CN105438178B - A kind of vehicle load predictor method and system - Google Patents

A kind of vehicle load predictor method and system Download PDF

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Publication number
CN105438178B
CN105438178B CN201510862559.XA CN201510862559A CN105438178B CN 105438178 B CN105438178 B CN 105438178B CN 201510862559 A CN201510862559 A CN 201510862559A CN 105438178 B CN105438178 B CN 105438178B
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vehicle
vehicle load
load value
value
database
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CN105438178A (en
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刘兴义
陈琳
董英荣
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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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
    • 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

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  • 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 present invention, which provides a kind of vehicle load predictor method and system, methods described, to be included：At the uniform velocity or during giving it the gun, vehicle tractive torque, car speed and vehicle acceleration are periodically detected in vehicle；According to the above-mentioned parameter detected, the vehicle load value at each moment is calculated；The vehicle load value at each moment is sorted according to order from small to large, extract the vehicle load value of top n at different moments, or extraction includes first vehicle load value at the first moment and 1 vehicle load value of other N less than the value, vehicle load value database, N >=3 are formed；The first average value for determining 2 vehicle load values of other N in addition to maximum and minimum value in vehicle load value database is the first vehicle load discreet value.The vehicle load predictor method and system of the present invention, it is possible to achieve accurately estimated to vehicle load in the case of without Slope Transducer, neither increase vehicle cost and the fault rate of vehicle, the precision of vehicle load discreet value can be ensured again.

Description

A kind of vehicle load predictor method and system
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of vehicle load predictor method and system.
Background technology
Vehicle load refers to the goods that vehicle loaded, the quality of passenger.Vehicle load is estimated exactly to can be used for correcting Schedule and other control strategies, and then improve adaptability of the fluid drive vehicle to different operating modes, moreover it is possible to detect vehicle In goods whether in the process of moving lose fall.
There are two kinds to the predictor method of vehicle load in the prior art：
Method one：Slope Transducer is installed on vehicle, obtains the angle of gradient in real time using slope section sensor, and utilize the gradient Angle, the discreet value of vehicle load is calculated in real time.
Method two：Alternately fixed vehicle load and the gradient, both mutually estimate.I.e. fixed vehicle loads, using fixed Vehicle load goes to estimate the gradient, then goes estimation vehicle load using the gradient of estimation as fixed value.
The defects of method one, is：Slope Transducer is installed on vehicle, on the one hand adds the cost of vehicle, the opposing party Face adds the fault rate of vehicle.
The defects of method two, is：In fixed vehicle load and during the gradient, due to both estimated values, estimated value is utilized Go to estimate another value so that the error increase of estimation, influence both estimation precisions.
The content of the invention
The defects of based on prior art, the present invention provide a kind of vehicle load predictor method and system, are not increasing vehicle On the basis of cost and fault rate, solve the prior art technical problem low to vehicle load estimate accuracy.
In a first aspect, the present invention provides a kind of vehicle load predictor method, including：
At the uniform velocity or during giving it the gun, using preset time as the cycle, vehicle tractive torque, car are periodically detected in vehicle Speed and vehicle acceleration；
According to the vehicle tractive torque, car speed and vehicle acceleration detected at different moments, it is corresponding to calculate each moment Vehicle load value；
Vehicle load value corresponding to each moment is sorted according to order from small to large, the car of extraction top n at different moments Load value, form vehicle load value database, N >=3；Or
Extraction includes the first vehicle load value corresponding to the first moment and other N-1 less than first vehicle load value Individual vehicle load value, form vehicle load value database, N >=3；
Determine other N-2 vehicle load values in addition to maximum and minimum value in the vehicle load value database The first average value, using first average value as the first vehicle load discreet value.
Alternatively, methods described also includes：
Obtain the vehicle load value calculated in real time；
According to the vehicle load value calculated in real time, the vehicle load value database is updated；
It is determined that renewal after vehicle load value database in other N-2 vehicles in addition to maximum and minimum value bear Second average value of load value, discreet value is loaded using second average value as real-time vehicle.
Alternatively, the vehicle load value that the basis calculates in real time, the vehicle load value database is updated, including：
When the N+1 vehicle load value is less than the maximum, remove described in the vehicle load value database Maximum, the N+1 vehicle load value is added in the vehicle load value database, forms the vehicle after the renewal Load value database.
Alternatively, methods described also includes：
When meeting preparatory condition, the vehicle load value database is removed；
The vehicle is re-executed at the uniform velocity or during giving it the gun, obtaining a vehicle traction at interval of preset time turns round The step of square, car speed and vehicle acceleration.
Alternatively, it is described according to the vehicle tractive torque, the car speed and the vehicle acceleration, when calculating each Vehicle load value corresponding to quarter, including：
According to the vehicle tractive torque, the car speed and the vehicle acceleration, based on below equation, calculate each Vehicle load value corresponding to moment；
Wherein, m ' is vehicle load value, and T is tractive torque；igFor transmission ratio；ioFor final driver ratio；η For vehicle transmission system efficiency；R is radius of wheel；CDFor coefficient of air resistance；A is vehicle front face area；UaFor car speed；G is Acceleration of gravity；F is coefficient of rolling resistance；δ is vehicle rotary mass conversion coefficient；A is vehicle acceleration.
Second aspect, the present invention provide a kind of vehicle load Prediction System, including：
Parameter acquiring unit, at the uniform velocity or during giving it the gun, using preset time as the cycle, periodically being examined in vehicle Survey vehicle tractive torque, car speed and vehicle acceleration；
Vehicle load value computing unit, for the vehicle detected at different moments obtained according to the parameter acquiring unit Tractive torque, car speed and vehicle acceleration, calculate vehicle load value corresponding to each moment；
Database Component units, for vehicle corresponding to each moment that the vehicle load value computing unit is calculated Load value sorts according to order from small to large, the vehicle load value of storage top n at different moments, forms vehicle load Value Data Storehouse, N >=3；Or include the first vehicle load value corresponding to the first moment and less than first vehicle load value for storing Other N-1 vehicle load values, form vehicle load value database, N >=3；
Vehicle load discreet value determining unit, for the vehicle load for determining to form in the database Component units First average value of other N-2 vehicle load values in addition to maximum and minimum value in Value Data storehouse, by described first Average value is as the first vehicle load discreet value.
Alternatively, the system also includes：
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, updating the vehicle load Value Data Storehouse；
Unit is estimated in real-time vehicle load, for determine in the vehicle load value database after updating except maximum and most Second average value of other N-2 vehicle load values outside small value, loaded using second average value as real-time vehicle pre- Valuation.
Alternatively, the database update unit is specifically used for：
When the N+1 vehicle load value is less than the maximum, remove described in the vehicle load value database Maximum, the N+1 vehicle load value is added in the vehicle load value database, forms the vehicle after the renewal Load value database.
Alternatively, the system also includes：
Database clearing cell, for when meeting preparatory condition, removing the vehicle load value database, and return to ginseng Number acquiring units so that parameter acquiring unit re-executes the vehicle at the uniform velocity or during giving it the gun, at interval of it is default when Between obtain the operation of a vehicle tractive torque, car speed and vehicle acceleration.
Alternatively, the vehicle load value computing unit, is specifically used for：
According to the vehicle tractive torque, the car speed and the vehicle acceleration, based on below equation, calculate each Vehicle load value corresponding to moment；
Wherein, m ' is vehicle load value, and T is tractive torque；igFor transmission ratio；ioFor final driver ratio；η For vehicle transmission system efficiency；R is radius of wheel；CDFor coefficient of air resistance；A is vehicle front face area；UaFor car speed；G is Acceleration of 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 invention and system, it is possible to achieve passed without the gradient Vehicle load is accurately estimated in the case of sensor, neither increases vehicle cost and the fault rate of vehicle, can avoid again The problem of vehicle load estimation precision as caused by mutually being estimated the load estimated and the slope section of estimation is low in the prior art, ensure The precision of vehicle load discreet value.Meanwhile the article loaded in vehicle is lost during the traveling of vehicle or loses, and can also lead to Cross to the monitoring of vehicle load and detect.
Brief description of the drawings
Fig. 1 is the schematic flow sheet for the vehicle load predictor method that one embodiment of the invention provides；
Fig. 2 is the schematic flow sheet for the vehicle load predictor method that another embodiment of the present invention provides；
Fig. 3 is the schematic flow sheet for the vehicle load predictor method that another embodiment of the present invention provides；
Fig. 4 is the structural representation for the vehicle load Prediction System that another embodiment of the present invention provides.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Fig. 1 shows the schematic flow sheet for 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 includes step S11 to S14.
S11, in vehicle at the uniform velocity or during giving it the gun, using preset time as the cycle, it is periodically detected vehicle traction and turns round Square, car speed and vehicle acceleration.
When vehicle is at the uniform velocity or during giving it the gun, i.e. the gas pedal aperture ＞ 0 of vehicle, brake pedal aperture=0 And during the acceleration a of vehicle >=0, using preset time as the cycle, it is periodically detected vehicle tractive torque T, car speed UaAnd car Acceleration a.
Vehicle tractive torque, car speed and the vehicle acceleration that S12, basis detect at different moments, calculate each moment Corresponding vehicle load value.
Based on running car equation, the calculation formula of the vehicle load of derivation is as shown in (1) formula：
Wherein, m is vehicle load actual value, and T is tractive torque；igFor transmission ratio；ioIt is driven for main reducing gear Than；η is vehicle transmission system efficiency；R is radius of wheel；CDFor coefficient of air resistance；A is vehicle front face area；UaFor vehicle speed Degree；G is acceleration of gravity；F is coefficient of rolling resistance；θ is the angle of gradient；δ is vehicle rotary mass conversion coefficient；A adds for vehicle Speed.
If during θ=0, the calculation formula of vehicle load is as shown in (2) formula：
Wherein, vehicle load value when m ' is without the gradient；For vehicle drive force；For air Resistance；δ × a and m ' product is vehicle acceleration resistance；G × f and m ' product is vehicle friction resistance.
Vehicle is at the uniform velocity or when giving it the gun, a >=0, therefore molecule and denominator are both greater than 0 in formula (2).
Assuming that 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 are Δ=f × (cos θ -1)+sin θ >=cos θ -1+sin θ (4)
Due to as 0 °≤θ≤90 °, (sin θ+cos θ)2=1+2sin θ cos θ >=1, derives sin θ+cos θ >=1, it is known that Δ >=0, i.e.,
f×cosθ+sinθ≥f (5)
From formula (1) (2) (5), there is m ' >=m.
In the present embodiment, when vehicle is travelling on the slope for have the angle of gradient, born according to vehicle corresponding to angle of gradient θ=0 The calculation formula of load, i.e. formula (2) calculate.
S13, vehicle load value corresponding to each moment is sorted according to order from small to large, extraction top n is at different moments Vehicle load value, form vehicle load value database, N >=3.
Vehicle calculates according to formula (2) all the time at the uniform velocity or when giving it the gun, then as actual grade angle θ=0, then counts Obtained vehicle load value is equal to actual vehicle load value, when there is the gradient, i.e. actual grade angle θ ＞ 0, is then calculated Vehicle load value be more than actual vehicle load value.
Therefore, vehicle load value corresponding to each moment is first calculated, and by each vehicle load value according to order from small to large Sequence, extraction top n vehicle load value at different moments, minimum N number of value, is formed in each vehicle load value just calculated Vehicle load value database.N >=3 are required herein.
S14, determine that other N-2 vehicles in addition to maximum and minimum value in the vehicle load value database are born First average value of load value, using first average value as the first vehicle load discreet value.
The maximum and minimum value of N number of vehicle load value of storage are removed, calculates the of remaining N-2 vehicle load value One average value, using this first average value as the first vehicle load discreet value.
Vehicle load predictor method disclosed in the present embodiment, it is possible to achieve born in the case of without Slope Transducer to vehicle It is loaded into row accurately to estimate, neither increases vehicle cost and the fault rate of vehicle, the precision of vehicle load discreet value can be ensured again. Meanwhile the article loaded in vehicle is lost during the traveling of vehicle or loses, also can by the monitoring to vehicle load and Detect.
Fig. 2 shows the schematic flow sheet for the vehicle load predictor method that another embodiment of the present invention provides.Such as Fig. 2 institutes Show, the vehicle load predictor method of the present embodiment includes step S21 to S24.
S21, in vehicle at the uniform velocity or during giving it the gun, using preset time as the cycle, it is periodically detected vehicle traction and turns round Square, car speed and vehicle acceleration.
Vehicle tractive torque, car speed and the vehicle acceleration that S22, basis detect at different moments, calculate each moment Corresponding vehicle load value.
S23, extraction include the first vehicle load value corresponding to the first moment and its less than first vehicle load value Its N-1 vehicle load value, form vehicle load value database, N >=3.
Using the first vehicle load value corresponding to the first moment as maximum, each car corresponding to the other moment being calculated Compared with the first vehicle load value, extraction is total to less than N-1 vehicle load value of the first vehicle load value for load value N number of vehicle load value, vehicle load value database is formed, equally requires N >=3 herein.
S24, determine that other N-2 vehicles in addition to maximum and minimum value in the vehicle load value database are born First average value of load value, using first average value as the first vehicle load discreet value.
Vehicle load predictor method disclosed in the present embodiment, it is possible to achieve born in the case of without Slope Transducer to vehicle It is loaded into row accurately to estimate, neither increases vehicle cost and the fault rate of vehicle, the precision of vehicle load discreet value can be ensured again. Meanwhile the article loaded in vehicle is lost during the traveling of vehicle or loses, also can by the monitoring to vehicle load and Detect.
Fig. 3 shows the schematic flow sheet for the vehicle load predictor method that another embodiment of the present invention provides.Such as Fig. 3 institutes Show, the vehicle load predictor method of the present embodiment includes step S31 to S312.
S31, beginning.
S32, judge the whether upper electricity of vehicle and at the uniform velocity or state of giving it the gun.
If it is, performing S33, S312 is otherwise performed.
S33, using preset time as the cycle, be periodically detected vehicle tractive torque, car speed and vehicle acceleration.
Vehicle tractive torque, car speed and the vehicle acceleration that S34, basis detect at different moments, calculate each moment Corresponding vehicle load value.
S35, extraction include the first vehicle load value corresponding to the first moment and its less than first vehicle load value Its N-1 vehicle load value, form vehicle load value database, N >=3.
S36, determine that other N-2 vehicles in addition to maximum and minimum value in the vehicle load value database are born First average value of load value, using first average value as the first vehicle load discreet value.
S37, judge whether vehicle meets preparatory condition.
If it is, performing S38 ', S38 is otherwise performed.
Preparatory condition herein refer to various situations caused by vehicle load change.
Such as bus is after stop-start, because the flowing of passenger on car causes vehicle load that apparent change occurs Change, such a situation can be by detecting the travel speed of vehicle by 0 gradual increased change curve, to determine the travel conditions of vehicle Meet preparatory condition.
In another example vehicle is during deceleration, passenger dishes out the article with certain mass, or the outer personnel of car to outside car During to article of the in-car increase with certain mass, such a situation can be less than 0 situation by detecting the acceleration of vehicle, come true The travel conditions for determining vehicle meet preparatory condition.
S38 ', remove vehicle load value database.
The vehicle load value that S38, acquisition calculate in real time.
S39, judge whether the N+1 vehicle load value is less than maximum.
If it is, performing S310, otherwise, return and perform S38.
S310, renewal vehicle load value database.
S311, determine that other N-2 in addition to maximum and minimum value in the vehicle load value database after updating are individual Second average value of vehicle load value, discreet value is loaded using second average value as real-time vehicle.
After having performed S311, return and perform S38.
S312, end.
When only vehicle power-off or vehicle are in deceleration regime, terminate the acquisition and calculating to each parameter, therefore, S38 In the vehicle load value that calculates of acquisition can also stop, 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 vehicles (such as bus or lorry) stop After starting, vehicle load changes caused by the quantity of passenger on car or the quality of goods change, can be more accurate The load value for estimating all types of vehicles.
Fig. 4 shows the structural representation for 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 includes：Parameter acquiring unit 401, vehicle load value computing unit 402, database structure Into unit 403 and vehicle load discreet value determining unit 404.Wherein：
Parameter acquiring unit 401, in vehicle at the uniform velocity or during giving it the gun, using preset time as the cycle, the cycle Property detection vehicle tractive torque, car speed and vehicle acceleration；
Vehicle load value computing unit 402, for detecting at different moments of being obtained according to the parameter acquiring unit Vehicle tractive torque, car speed and vehicle acceleration, calculate vehicle load value corresponding to each moment；
Database Component units 403, for corresponding to each moment that the vehicle load value computing unit is calculated Vehicle load value sorts according to order from small to large, the vehicle load value of storage top n at different moments, forms vehicle load value Database, N >=3；Or include the first vehicle load value corresponding to the first moment and less than first vehicle load for storing Other N-1 vehicle load values of value, form vehicle load value database, N >=3；
Vehicle load discreet value determining unit 404, for the vehicle for determining to form in the database Component units First average value of other N-2 vehicle load values in addition to maximum and minimum value in load value database, by described in First average value is as the first vehicle load discreet value.
Vehicle load predictor method disclosed in the present embodiment, it is possible to achieve born in the case of without Slope Transducer to vehicle It is loaded into row accurately to estimate, neither increases vehicle cost and the fault rate of vehicle, the precision of vehicle load discreet value can be ensured again. Meanwhile the article loaded in vehicle is lost during the traveling of vehicle or loses, also can by the monitoring to vehicle load and Detect.
In a specific example, the real time data that above-mentioned vehicle load Prediction System also includes not shown in Fig. 4 obtains Unit, database update unit and real-time vehicle load is taken to estimate 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, updating the vehicle load Value Data Storehouse；
Unit is estimated in real-time vehicle load, for determine in the vehicle load value database after updating except maximum and most Second average value of other N-2 vehicle load values outside small value, loaded using second average value as real-time vehicle pre- Valuation.
In a specific example, database update unit is specifically used for：
When the N+1 vehicle load value is less than the maximum, remove described in the vehicle load value database Maximum, the N+1 vehicle load value is added in the vehicle load value database, forms the vehicle after the renewal Load value database.
In a specific example, the database that above-mentioned vehicle load Prediction System also includes not shown in Fig. 4 is removed Unit, for when meeting preparatory condition, removing the vehicle load value database, and return parameters acquiring unit, so that ginseng Number acquiring units re-execute the vehicle at the uniform velocity or during giving it the gun, and a vehicle traction is obtained at interval of preset time The operation of moment of torsion, car speed and vehicle acceleration.
Preparatory condition herein is similar with the preparatory condition of method shown in Fig. 3, and here is omitted.
The vehicle load Prediction System of the present embodiment has taken into full account that some vehicles (such as bus or lorry) stop After starting, vehicle load changes caused by the quantity of passenger on car or the quality of goods change, can be more accurate The load value for estimating all types of vehicles.
The vehicle load predictor method and system of the present invention, it is possible to achieve born in the case of without Slope Transducer to vehicle It is loaded into row accurately to estimate, neither increases vehicle cost and the fault rate of vehicle, can avoids again negative by what is estimated in the prior art The problem of vehicle load estimation precision caused by mutually being estimated with the slope section of estimation is low is carried, ensures the essence of vehicle load discreet value Degree.Meanwhile the article loaded in vehicle is lost during the traveling of vehicle or loses, and can also pass through the monitoring to vehicle load And detect.
One of ordinary skill in the art will appreciate that：Various embodiments above is merely illustrative of the technical solution of the present invention, and It is non-that it is limited；Although the present invention is described in detail with reference to foregoing embodiments, one of ordinary skill in the art It should be understood that：It can still modify to the technical scheme described in foregoing embodiments, either to which part or All technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this hair Bright claim limited range.

Claims (10)

  1. A kind of 1. vehicle load predictor method, it is characterised in that including：
    In vehicle at the uniform velocity or during giving it the gun, using preset time as the cycle, vehicle tractive torque, vehicle speed are periodically detected Degree and vehicle acceleration；
    According to the vehicle tractive torque, car speed and vehicle acceleration detected at different moments, car corresponding to each moment is calculated Load value；
    Vehicle load value corresponding to each moment is sorted according to order from small to large, the vehicle of extraction top n at different moments is born Load value, form vehicle load value database, N >=3；Or
    Extraction includes the first vehicle load value corresponding to the first moment and other N-1 cars less than first vehicle load value Load value, form vehicle load value database, N >=3；
    Determine of other N-2 vehicle load values in addition to maximum and minimum value in the vehicle load value database One average value, using first average value as the first vehicle load discreet value.
  2. 2. according to the method for claim 1, it is characterised in that methods described also includes：
    Obtain the vehicle load value calculated in real time；
    According to the vehicle load value calculated in real time, the vehicle load value database is updated；
    It is determined that renewal after vehicle load value database in other N-2 vehicle load values in addition to maximum and minimum value The second average value, using second average value as real-time vehicle load discreet value.
  3. 3. according to the method for claim 2, it is characterised in that the vehicle load value that the basis calculates in real time, renewal The vehicle load value database, including：
    When the N+1 vehicle load value is less than the maximum, the maximum in the vehicle load value database is removed Value, the N+1 vehicle load value is added in the vehicle load value database, forms the vehicle load after the renewal Value Data storehouse.
  4. 4. according to the method for claim 1, it is characterised in that methods described also includes：
    When meeting preparatory condition, the vehicle load value database is removed；
    The vehicle is re-executed at the uniform velocity or during giving it the gun, at interval of preset time obtain a vehicle tractive torque, The step of car speed and vehicle acceleration.
  5. 5. according to the method for claim 1, it is characterised in that described according to the vehicle tractive torque, vehicle speed Degree and the vehicle acceleration, calculate vehicle load value corresponding to each moment, including：
    According to the vehicle tractive torque, the car speed and the vehicle acceleration, based on below equation, each moment is calculated Corresponding vehicle load value；
    <mrow> <msup> <mi>m</mi> <mo>&amp;prime;</mo> </msup> <mo>=</mo> <mfrac> <mrow> <mfrac> <mrow> <mi>T</mi> <mo>&amp;times;</mo> <msub> <mi>i</mi> <mi>g</mi> </msub> <mo>&amp;times;</mo> <msub> <mi>i</mi> <mi>o</mi> </msub> <mo>&amp;times;</mo> <mi>&amp;eta;</mi> </mrow> <mi>r</mi> </mfrac> <mo>-</mo> <mfrac> <mrow> <msub> <mi>C</mi> <mi>D</mi> </msub> <mo>&amp;times;</mo> <mi>A</mi> <mo>&amp;times;</mo> <msup> <msub> <mi>U</mi> <mi>a</mi> </msub> <mn>2</mn> </msup> </mrow> <mn>21.15</mn> </mfrac> </mrow> <mrow> <mi>g</mi> <mo>&amp;times;</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;delta;</mi> <mo>&amp;times;</mo> <mi>a</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
    Wherein, m ' is vehicle load value, and T is tractive torque；igFor transmission ratio；ioFor final driver ratio；η is car Drive line efficiency；R is radius of wheel；CDFor coefficient of air resistance；A is vehicle front face area；UaFor car speed；G is gravity Acceleration；F is coefficient of rolling resistance；δ is vehicle rotary mass conversion coefficient；A is vehicle acceleration.
  6. A kind of 6. vehicle load Prediction System, it is characterised in that including：
    Parameter acquiring unit, at the uniform velocity or during giving it the gun, using preset time as the cycle, being periodically detected car in vehicle Tractive torque, car speed and vehicle acceleration；
    Vehicle load value computing unit, for the vehicle detected at different moments the traction obtained according to the parameter acquiring unit Moment of torsion, car speed and vehicle acceleration, calculate vehicle load value corresponding to each moment；
    Database Component units, for vehicle load corresponding to each moment that the vehicle load value computing unit is calculated Value sorts according to order from small to large, the vehicle load value of storage top n at different moments, forms vehicle load value database, N ≥3；Or include the first vehicle load value corresponding to the first moment and other less than first vehicle load value for storing N-1 vehicle load value, form vehicle load value database, N >=3；
    Vehicle load discreet value determining unit, for the vehicle load value number for determining to form in the database Component units According to the first average value of other N-2 vehicle load values in addition to maximum and minimum value in storehouse, described first is averaged Value is used as the first vehicle load discreet value.
  7. 7. system according to claim 6, it is characterised in that the system also includes：
    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, updating the vehicle load value database；
    Unit is estimated in real-time vehicle load, for determining to remove maximum and minimum value in the vehicle load value database after updating Outside other N-2 vehicle load values the second average value, using second average value as real-time vehicle load discreet value.
  8. 8. system according to claim 7, it is characterised in that the database update unit is specifically used for：
    When the N+1 vehicle load value is less than the maximum, the maximum in the vehicle load value database is removed Value, the N+1 vehicle load value is added in the vehicle load value database, forms the vehicle load after the renewal Value Data storehouse.
  9. 9. system according to claim 6, it is characterised in that the system also includes：
    Database clearing cell, for when meeting preparatory condition, removing the vehicle load value database, and return parameters obtain Unit is taken, so that parameter acquiring unit re-executes the vehicle at the uniform velocity or during giving it the gun, is obtained at interval of preset time Take the operation of a vehicle tractive torque, car speed and vehicle acceleration.
  10. 10. system according to claim 6, it is characterised in that the vehicle load value computing unit, be specifically used for：
    According to the vehicle tractive torque, the car speed and the vehicle acceleration, based on below equation, each moment is calculated Corresponding vehicle load value；
    <mrow> <msup> <mi>m</mi> <mo>&amp;prime;</mo> </msup> <mo>=</mo> <mfrac> <mrow> <mfrac> <mrow> <mi>T</mi> <mo>&amp;times;</mo> <msub> <mi>i</mi> <mi>g</mi> </msub> <mo>&amp;times;</mo> <msub> <mi>i</mi> <mi>o</mi> </msub> <mo>&amp;times;</mo> <mi>&amp;eta;</mi> </mrow> <mi>r</mi> </mfrac> <mo>-</mo> <mfrac> <mrow> <msub> <mi>C</mi> <mi>D</mi> </msub> <mo>&amp;times;</mo> <mi>A</mi> <mo>&amp;times;</mo> <msup> <msub> <mi>U</mi> <mi>a</mi> </msub> <mn>2</mn> </msup> </mrow> <mn>21.15</mn> </mfrac> </mrow> <mrow> <mi>g</mi> <mo>&amp;times;</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;delta;</mi> <mo>&amp;times;</mo> <mi>a</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
    Wherein, m ' is vehicle load value, and T is tractive torque；igFor transmission ratio；ioFor final driver ratio；η is car Drive line efficiency；R is radius of wheel；CDFor coefficient of air resistance；A is vehicle front face area；UaFor car speed；G is gravity Acceleration；F is coefficient of rolling resistance；δ is vehicle rotary mass conversion coefficient；A is vehicle acceleration.
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