集团股份有限公司 | Automatic weighing system for vehicle |
| CN113859253A (en) * | 2021-11-24 | 2021-12-31 | 吉林大学 | Real-time estimation method for quality in vehicle driving process |
| CN113859253B (en) * | 2021-11-24 | 2023-03-07 | 吉林大学 | Real-time estimation method for mass in vehicle driving process |
| CN115914283A (en) * | 2022-11-01 | 2023-04-04 | 东风柳州汽车有限公司 | Method and device for sending axle shoe temperature information, terminal equipment and storage medium |
| CN115914283B (en) * | 2022-11-01 | 2024-04-09 | 东风柳州汽车有限公司 | Method and device for sending shaft hoof temperature information, terminal equipment and storage medium |
| CN115826480A (en) * | 2023-02-20 | 2023-03-21 | 山东兴盛矿业有限责任公司 | Mining is with long-range bidirectional control system |
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