CN107588841A - Vehicle load monitoring method and device - Google Patents
Vehicle load monitoring method and device Download PDFInfo
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Abstract
The invention provides a kind of vehicle load monitoring method and device, it is related to technical field of data processing.The weight of vehicle can be calculated using global position system, the monitoring of vehicle weight can be carried out in real time.Weighbridge etc. need not be used to detect instrument, improve the monitoring efficiency of vehicle load, make the monitoring of vehicle load not influenceed by time, place, first hand vehicle load situation data is provided for traffic, road, safety regulator.By the calculating and monitoring of vehicle load, overweight overloaded vehicle can be found in time, avoids the generation of security incident, reduce Loss of Life and property.The influence to traffic safety is avoided simultaneously.
Description
Technical field
The present invention relates to technical field of data processing, in particular to a kind of vehicle load monitoring method and device.
Background technology
With social progress, road haulage and commerce and trade development speed are more and more faster, and various haulage vehicles are in order to chase after
Economic interests are sought, the behavior that overloads is increasingly universal.Overload of vehicle not only brings hidden danger, while Ye Gei roads, bridge, tunnel etc. to traffic safety
Means of transportation cause immense pressure.Many pavement of road and bridge hence in so that projected life greatly shorten.In order to solve to surpass
Load problem, relevant departments often by the way of surprise check, carry out parking to vehicular traffic and weighed, detect whether it overloads.
But this mode can not but solve the problems, such as overloading wagon well, on the one hand, parking detection efficiency is extremely low, it is easy to causes
Traffic congestion.On the other hand, checkpoint needs to be equipped with large-scale weighing facilities, is not easy to move, and can only be located at a small number of fixed positions, disobeys
Rule vehicle often detours to be checked with hiding.
The mode of vehicle dynamically weighting is broadly divided into two kinds of vehicle metering and axle metering mode：Traditional vehicle metering side
Formula is, it is necessary to bigger weighing platform, and this considerably increases construction costs and difficulty；Axle remeasurement, i.e., each axle of vehicle is measured respectively
Axle weight, then complete vehicle weight is calculated by weighing system.
At present, vehicle dynamically weighting technology is all to be entered using various sensor groups into a more complicated check weighing system
OK, exist and involve great expense, arrangement can only be pinpointed, it is impossible to the problem of obtaining car weight in real time.The section of sensor is retransmitted in no note, it is difficult
Assessed with the carrying situation on the actual loading to vehicle and road surface.
The content of the invention
In view of this, the invention provides a kind of vehicle load monitoring method and device, it can solve the problem that above mentioned problem.
Technical scheme provided by the invention is as follows：
A kind of vehicle load monitoring method, for the weight of monitoring objective vehicle, it is configured with and is used on the target vehicle
With the DVB of global position system communication, this method includes：
It is determined that target satellite corresponding with target vehicle, the speed and acceleration of the target satellite are calculated；
The distance of the target vehicle and the target satellite is calculated, and the target vehicle is defended relative to the target
The speed and acceleration of star；
The coordinate of the target vehicle is calculated, and relative to the speed of the target satellite and is added according to the target vehicle
Speed, calculate speed and acceleration of the target vehicle relative to the earth；
According to the target vehicle relative to the speed of the earth, acceleration and windage, the total of the target vehicle is calculated
Weight.
Further, the target vehicle includes multiple driving wheels, according to the speed of the target vehicle, acceleration and wind
Resistance, include the step of the gross weight for determining the target vehicle：
The acceleration of the two neighboring object time of the target vehicle is calculated respectively；
According to the rotary inertia of driving wheel, the windage data of two object times, driving wheel radius of wheel, described in calculating
The weight data of target vehicle；
Multiple weight data is computed repeatedly, takes the average value of multiple weight datas, the gross weight as the target vehicle.
Further, the weight data for calculating the target vehicle uses below equation：
Wherein, M be the target vehicle weight data, I1、I2The rotation of driving wheel is used to during respectively two object times
Amount, fw1、fw2Windage data during respectively two object times, r be the driving wheel radius of wheel, a1、a2Respectively two
The acceleration of target vehicle described in individual object time.
Further, this method also includes：
The curb weight of the target vehicle is predefined, according to the gross weight and curb weight, calculates the target
The loading capacity of vehicle.
Further, the target vehicle windage data are calculated and use below equation：
F in formulawIt is the positive wind resistance of target vehicle, CdIt is air resistance coefficient, ρaIt is atmospheric density, S is target vehicle headstock
Frontal projected area, v are the real-time speed of target vehicle.
Further, this method also includes：
The positional information of the weight data and the target vehicle is sent to exterior terminal by communication network.
Present invention also offers a kind of vehicle load supervising device, for the weight of monitoring objective vehicle, the target carriage
The DVB for being communicated with global position system is configured with, the vehicle load supervising device includes：
Satellite parametric reduction computing module, for determining target satellite corresponding with target vehicle, calculate the target satellite
Speed and acceleration；
First computing module, for calculating the distance of the target vehicle and the target satellite, and the target carriage
Relative to the target satellite speed and acceleration；
Second computing module, for calculating the coordinate of the target vehicle, and according to the target vehicle relative to described
The speed and acceleration of target satellite, calculate speed and acceleration of the target vehicle relative to the earth；
Weight computing module, for, relative to the speed of the earth, acceleration and windage, calculating institute according to the target vehicle
State the gross weight of target vehicle.
Further, the target vehicle includes multiple driving wheels, and the weight computing module is according to the target vehicle
Speed, acceleration and windage, calculating the method for the gross weight of the target vehicle includes：
The acceleration of the two neighboring object time of the target vehicle is calculated respectively；
According to the rotary inertia of driving wheel, the windage data of two object times, driving wheel radius of wheel, described in calculating
The weight data of target vehicle；
Multiple weight data is computed repeatedly, takes the average value of multiple weight datas, the gross weight as the target vehicle.
Further, the weight data of the weight computing module calculating target vehicle uses below equation：
Wherein, M be the target vehicle weight data, I1、I2The rotation of driving wheel is used to during respectively two object times
Amount, fw1、fw2Windage data during respectively two object times, r be the driving wheel radius of wheel, a1、a2Respectively two
The acceleration of target vehicle described in individual object time.
Further, the weight computing module is additionally operable to predefine the curb weight of the target vehicle, according to institute
Gross weight and curb weight are stated, calculates the loading capacity of the target vehicle.
By above-mentioned calculating process, the weight of vehicle can be calculated using global position system, can enter in real time
The monitoring of row vehicle weight.Weighbridge etc. need not be used to detect instrument, improve the monitoring efficiency of vehicle load, make the prison of vehicle load
Survey is not influenceed by time, place, and first hand vehicle load situation data is provided for traffic, road, safety regulator.It is logical
Cross the calculating and monitoring of vehicle load, overweight overloaded vehicle can be found in time, avoid the generation of security incident, reduce life and
Property loss.The influence to traffic safety is avoided simultaneously.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of vehicle load monitoring method provided in an embodiment of the present invention.
Fig. 2 is a kind of another schematic flow sheet of vehicle load monitoring method provided in an embodiment of the present invention.
Fig. 3 is a kind of another schematic flow sheet of vehicle load monitoring method provided in an embodiment of the present invention.
Fig. 4 is a kind of high-level schematic functional block diagram of vehicle load supervising device provided in an embodiment of the present invention.
Fig. 5 is a kind of high-level schematic functional block diagram of electric terminal provided in an embodiment of the present invention.
Icon：200- vehicle load supervising devices；201- satellite parametric reduction computing modules；The computing modules of 202- first；203-
Second computing module；204- weight computing modules.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
The embodiment of the present application provides a kind of vehicle load monitoring method, for the weight of monitoring objective vehicle, the mesh
DVB is configured with mark vehicle, the weight detecting to target vehicle is realized by global position system.It is real in the application
Apply in example, big-dipper satellite alignment system can be utilized, other global position systems can also be utilized.As shown in figure 1, this method bag
Include following steps.
Step S101, it is determined that target satellite corresponding with target vehicle, calculate the speed and acceleration of the target satellite.
At least one DVB can be configured with target vehicle, satellite fix can be received by DVB
The positioning signal of system, DVB can receive the broadcast ephemeris and precise ephemeris of global position system.Carrying out target
, it is necessary to target satellite corresponding with the target vehicle first be determined, actually by target vehicle before the weight of vehicle calculates
What the DVB of configuration can receive signal is mostly at least one to be defined as target satellite in satellite.
After target satellite corresponding to determining, it can be calculated according to the broadcast ephemeris and precise ephemeris of the target satellite
To the speed and acceleration of the target satellite.In the embodiment of the present application, the speed of target satellite and acceleration can be with big
Ground is as reference system.Satellite can be used as high-altitude dynamic known point.During data processing, it can use broadcast ephemeris and precise ephemeris carried out
Calculate.
Using approximation of the single order centered difference as the speed of satellite is carried out to co-ordinates of satellite, Second-Order Central Difference is used as and defended
The approximation of the acceleration of star.Below equation can be used to calculate the speed and acceleration of target satellite.
The speed and acceleration of target satellite can be calculated by formula (1) and (2).
Step S102, calculates the distance of the target vehicle and the target satellite, and the target vehicle relative to
The speed and acceleration of the target satellite.
Satellite referred to as defends distance, ρ=λ φ relative to the distance of DVB, where it is assumed that various errors are through difference
It is approximately zero after processing, pseudorange ρ, which is approximately equal to, defends distance.Pseudorange rate of change can use below equation to calculate.
Target vehicle can use below equation to calculate relative to the acceleration of satellite.
In formula, λ is wavelength, and φ is carrier phase observation data.
The speed and acceleration of target satellite can be calculated by above-mentioned formula.
Step S103, the coordinate of the target vehicle is calculated, and according to the target vehicle relative to the target satellite
Speed and acceleration, calculate speed and acceleration of the target vehicle relative to the earth.
The speed of target vehicle can use below equation to calculate.
Wherein, i=1,2,3, Λ, n.
The acceleration of target vehicle can use below equation to calculate.
Wherein, i=1,2,3, Λ, n
In above-mentioned formulaDerivative for pseudorange rate of change to the time；For the target satellite being calculated
Speed；For the acceleration for the satellite being calculated；(X&,Y&,Z&) be target vehicle three-dimensional velocity；
(X&&,Y&&,Z&&) be target vehicle to be asked three-dimensional acceleration；For the rate of change of the clock rate of target vehicle to be asked.Specifically
Computational methods can use below equation.
Order：
Above formula is represented by：
Make the difference quadratic sum of Pseudo-range Observations and calculated value minimum, determine user coordinates using least square method, finally may be used
:
The speed and acceleration of target vehicle can be calculated by above-mentioned formula.
Step S104, according to the speed of the target vehicle, acceleration and windage, calculate the gross weight of the target vehicle
Amount.
In motion, the resistance to be overcome has parts loss resistance, rolling resistance caused by tire (general also referred to as to vehicle
Do roadlock) and air drag.With the increase of Vehicle Speed, air drag is increasingly becoming most important car resistance,
When more than speed per hour 200km/h, air drag almost accounts for the 85% of all car resistances.
For general vehicle when advancing, the resistance of suffered wind comes from front mostly.Unless side wind speed is especially big, not so side
Wind will not have much impact to vehicle, even if crosswind be present, can also be corrected by steering wheel.Shadow of the windage to automotive performance
Sound is very big.According to test, when a car is advanced with 80 km/h, the oil consumption for having 60% is for overcoming windage.Windage
Coefficient CdIt is to weigh an automobile to be influenceed a standard of size by air drag.Air resistance coefficient is smaller, illustrates that it is hindered by air
Power influence is smaller, and vice versa.
Automobile can pass through wind tunnel experiment before dispatching from the factory, and the air resistance coefficient of the vehicle, target carriage can be obtained by the experiment
Windage size can use following calculation formula to calculate.
F in formulawIt is the positive wind resistance of target vehicle, CdIt is the air resistance coefficient of target vehicle, ρaIt is atmospheric density, S is mesh
The headstock frontal projected area of vehicle is marked, v is the real-time speed of target vehicle.
Detailed, as shown in Fig. 2 the target vehicle includes multiple driving wheels, according to the speed of the target vehicle, add
Speed and windage, the step of calculating the gross weight of the target vehicle, include following sub-step.
Sub-step S1041, the acceleration of the two neighboring object time of the target vehicle is calculated respectively.
The acceleration of target vehicle when can calculate two object times by aforementioned formula.Interval can be selected nearer
Two moment as object time.The acceleration of two object times can be calculated using above-mentioned calculation formula.Two
Approached before and after object time, and be separated by shorter, the driving force of vehicle can be considered to permanent being separated by two shorter moment
It is fixed constant.
Sub-step S1042, according to the rotary inertia of the driving wheel, the windage data of two object times, driving wheel
Radius of wheel, calculate the weight data of the target vehicle.
Rotary inertia, the radius of wheel of target vehicle driving wheel can obtain according to the concrete model of vehicle, windage data
It can also be calculated according to the calculation formula of foregoing windage.The weight data of target vehicle can use below equation to calculate.
Wherein, M is the weight data of the target vehicle, the rotation of driving wheel when I1, I2 are respectively two object times
Windage data during inertia, respectively two moment, r is the radius of wheel of the driving wheel, when a1, a2 are respectively two targets
Carve the acceleration of the target vehicle.
Sub-step S1043, multiple weight datas are computed repeatedly, take the average value of multiple weight datas, as the target
The gross weight of vehicle.
By above-mentioned calculation formula, the gross weight of target vehicle can be calculated.The data being calculated are to include mesh
The goods or the gross weight of personnel marked light weight and loaded.Multiple weight datas between two object times can be calculated.
By repeatedly calculating, the average value repeatedly calculated is taken, the gross weight as target vehicle.The number specifically calculated can be according to reality
Border it needs to be determined that.During taking the mean, the numerical value for deviating considerably from normal range (NR) can be rejected as error.Or can be with
A threshold value is preset for different target vehicles, by the numerical value removal more than threshold value.
The computational methods that the embodiment of the present application provides can be not only used for monitoring the load condition of goods stock, can also be right
The load-carrying of passenger stock is monitored.
By above-mentioned calculating process, the weight of vehicle can be calculated using global position system, can enter in real time
The monitoring of row vehicle weight.Weighbridge etc. need not be used to detect instrument, improve the monitoring efficiency of vehicle load, make the prison of vehicle load
Survey is not influenceed by time, place, and first hand vehicle load situation data is provided for traffic, road, safety regulator.It is logical
Cross the calculating and monitoring of vehicle load, overweight overloaded vehicle can be found in time, avoid the generation of security incident, reduce life and
Property loss.The influence to traffic safety is avoided simultaneously.
The derivation of weight data calculation formula is discussed below.
Automobile can include driving wheel and driven pulley, and why automobile can travel, and be because caused by automobile engine
Moment of torsion, reached through transmission system on driving wheel.We are by taking forward travel as an example, the moment of torsion M that acts on driving wheeltMake drive
Wheel rotation, because driving wheel has the trend moved backward relative to ground, therefore ground is rubbed to forward quiet of driving wheel one
Wipe power f1, enable driving wheel rolls forward.Driving wheel rolls forward will be with thrust T1Vehicle body is promoted to travel forward, and vehicle body
Again can be with thrust T2Promote driven pulley rolls forward.Driven pulley will be by the stiction f of direction backward1,f2Direction can be with
Be understood that, if ground is smooth, then driven pulley under vehicle body thrust, will forward slip, so f2Direction to
Afterwards.
Force analysis of the wheel in accelerator is driven below.
If I1Represent the rotary inertia of driving wheel, T1Represent vehicle body to the thrust of driving wheel, f1Represent ground in face of driving wheel
Stiction, a represent the acceleration of automobile, and β represents the angular acceleration of wheel.And the quality of driving wheel is set as m1, the half of wheel
Footpath is r.
Below equation can be obtained according to the stressing conditions of driving wheel.
f1-T1=m1a (15)
The torque situation being subject to according to driving wheel can obtain below equation.
Mt-f1R=I1·β (16)
When driving wheel does non-sliding rolling, below equation can be obtained.
It can be obtained by (15), (16), (17)：
Force analysis of the driven pulley in accelerator is carried out below.
With the force analysis of driving wheel similarly, below equation can be obtained according to the stressing conditions of driven pulley.
f2-T2=m2a (19)
The torque situation being subject to according to driven pulley can obtain below equation.
f2R=I2·β (20)
By (17), (19), (20) Shi Ke get：
The translatory acceleration and driving force F of force analysis and automobile of the vehicle body in accelerator are carried out belowtRelation.
If make m1+m2+ m=M, i.e. M represent the gross weight of automobile, and the quality of vehicle body is m, and wind resistance suffered by vehicle is fw.Car
The reaction force T to experience to driving wheel to it1', its size is T1, and driven pulley is to its reaction force T2', its size is T2,
And self gravitation by vehicle body and the wheel shaft of driving wheel and driven pulley are to the holding power of vehicle body.Because vehicle body only has translation,
Then it can obtain：
T1'-T2'-fw=ma, i.e. T1-T2-fw=ma (22)
(18), (21) formula are substituted into (22) formula and obtained：
I.e.：
Claim in automobile theoryFor the driving force of automobile, F is usedtRepresent, then above formula is：
According to above-mentioned analysis, on the premise of required precision is not high, the speed of global position system measure driving can be utilized
Degree, acceleration, and then preresearch estimates gross vehicle load.Acceleration of certain truck in moment i is determined by aforementioned calculation method
Spend ai.Select the acceleration a of two object times1,a2, within the extremely short period, it is reasonable to which the driving force for thinking vehicle is permanent
Fixed constant, i.e., the F of two object timestIt is equal.According to formula (25), there is following derivation.
The acceleration of two object times is substituted into above formula respectively, in the case where two object time driving forces are equal,
Below equation can be obtained.
The gross weight of vehicle, as aforementioned formula (14) are can be obtained by by formula (26).
In a kind of embodiment, as shown in figure 3, this method can also comprise the following steps.
Step S105, the curb weight of the target vehicle is predefined, according to the gross weight and curb weight, calculated
The loading capacity of the target vehicle.
The curb weight of target vehicle can be determined in vehicle release, and sky is subtracted by the foregoing gross weight being calculated
Car total amount, you can obtain the load-carrying weight of vehicle.It can determine whether determine target vehicle by the load-carrying weight being calculated
Normal or overload.Supervision department can be facilitated to carry out the supervision of vehicle load.
Step S106, the positional information of the weight data and the target vehicle is sent to outside by communication network
Terminal.
After the weight data of target vehicle is calculated by aforementioned calculation method, weight data and position can be believed
Breath is sent by communication network.Remote server can receive the related data i.e. load condition of the can be known target vehicle
And particular location.If vehicle has overload condition, supervision department can be carried out to target vehicle in time according to positional information
Positioning, overload behavior is corrected in time.Avoid vehicle driver from hiding illegal activities, realize effective security control.
The embodiment of the present application additionally provides a kind of vehicle load supervising device, the vehicle load supervising device in the present embodiment
Modules, unit and subelement be used to perform each step in above method embodiment, as shown in figure 4, the vehicle carries
Weight supervising device includes satellite parametric reduction computing module, the first computing module, the second computing module and weight computing module.
Satellite parametric reduction computing module, for determining target satellite corresponding with target vehicle, calculate the target satellite
Speed and acceleration.
First computing module, for calculating the distance of the target vehicle and the target satellite, and the target carriage
Relative to the target satellite speed and acceleration.
Second computing module, for calculating the coordinate of the target vehicle, and according to the target vehicle relative to described
The speed and acceleration of target satellite, calculate speed and acceleration of the target vehicle relative to the earth.
Weight computing module, for, relative to the speed of the earth, acceleration and windage, calculating institute according to the target vehicle
State the gross weight of target vehicle.
The target vehicle includes multiple driving wheels, the weight computing module according to the speed of the target vehicle plus
Speed and windage, calculating the method for the gross weight of the target vehicle includes：
The acceleration of the two neighboring object time of the target vehicle is calculated respectively；
According to the rotary inertia of driving wheel, the windage data of two object times, driving wheel radius of wheel, described in calculating
The weight data of target vehicle；
Multiple weight data is computed repeatedly, takes the average value of multiple weight datas, the gross weight as the target vehicle.
The weight data that the weight computing module calculates the target vehicle uses below equation：
Wherein, M be the target vehicle weight data, I1、I2The rotation of driving wheel is used to during respectively two object times
Amount, fw1、fw2Windage data during respectively two object times, r be the driving wheel radius of wheel, a1、a2Respectively two
The acceleration of target vehicle described in individual object time.
The weight computing module is additionally operable to predefine the curb weight of the target vehicle, according to the gross weight and
Curb weight, calculate the loading capacity of the target vehicle.
As shown in figure 5, it is the block diagram for the electric terminal 100 that the embodiment of the present application provides.The electric terminal
100 include vehicle fitting 110, memory 111, storage control 112, processor 113, Peripheral Interface 114, input-output unit
115th, display unit 116.It will appreciated by the skilled person that the structure shown in Fig. 5 is only to illustrate, it is not to electronics
The structure of terminal 100 causes to limit.For example, electric terminal 100 may also include the component more or less than shown in Fig. 5,
Or there is the configuration different from shown in Fig. 1.Electric terminal 100 described in the present embodiment can be PC (personal
Computer, PC), tablet personal computer, smart mobile phone, personal digital assistant (personal digital assistant, PDA)
Deng.
The memory 111, storage control 112, processor 113, Peripheral Interface 114, input-output unit 115 and aobvious
Show that 116 each element of unit is directly or indirectly electrically connected between each other, to realize the transmission of data or interaction.For example, these
Element can be realized by one or more communication bus or signal wire be electrically connected between each other.The vehicle load supervising device
110 can be stored in the memory 111 or be solidificated in institute including at least one in the form of software or firmware (Firmware)
State the software function module in the operating system (Operating System, OS) of electric terminal 100.The processor 113 is used
In performing the executable module that is stored in memory, such as the software function module that the vehicle load supervising device 110 includes
Or computer program.
Wherein, the memory 111 may be, but not limited to, random access memory (Random Access
Memory, RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable
Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only
Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only
Memory, EEPROM) etc..Wherein, memory 111 is used for storage program, the processor 113 after execute instruction is received,
Described program is performed, the method performed by electric terminal 100 that the process that any embodiment of the embodiment of the present invention discloses defines can
To be realized applied in processor 113, or by processor 113.
The processor 113 is probably a kind of IC chip, has the disposal ability of signal.Above-mentioned processor
113 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processes
Device (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application specific integrated circuit
(ASIC), field programmable gate array (FPGA) either other PLDs, discrete gate or transistor logic,
Discrete hardware components.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.It is general
Processor can be microprocessor or the processor can also be any conventional processor etc..
Various input/output devices are coupled to processor 113 and memory 111 by the Peripheral Interface 114.At some
In embodiment, Peripheral Interface 114, processor 113 and storage control 112 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
The input-output unit 115 is used to be supplied to user input data.The input-output unit 115 can be,
But it is not limited to, mouse and keyboard etc..
The display unit 116 provided between the electric terminal 100 and user an interactive interface (such as user behaviour
Make interface) or for display image data give user reference.In the present embodiment, the display unit can be liquid crystal display
Or touch control display.If touch control display, it can be the capacitance type touch control screen or resistance for supporting single-point and multi-point touch operation
Formula touch screen etc..Single-point and multi-point touch operation is supported to refer to that touch control display can sense on the touch control display one
Or multiple opening positions touch control operation with caused by, and the touch control operation that this is sensed transfers to processor to be calculated and located
Reason.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of vehicle load monitoring method, it is characterised in that for the weight of monitoring objective vehicle, match somebody with somebody on the target vehicle
The DVB for being communicated with global position system is equipped with, this method includes：
It is determined that target satellite corresponding with target vehicle, the speed and acceleration of the target satellite are calculated；
The distance of the target vehicle and the target satellite, and the target vehicle are calculated relative to the target satellite
Speed and acceleration；
The coordinate of the target vehicle is calculated, and according to speed of the target vehicle relative to the target satellite and acceleration
Degree, calculates speed and acceleration of the target vehicle relative to the earth；
According to the target vehicle relative to the speed of the earth, acceleration and windage, the gross weight of the target vehicle is calculated.
2. vehicle load monitoring method according to claim 1, it is characterised in that the target vehicle includes multiple drivings
Wheel, include according to the speed of the target vehicle, acceleration and windage, the step of the gross weight for calculating the target vehicle：
The acceleration of the two neighboring object time of the target vehicle is calculated respectively；
According to the rotary inertia of the driving wheel, the windage data of two object times, driving wheel radius of wheel, described in calculating
The weight data of target vehicle；
Multiple weight data is computed repeatedly, takes the average value of multiple weight datas, the gross weight as the target vehicle.
3. vehicle load monitoring method according to claim 2, it is characterised in that calculate the weight number of the target vehicle
According to using below equation：
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<msup>
<mi>r</mi>
<mn>2</mn>
</msup>
</mfrac>
</mrow>
Wherein, M be the target vehicle weight data, I1、I2The rotary inertia of driving wheel during respectively two object times,
fw1、fw2Windage data during respectively two object times, r be the driving wheel radius of wheel, a1、a2Respectively two mesh
Timestamp carves the acceleration of the target vehicle.
4. vehicle load monitoring method according to claim 2, it is characterised in that this method also includes：
The curb weight of the target vehicle is predefined, according to the gross weight and curb weight, calculates the target vehicle
Loading capacity.
5. vehicle load monitoring method according to claim 2, it is characterised in that calculate the target vehicle windage data
Using below equation：
<mrow>
<msub>
<mi>f</mi>
<mi>w</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>C</mi>
<mi>d</mi>
</msub>
<mo>&times;</mo>
<msub>
<mi>&rho;</mi>
<mi>a</mi>
</msub>
<mo>&times;</mo>
<mi>S</mi>
<mo>&times;</mo>
<msup>
<mi>v</mi>
<mn>2</mn>
</msup>
</mrow>
<mn>2</mn>
</mfrac>
</mrow>
F in formulawIt is the positive wind resistance of target vehicle, CdIt is air resistance coefficient, ρaIt is atmospheric density, S is that target vehicle headstock is just thrown
Shadow area, v are the real-time speed of target vehicle.
6. vehicle load monitoring method according to claim 2, it is characterised in that this method also includes：
The positional information of the weight data and the target vehicle is sent to exterior terminal by communication network.
7. a kind of vehicle load supervising device, it is characterised in that for the weight of monitoring objective vehicle, match somebody with somebody on the target vehicle
The DVB for being communicated with global position system is equipped with, the vehicle load supervising device includes：
Satellite parametric reduction computing module, for determining target satellite corresponding with target vehicle, calculate the speed of the target satellite
And acceleration；
First computing module, for calculating the distance of the target vehicle and the target satellite, and the target vehicle phase
For the speed and acceleration of the target satellite；
Second computing module, for calculating the coordinate of the target vehicle, and according to the target vehicle relative to the target
The speed and acceleration of satellite, calculate speed and acceleration of the target vehicle relative to the earth；
Weight computing module, for, relative to the speed of the earth, acceleration and windage, calculating the mesh according to the target vehicle
Mark the gross weight of vehicle.
8. vehicle load supervising device according to claim 7, it is characterised in that the target vehicle includes multiple drivings
Wheel, the weight computing module calculate the gross weight of the target vehicle according to the speed of the target vehicle, acceleration and windage
The method of amount includes：
The acceleration of the two neighboring object time of the target vehicle is calculated respectively；
According to the rotary inertia of driving wheel, the windage data of two object times, driving wheel radius of wheel, calculate the target
The weight data of vehicle；
Multiple weight data is computed repeatedly, takes the average value of multiple weight datas, the gross weight as the target vehicle.
9. vehicle load supervising device according to claim 8, it is characterised in that described in the weight computing module calculates
The weight data of target vehicle uses below equation：
<mrow>
<mi>M</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>f</mi>
<mrow>
<mi>w</mi>
<mn>2</mn>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>f</mi>
<mrow>
<mi>w</mi>
<mn>1</mn>
</mrow>
</msub>
</mrow>
<mrow>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<msub>
<mi>I</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>I</mi>
<mn>2</mn>
</msub>
</mrow>
<msup>
<mi>r</mi>
<mn>2</mn>
</msup>
</mfrac>
</mrow>
Wherein, M be the target vehicle weight data, I1、I2The rotary inertia of driving wheel during respectively two object times,
fw1、fw2Windage data during respectively two object times, r be the driving wheel radius of wheel, a1、a2Respectively two mesh
Timestamp carves the acceleration of the target vehicle.
10. vehicle load supervising device according to claim 8, it is characterised in that the weight computing module is additionally operable to
The curb weight of the target vehicle is predefined, according to the gross weight and curb weight, calculates the load of the target vehicle
Weight.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110398280A (en) * | 2019-07-26 | 2019-11-01 | 天泽信息产业股份有限公司 | It is a kind of measure vehicular load car-mounted terminal and measurement, calculation method |
| CN110940405A (en) * | 2018-09-25 | 2020-03-31 | 比亚迪股份有限公司 | Method and device for calculating total mass of vehicle |
| 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 |
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| CN102486400A (en) * | 2010-12-06 | 2012-06-06 | 罗伯特·博世有限公司 | Vehicle mass identification method and device |
| CN103791991A (en) * | 2014-01-23 | 2014-05-14 | 成都九洲电子信息系统股份有限公司 | Vehicle load real-time monitoring method |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102486400A (en) * | 2010-12-06 | 2012-06-06 | 罗伯特·博世有限公司 | Vehicle mass identification method and device |
| CN103791991A (en) * | 2014-01-23 | 2014-05-14 | 成都九洲电子信息系统股份有限公司 | Vehicle load real-time monitoring method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110940405A (en) * | 2018-09-25 | 2020-03-31 | 比亚迪股份有限公司 | Method and device for calculating total mass of vehicle |
| CN110940405B (en) * | 2018-09-25 | 2022-07-15 | 比亚迪股份有限公司 | Method and device for calculating total mass of vehicle |
| CN110398280A (en) * | 2019-07-26 | 2019-11-01 | 天泽信息产业股份有限公司 | It is a kind of measure vehicular load car-mounted terminal and measurement, calculation method |
| 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 |
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