CN105667521B - A kind of method and system for being used to calculate vehicular gross combined weight - Google Patents

A kind of method and system for being used to calculate vehicular gross combined weight Download PDF

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Publication number
CN105667521B
CN105667521B CN201610221361.8A CN201610221361A CN105667521B CN 105667521 B CN105667521 B CN 105667521B CN 201610221361 A CN201610221361 A CN 201610221361A CN 105667521 B CN105667521 B CN 105667521B
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vehicle
engine
speed
bivariate table
combined weight
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CN105667521A (en
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白雪松
冯根奇
张子寒
林安
陈小磊
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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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W40/08—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 drivers or passengers
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0657—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0666—Engine power
    • 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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope

Abstract

The present invention discloses a kind of method and system for being used to calculate vehicular gross combined weight.Wherein, methods described includes：Obtain the vehicle to be in without the first engine output corresponding to multiple travel speeds difference under domatic at the uniform velocity transport condition, form the first bivariate table；Obtain the vehicle and be in the second engine output corresponding to the multiple travel speeds difference given it the gun under state or up-hill journey state, the second bivariate table of formation；The gross mass of the vehicle is calculated according to first bivariate table and second bivariate table.The present invention can not only improve the accuracy and confidence level of vehicular gross combined weight, but also can improve the economy and security of vehicle operation.

Description

A kind of method and system for being used to calculate vehicular gross combined weight
Technical field
The present invention relates to Mass Calculation field, in particular it relates to which a kind of be used to calculate the method for vehicular gross combined weight and be System.
Background technology
At present, increasing loading class vehicle starts to apply advanced electronic control system, such as electric brake system (EBS), electric stabilizing system (ESP) etc., gross vehicle load is arranged to control parameter by these systems, while is being run into such as The more arteries and veins spectrum engines of more power, during the selection of a variety of schedules of automatic gear-box, vehicular gross combined weight is also an important consideration Parameter.Vehicular gross combined weight is arranged to certain value parameter by ordinary circumstance, each electronic system.But present situation is, loading class vehicle exists There is the change of larger vehicular gross combined weight between unloaded and fully loaded, it is difficult to predict in advance, if actual vehicle gross mass and Department of Electronics The vehicular gross combined weight initially set of uniting is widely different, then system control accuracy can be caused not high, control failure, or even has a strong impact on To the driving safety of vehicle.
The Patents of existing estimation vehicular gross combined weight, are mainly divided to two major classes from method：First, pass through external detection Device, such as patent 201210042513.X are measured between vehicle frame and vehicle bridge by the position sensor between vehicle frame and vehicle bridge The deflection of decrement, i.e. leaf spring, to speculate to obtain the rest mass of vehicle；Second, being based on vehicle vehicle dynamics equation, transport With various sensors, draw the information such as the acceleration of vehicle, speed, the gradient, by ECU (Engine Control Unit, Control unit of engine) in engine operation information (such as：Rotating speed, torque etc.) extraction, pushed away with kinetic balance equation Calculate the gross mass of vehicle.The quality of the method measurement measures under state of motion of vehicle, and such patent is numerous, from method On see and also have nothing in common with each other.
For above-mentioned second method, Patents have the characteristics of individual common, i.e. the coefficient of rolling resistance f of vehicle, sky Vapour lock force coefficient CD, front face area A etc. assumes that known, and gives definite value and has been pre-stored in memory, so sets It is fixed just extremely improper.Because coefficient of rolling resistance f can be by the shadow of the factors such as pavement behavior, speed, Tyre structure, material, tire pressure Ring, and range is very big.Equally, for coefficient of air resistance CD, first, being difficult to test and make the C of some truckDTool Body value, second, vehicle affects C exposed to the outer shape of environmentDValue, such as compartment whether there is tarpaulin, and goods is piled up neat Whether C is all affectedDThe size of value.Tractor-trailer train is hung on front face area A, and individual variable that can not be predetermined, such as half, Goods, which is stacked, to be compared rearward, and air-flow polymerize after around driver's cabin and runs into the secondary stop of formation of goods.Therefore, for loading Class vehicle, the method that vehicular gross combined weight is retrodicted according to power balance equation, any coefficient of rolling resistance f vehicle, air resistance Force coefficient CD, it is all not rigorous that front face area A, which is defined as known, and the vehicular gross combined weight necessarily tried to achieve has larger mistake Difference.
The content of the invention
It is an object of the invention to provide a kind of method and system for being used to calculate vehicular gross combined weight.Wherein, methods described The accuracy and confidence level of vehicular gross combined weight can not only be improved, but also the economy and safety of vehicle operation can be improved Property.
To achieve these goals, the present invention provides a kind of method for calculating vehicular gross combined weight.Methods described includes：
Obtain the vehicle and be in and corresponding first start respectively without multiple travel speeds under domatic at the uniform velocity transport condition Machine power output, form the first bivariate table；
The vehicle is obtained to be in corresponding to the multiple travel speeds difference given it the gun under state or up-hill journey state Second engine output, form the second bivariate table；
The gross mass of the vehicle is calculated according to first bivariate table and second bivariate table.
Alternatively, the acquisition vehicle is in corresponds to respectively without multiple travel speeds under domatic at the uniform velocity transport condition The first engine output, formed the first bivariate table, specifically include：
In the case where the travel speed for judging the vehicle reaches pre-set velocity, the travel speed institute of the vehicle is obtained Corresponding engine speed, motor torque, acceleration, road grade and accelerator pedal position；
Judge whether the vehicle is located according to the engine speed, accelerator pedal position, acceleration and road grade In without domatic at the uniform velocity transport condition；
In the case where judging that the vehicle is in without domatic at the uniform velocity transport condition, according to the engine speed and described The first engine output corresponding to the travel speed is calculated in motor torque.
Alternatively, it is described according to judging the engine speed, accelerator pedal position, acceleration and road grade Whether vehicle is in without domatic at the uniform velocity transport condition, is specifically included：
In first preset time period and second preset time period related to t, judge the engine speed and Whether the accelerator pedal position fluctuates within a preset range, and judges the acceleration and the road grade near null value Fluctuation range whether be in preset range；
Judging that the engine speed and the accelerator pedal position fluctuate within a preset range, and the acceleration and In the case that fluctuation range of the road grade near null value is in preset range, then the vehicle be in without it is domatic at the uniform velocity Transport condition, otherwise, the vehicle are not at without domatic at the uniform velocity transport condition,
Wherein, t represent to obtain engine speed corresponding to the travel speed of the vehicle, motor torque plus At the time of speed, road grade and accelerator pedal position.
Alternatively, it is described to obtain the vehicle in the multiple travel speeds given it the gun under state or up-hill journey state Second engine output corresponding to respectively, the second bivariate table is formed, is specifically included：
In the case where the travel speed for judging the vehicle reaches pre-set velocity, the travel speed institute of the vehicle is obtained Corresponding acceleration and road grade；
Judge whether the acceleration or the road grade are more than default threshold value；
In the case where judging that the acceleration or the road grade are more than default threshold value, the row of the vehicle is obtained Sail the engine speed and motor torque corresponding to speed；
The second hair according to corresponding to being calculated the travel speed in the engine speed and the motor torque Motivation power output.
Alternatively, methods described also includes：
The described 2nd 2 is formed according to the travel speed, acceleration, road grade and the second engine output Dimension table.
Alternatively, total matter that the vehicle is calculated according to first bivariate table and second bivariate table Amount, is specifically included：
The 3rd according to corresponding to being calculated each travel speed in second bivariate table in first bivariate table starts Machine power output；
Ask for the second engine output and trimotor output work of each travel speed in second bivariate table The difference of rate；
According to corresponding to being calculated each travel speed in second bivariate table in the difference and second bivariate table Vehicular gross combined weight；
To the vehicular gross combined weight averaged, the gross mass of the vehicle is obtained.
Correspondingly, the present invention also provides a kind of system for calculating vehicular gross combined weight.The system includes：
Sensor, for measuring vehicle acceleration in the process of moving and the road grade residing for the vehicle；
Acquisition device, for obtaining the travel speed of the vehicle in the process of moving；
Control unit of engine, the arteries and veins spectrogram of the part throttle characteristics for storing the vehicle motor；
Controller, it is connected with the sensor, acquisition device and control unit of engine, for according to the acceleration Degree, travel speed, road grade and arteries and veins spectrogram obtain the vehicle and are in without multiple travelings under domatic at the uniform velocity transport condition First engine output corresponding to speed difference, forms the first bivariate table；Obtain the vehicle and be in state of giving it the gun Or the second engine output corresponding to multiple travel speeds difference under up-hill journey state, form the second bivariate table；With And the gross mass of the vehicle is calculated according to first bivariate table and second bivariate table.
Alternatively, the system also includes：
Display device, it is connected with the controller, for showing the gross mass of the vehicle.
Alternatively, the system also includes：
Input unit, it is connected with the controller, for the clear and definite vehicular gross combined weight of driver to be inputted into the controller, To cause the controller according to the clear and definite vehicular gross combined weight amendment machinery driving efficiency of driver.
Correspondingly, the present invention also provides a kind of vehicle.The vehicle includes being used for the system for calculating vehicular gross combined weight.
Pass through above-mentioned technical proposal, obtain vehicle and be in right respectively without multiple travel speeds under domatic at the uniform velocity transport condition The first engine output answered, the first bivariate table is formed, and obtain vehicle and be in give it the gun state or up-hill journey Second engine output corresponding to multiple travel speeds difference under state, forms the second bivariate table；And according to the one or two The gross mass of vehicle is calculated in dimension table and the second bivariate table, can not only improve the accuracy and confidence level of vehicular gross combined weight, But also the economy and security of vehicle operation can be improved.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described.It should be evident that drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these figures.
Fig. 1 is the flow chart for being used to calculate the method for vehicular gross combined weight that one embodiment of the invention provides；
Fig. 2 is the structural representation for being used to calculate the system of vehicular gross combined weight that one embodiment of the invention provides.
Description of reference numerals
The controller of 11 sensor, 12 acquisition device, 13 control unit of engine 14
The input unit of 15 display device 16
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
Fig. 1 is the flow chart for being used to calculate the method for vehicular gross combined weight that one embodiment of the invention provides.As shown in figure 1, The method for being used to calculate vehicular gross combined weight that one embodiment of the invention provides includes：
In step S101, obtain the vehicle and be in right respectively without multiple travel speeds under domatic at the uniform velocity transport condition The first engine output answered, form the first bivariate table.
Specifically, the step includes：In the case where the travel speed for judging the vehicle reaches pre-set velocity, institute is obtained State engine speed, motor torque, acceleration, road grade and the accelerator pedal position corresponding to the travel speed of vehicle Put；Judge whether the vehicle is in without slope according to the engine speed, accelerator pedal position, acceleration and road grade Face at the uniform velocity transport condition；In the case where judging that the vehicle is in without domatic at the uniform velocity transport condition, turned according to the engine The first engine output corresponding to the travel speed is calculated in fast and described motor torque.
More specifically, it is described to be judged according to the engine speed, accelerator pedal position, acceleration and road grade Whether the vehicle is in without domatic at the uniform velocity transport condition, is specifically included：In first preset time period related to t and In two preset time periods, judge whether the engine speed and the accelerator pedal position fluctuate within a preset range, and sentence Whether the disconnected fluctuation range of the acceleration and the road grade near null value is in preset range；Starting described in judgement Machine rotating speed and the accelerator pedal position fluctuate within a preset range, and the acceleration and the road grade are near null value Fluctuation range be in preset range in the case of, then the vehicle be in without domatic at the uniform velocity transport condition, otherwise, the vehicle It is not at without domatic at the uniform velocity transport condition, wherein, the engine that t represents to obtain corresponding to the travel speed of the vehicle turns At the time of speed, motor torque, acceleration, road grade and accelerator pedal position.
It is well known that vehicle on flat road surface when travelling, and it is constant in speed, in the state of no gradient, engine Power output Pe(the first engine output) is as follows with travel speed ν relation：
In formula, PeEngine output is represented, its unit is kW, ηTMachinery driving efficiency is represented, m represents the total of vehicle Quality, g represent acceleration of gravity, and f represents coefficient of rolling resistance, CDCoefficient of air resistance is represented, A represents front face area, and ν is represented The travel speed of vehicle.
Due to parameter f, CDAnd A is unknown and is difficult to determine exact value for loading class vehicle, so further through formula (2) To determine the power output P of enginee：
In formula, TeRepresent motor torque, neRepresent engine speed.Wherein, neCan be from control unit of engine directly Read (typically converting to obtain by engine angular velocity omega).In order to obtain motor torque Te, it is necessary to engine is entered in advance Rower is determined, and by the part throttle characteristics data storage of engine in control unit of engine, then from control unit of engine Directly read motor torque numerical value.
It should be noted that the arteries and veins spectrogram (MAP) of Engine Load Characteristics is to be carried out according to experimental prototype on testing stand What experiment determined, this process is referred to as the demarcation of engine.For example, the application will produce the arteries and veins spectrogram of Engine Load Characteristics, Can be by engine speed neSet one by one with load, while motor torque T is measured with dynamometer machinee, to all rotating speeds and load weight The experiment of the multiple above, determines enough points, eventually forms the arteries and veins spectrogram of Engine Load Characteristics.Wherein, engine speed Unit is r/min, and load is generally represented with accelerator pedal position.Preferably, in order to improve precision, by rotating speed and can also add Speed pedal position is divided thinner, and obtained data are exactly engine in each group of rotating speed (ne) and accelerator pedal position (throttle is opened Degree) under corresponding motor torque (Te), data are finally stored in the read-only of control unit of engine in the form of bivariate table and deposited In reservoir ROM.When engine is run, the torque of engine is can obtain as long as being tabled look-up according to operating mode.Due to bivariate table Data total amount is limited discrete magnitude, and the rotating speed and load during actual motion can be arbitrary values, so controller is in reality It is determined that often use two-dimensional linear interpolation method during amount.
After vehicle launch, start vehicular gross combined weight computing system, when the travel speed of vehicle reaches a certain setting speed (example Such as 30km/h), and the gear residing for gearbox be not at it is low three gear when, controller proceeds by the collection of data.Controller leads to Cross CAN lines to be communicated with control unit of engine, the real-time torque (T of engine of the vehicle under arbitrary speed can be obtainede) And rotating speed (ne), while controller receives the information of gravity accelerometer, is by internal preset logic judgment vehicle It is no at the uniform velocity, without gradient transport condition, if so, then under this speed engine real-time torque (Te) and rotating speed (ne) parameter has Effect, the power output P of engine is calculated according to formula (2)e, can store data in the register RAM of controller.
Because when vehicle is run in reality, speed is fluctuation, and it is only a kind of relative concept at the uniform velocity to travel, and the gradient is " 0 " and relative, to judge that whether at the uniform velocity, travel without the gradient vehicle, need to meet following condition in certain time point t：
Vehicle is in (t-1~t~t+1) in two periods being formed at this 3 time points, engine speed ne, and accelerate Pedal position signal (accelerator open degree) fluctuates in a certain defined a small range respectively, and fluctuation range is no more than defined scope Value；The information obtained simultaneously according to gravity accelerometer, the acceleration a of vehicle and the road grade θ measured are attached in " 0 " value Nearly fluctuation, fluctuation range is respectively in prespecified scope, and now can determine that vehicle is at the uniform velocity, without the gradient to travel, i.e. t Motor torque (the T collectede) and rotating speed (ne) effectively.It should be noted that the acceleration of vehicle can be passed by acceleration of gravity Sensor measures, and the angle of gradient θ of road can be by measuring component g of the acceleration of gravity in X-axisxObtain：
θ=arcsin gx/g
From the above mentioned, certain moment point t engine output is obtained by formula (2), and now corresponding car speed ν can Directly read from instrument or Tachographs.
For the sequential digit values collected, speed ν scope may be defined as in 30~70km/h, be not restricted to this certainly, And each speed point should be opened uniformly, it is impossible to excessively centralised or decentralised.
By the speed collected, power (v-Pe) series of values is stored in the RAM of controller in the form of bivariate table.Such as Shown in table 1 below：
(the v-P of table 1e) series of values
Speed Power
v1 Pe1
v2 Pe2
v3 Pe3
…… ……
Then, in step s 102, it is multiple under state of giving it the gun or up-hill journey state to obtain the vehicle Second engine output corresponding to travel speed difference, forms the second bivariate table.
Specifically, the step includes：In the case where the travel speed for judging the vehicle reaches pre-set velocity, institute is obtained State the acceleration and road grade corresponding to the travel speed of vehicle；Judge whether the acceleration or the road grade are more than Default threshold value；In the case where judging that the acceleration or the road grade are more than default threshold value, the vehicle is obtained Travel speed corresponding to engine speed and motor torque；According to the engine speed and the motor torque meter Calculation obtains the second engine output corresponding to the travel speed.
More specifically, methods described also includes：According to the travel speed, acceleration, road grade and the second hair Motivation power output forms second bivariate table.
Vehicle is in order to accelerate (or climbing), it is necessary to engine sends bigger power, at this time, it may be necessary to open up the engine, Increase fuel delivery, according to the arteries and veins spectrogram of Engine Load Characteristics, read corresponding engine speed (ne), accelerator pedal position (oil Door aperture) under corresponding motor torque (Te), and engine is tried to achieve in the case where accelerating (or climbing) state according to above formula (2) Engine output Pa(the second engine output), and the automobile's instant velocity at this moment is write down simultaneously.
It is in vehicle and is examined without the information gathering identical principle under the gradient at the uniform velocity transport condition, sensor-based precision Consider, when acceleration a or angle of gradient θ be greater than some setting threshold value, just beginning data acquisition.Because engine is defeated in the presence of itself The time lag phenomenon for entering-exporting is, it is necessary to which the logic that prestored inside controller carries out Effective judgement to collection information.
The packet of collection contains three kinds of vehicle running states：Given it the gun without the gradient, have the gradient (upward slope) at the uniform velocity travel or There is the gradient (upward slope) to give it the gun, the gathered data under these three transport conditions is virtual value.It is required that to gathered data Each speed point should uniformly open, it is impossible to it is excessively centralised or decentralised.
Similarly, by the speed collected, acceleration, the gradient, power (v-a- θ-Pa) series of values is with the shape of bivariate table Formula is stored in the RAM of controller.It is as shown in table 2 below：
(v-a- θ-the P of table 2a) series of values
Speed Acceleration Gradient inclination angle Power
va1 a1 θ1 Pa1
va2 a2 θ2 Pa2
va3 a3 θ3 Pa3
…… …… …… ……
Finally, in step s 103, the vehicle is calculated according to first bivariate table and second bivariate table Gross mass.
Specifically, the step includes：Each traveling speed is calculated in second bivariate table according to first bivariate table The corresponding trimotor power output of degree；Ask for the second engine output work of each travel speed in second bivariate table The difference of rate and trimotor power output；Second two dimension is calculated according to the difference and second bivariate table Vehicular gross combined weight in table corresponding to each travel speed；To the vehicular gross combined weight averaged, the total of the vehicle is obtained Quality.
It is well known that in the case where accelerating (or having the gradient), engine power can also try to achieve as follows：
In formula, δ represents vehicle correction coefficient of rotating mass, (δ ＞ 1), because vehicle will not only overcome vehicle when accelerating Inertia force caused by translatory mass, will also overcome moment of inertia caused by the rotation such as flywheel, tire, and δ is that given value stores In the controller；ηTRepresent machinery driving efficiency, be arranged to definite value and be stored in controller (experiment measures under half cargo condition)；θ is Vehicle operation road gradient angle, is measured by gravity accelerometer；A represents vehicle acceleration, is passed by acceleration of gravity Sensor measures.
According to above formula (1) and above formula (3), can obtain：
It can be seen that it is the vehicle that m instantaneous velocitys are ν that Δ P, which is certain quality, to overcome climbing and accelerating the additional work(needed Rate.
By searching (v-Pe) series of values bivariate table, try to achieve each speed (va1、va2、va3...) under corresponding PeValue (the Trimotor power output), because the speed ν of two groups of data acquisitions is probably different, in the absence of one-to-one relation, and (v-Pe) series of values is also scattered, so when calculating each speed (v can be obtained using the solution of two-dimensional linear interpolation methoda1、 va2、va3...) under corresponding PeValue, it is as shown in table 3 below：
Table 3 tries to achieve new (v-Pe) series of values
Speed Power
va1 Pe-a1
va2 Pe-a2
va3 Pe-a3
…… ……
Certainly, each speed (va1、va2、va3...) will be in (v-Pe) in the range of series of values speed, beyond (v-Pe) The speed of series of values velocity interval is invalid.
By the related data of table 2, table 3, above formula (4), (v are substituted intoa1、va2、va3...) in each speed under it is flat Weighing apparatus equation can try to achieve the gross mass m of a vehicle, and finally this group of gross mass is averaged and is used as final output result, As shown in formula (5)：
In formula, k is the quantity of this group of m value.
Above formula (4) there is not coefficient of rolling resistance f, coefficient of air resistance C compared with above formula (1), (3)D, meet These three uncertain parameters of wind area A, improve the accuracy and confidence level of vehicular gross combined weight result of calculation.
For general thinking, vehicle mass is asked to use m=F/a (quality=power/acceleration), it is desirable to operating vehicle Resistance, but coefficient of rolling resistance f is can't steer clear of, coefficient of air resistance CD, these three parameters of front face area A, and these three parameters exist Excursion is very big in load-carrying vehicle.By seeking the difference DELTA P of power, f, C are avoidedDWith these three parameters of A.
From above formula (4), two crucial important parameters for influenceing vehicle gross mass m calculating are that (vehicle rotates matter to δ Measure conversion coefficient) and ηT(machinery driving efficiency).Because vehicle gyrating mass typically only considers engine flywheel and vehicle tyre Rotary inertia, other gyrating masses influence it is smaller typically ignores, so correction coefficient of rotating mass δ can be by wheel and winged The rotary inertia of wheel is calculated, and because when vehicle is in low gear ratio, δ numerical value is larger, and δ during high tap position have it is larger Difference, so the application also requires vehicle when starting to gather information, gearbox can not be in first three low-grade gear, i.e. vehicle speed Degree will reach some value (such as the 30km/h to illustrate herein) and just start data acquisition.δ scope can be so reduced, makes δ tax Value can be more accurate, improves vehicular gross combined weight m calculating accuracy.
It should be noted that vehicle in the data acquisition of each at the uniform velocity operating point and vehicle in the case where accelerating (or climbing) state Data acquisition, point of sequencing is had no, as long as meeting the default logical message of controller, i.e., can complete gathering, being whole for data Reason, driver are also not required to complete specific driver behavior, drive usually.
The present embodiment is in without corresponding to multiple travel speeds difference under domatic at the uniform velocity transport condition by obtaining vehicle First engine output, the first bivariate table is formed, and obtain vehicle and be in state or the up-hill journey state of giving it the gun Under multiple travel speeds respectively corresponding to the second engine output, formed the second bivariate table；And according to the first bivariate table The gross mass of vehicle is calculated with the second bivariate table, the accuracy and confidence level of vehicular gross combined weight can not only be improved, and The economy and security of vehicle operation can also be improved.
For embodiment of the method, in order to be briefly described, therefore it is all expressed as to a series of combination of actions, but this area Technical staff should know that the embodiment of the present invention is not limited by described sequence of movement, because implementing according to the present invention Example, some steps can use other orders or carry out simultaneously.Secondly, those skilled in the art should also know, specification Described in embodiment belong to preferred embodiment, necessary to the involved action not necessarily embodiment of the present invention.
Fig. 2 is the structural representation for being used to calculate the system of vehicular gross combined weight that one embodiment of the invention provides.Such as Fig. 2 institutes Show, the system for being used to calculate vehicular gross combined weight that one embodiment of the invention provides includes：Sensor 11, for measuring the vehicle The road grade residing for acceleration and the vehicle in the process of moving；Acquisition device 12, it is expert at for obtaining the vehicle Travel speed during sailing；Control unit of engine 13, the arteries and veins spectrogram of the part throttle characteristics for storing the vehicle motor； Controller 14, it is connected with the sensor 11, acquisition device 12 and control unit of engine 13, for according to the acceleration Degree, travel speed, road grade and arteries and veins spectrogram obtain the vehicle and are in without multiple travelings under domatic at the uniform velocity transport condition First engine output corresponding to speed difference, forms the first bivariate table；Obtain the vehicle and be in state of giving it the gun Or the second engine output corresponding to multiple travel speeds difference under up-hill journey state, form the second bivariate table；With And the gross mass of the vehicle is calculated according to first bivariate table and second bivariate table.
In an embodiment of the present invention, the system also includes：Display device 15, it is connected, is used for the controller 14 Show the gross mass of the vehicle.
In an embodiment of the present invention, the system also includes：Input unit 16, it is connected, is used for the controller 14 The clear and definite vehicular gross combined weight of driver is inputted into the controller, make it that the controller is total according to the clear and definite vehicle of driver Quality amendment machinery driving efficiency.
In a particular embodiment, the sensor 11 is gravity accelerometer, and the acquisition device 12 is instrument Table or traveling record sheet.
The design of the system is based on approach described above, and controller 14 passes through CAN and control unit of engine 13, instrument Table or Tachographs, gravity accelerometer are connected, and controller show that vehicular gross combined weight is believed by collection, the processing of information Breath, while the gross mass information m of vehicle is fed back to driver by display device 15, because vehicle empty mass is general all Know, so driver can be inferred to the loading mass of this goods with this, and correct selection is made to driving behavior.Vehicle is total Quality information can also be transferred to EBS (electric brake system), ESP (electric stabilizing system) etc. as important parameter input simultaneously System, improve economy, the security of vehicle operation.The system also relates to an input unit 16, when driver it is clear and definite When knowing vehicular gross combined weight information, gross mass information can be transferred to controller 14 by input unit 16, controller 14 can To machinery driving efficiency ηTNumerical value be modified, with improve calculate accuracy.
Engine power arteries and veins spectrum if control unit of engine 13 has prestored under each rotating speed of engine, accelerator open degree, control Device can directly read engine power, the calculating without carrying out formula (2).
When the existing acceleration of gravity sensing of some systems (such as TCS, inertial navigation system etc.) of vehicle During device, controller directly can obtain signal by CAN lines, it is not necessary to additionally one sensor of increase.
The detail further related in the system for being used to calculate vehicular gross combined weight provided for one embodiment of the invention is One embodiment of the invention provide for calculate vehicular gross combined weight method in be described in detail, will not be repeated here.
Correspondingly, the present invention also provides a kind of vehicle.The vehicle includes above-described for calculating vehicular gross combined weight System.It should be noted that vehicle involved in the application, not exclusively load-carrying vehicle or self-unloading, traction and visitor Other vehicles of gross mass change very greatly in the operation such as car.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame Claim.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally The thought of invention, it should equally be considered as content disclosed in this invention.

Claims (10)

  1. A kind of 1. method for calculating vehicular gross combined weight, it is characterised in that methods described includes：
    Obtain the vehicle and be in defeated without the first engine corresponding to multiple travel speeds difference under domatic at the uniform velocity transport condition Go out power, form the first bivariate table；
    The vehicle is obtained to be in second corresponding to the multiple travel speeds difference given it the gun under state or up-hill journey state Engine output, form the second bivariate table；
    The gross mass of the vehicle is calculated according to first bivariate table and second bivariate table.
  2. 2. the method according to claim 1 for calculating vehicular gross combined weight, it is characterised in that described to obtain the vehicle First engine output corresponding to multiple travel speeds difference under without domatic at the uniform velocity transport condition, forms the one or two Dimension table, specifically include：
    In the case where the travel speed for judging the vehicle reaches pre-set velocity, corresponding to the travel speed that obtains the vehicle Engine speed, motor torque, acceleration, road grade and accelerator pedal position；
    Judge whether the vehicle is in nothing according to the engine speed, accelerator pedal position, acceleration and road grade Domatic at the uniform velocity transport condition；
    In the case where judging that the vehicle is in without domatic at the uniform velocity transport condition, according to the engine speed and described start Machine torque calculation obtains the first engine output corresponding to the travel speed.
  3. 3. the method according to claim 2 for calculating vehicular gross combined weight, it is characterised in that start described in the basis Machine rotating speed, accelerator pedal position, acceleration and road grade judge whether the vehicle is in without domatic at the uniform velocity transport condition, Specifically include：
    In first preset time period and second preset time period related to t, the engine speed and described is judged Whether accelerator pedal position fluctuates within a preset range, and judges the ripple of the acceleration and the road grade near null value Whether dynamic scope is in preset range；
    Judging that the engine speed and the accelerator pedal position fluctuate within a preset range, and the acceleration and described In the case that fluctuation range of the road grade near null value is in preset range, then the vehicle is in and at the uniform velocity travelled without domatic State, otherwise, the vehicle are not at without domatic at the uniform velocity transport condition,
    Wherein, t represent to obtain engine speed corresponding to the travel speed of the vehicle, motor torque, acceleration, At the time of road grade and accelerator pedal position.
  4. 4. the method according to claim 1 for calculating vehicular gross combined weight, it is characterised in that described to obtain the vehicle Second engine output corresponding to multiple travel speeds difference under the state of giving it the gun or up-hill journey state, shape Into the second bivariate table, specifically include：
    In the case where the travel speed for judging the vehicle reaches pre-set velocity, corresponding to the travel speed that obtains the vehicle Acceleration and road grade；
    Judge whether the acceleration or the road grade are more than default threshold value；
    Judging the acceleration or the road grade more than the traveling speed in the case of default threshold value, obtaining the vehicle The corresponding engine speed of degree and motor torque；
    The second engine according to corresponding to being calculated the travel speed in the engine speed and the motor torque Power output.
  5. 5. the method according to claim 4 for calculating vehicular gross combined weight, it is characterised in that methods described also includes：
    Second bivariate table is formed according to the travel speed, acceleration, road grade and the second engine output.
  6. 6. the method according to claim 1 for calculating vehicular gross combined weight, it is characterised in that described according to described first The gross mass of the vehicle is calculated in bivariate table and second bivariate table, specifically includes：
    Trimotor according to corresponding to being calculated each travel speed in second bivariate table in first bivariate table is defeated Go out power；
    Ask for the second engine output of each travel speed and trimotor power output in second bivariate table Difference；
    Car according to corresponding to being calculated each travel speed in second bivariate table in the difference and second bivariate table Gross mass；
    To the vehicular gross combined weight averaged, the gross mass of the vehicle is obtained.
  7. 7. a kind of system for calculating vehicular gross combined weight, it is characterised in that the system includes：
    Sensor, for measuring vehicle acceleration in the process of moving and the road grade residing for the vehicle；
    Acquisition device, for obtaining the travel speed of the vehicle in the process of moving；
    Control unit of engine, the arteries and veins spectrogram of the part throttle characteristics for storing the vehicle motor；
    Controller, be connected with the sensor, acquisition device and control unit of engine, for according to the acceleration, OK Sail speed, road grade and arteries and veins spectrogram and obtain the vehicle and be in and divide without multiple travel speeds under domatic at the uniform velocity transport condition Not corresponding first engine output, form the first bivariate table；Obtain the vehicle and be in give it the gun state or upward slope Second engine output corresponding to multiple travel speeds difference under transport condition, forms the second bivariate table；And according to The gross mass of the vehicle is calculated in first bivariate table and second bivariate table.
  8. 8. the system according to claim 7 for calculating vehicular gross combined weight, it is characterised in that the system also includes：
    Display device, it is connected with the controller, for showing the gross mass of the vehicle.
  9. 9. the system according to claim 7 for calculating vehicular gross combined weight, it is characterised in that the system also includes：
    Input unit, it is connected with the controller, for the clear and definite vehicular gross combined weight of driver to be inputted into the controller, so that The controller is obtained according to the clear and definite vehicular gross combined weight amendment machinery driving efficiency of driver.
  10. 10. a kind of vehicle, it is characterised in that the vehicle includes the use described in any one claim in claim 7-9 In the system for calculating vehicular gross combined weight.
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