CN107901916A - A kind of vehicle load acquisition methods that need not be installed in addition with sensor - Google Patents
A kind of vehicle load acquisition methods that need not be installed in addition with sensor Download PDFInfo
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- CN107901916A CN107901916A CN201711126762.6A CN201711126762A CN107901916A CN 107901916 A CN107901916 A CN 107901916A CN 201711126762 A CN201711126762 A CN 201711126762A CN 107901916 A CN107901916 A CN 107901916A
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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
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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
- 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
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
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- Automation & Control Theory (AREA)
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- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of vehicle load acquisition methods that need not be installed in addition with sensor, the equipment that this method uses includes car-mounted terminal, central server, vehicle CAN bus；Vehicle CAN bus is connected by data cable with car-mounted terminal, for three engine torque generated in real time, gearbox speed ratio, speed CAN parameters to be sent to car-mounted terminal；Car-mounted terminal is connected by wireless network with central server, for by the central server of the CAN parameters real-time report of collection to backstage.The parameter that the present invention is gathered according to CAN bus, and combine the information such as the tire radius of vehicle itself, rear axle ratio, the load value of vehicle can be calculated by the estimation model of vehicle equation, the collection that any external equipment can be achieved with weight information need not be increased, important Development volue when in applied to fleet management's technical field.
Description
Technical field
The present invention relates to a kind of load-carrying acquisition methods, more particularly to a kind of vehicle load acquisition side that need not be installed in addition with sensor
Method.
Background technology
Load-carrying problem is always to perplex an important problem of fleet manager.Since the difference of loading capacity can be related to transporting
Seek the clearing of cost, the formulation of standard and operating line, divide the planning for pulling out region (or handling goods shots), therefore, such as where
Just the weight information for effectively obtaining vehicle is one of the problem of fleet manager is paid close attention to the most.And currently on the market not certainly
The technic relization scheme of dynamic monitoring load-carrying, is all to need to purchase external equipment to realize the collection of weight information, such as at every
Increase external sensor on vehicle, or use weighing-appliances such as weighbridge etc..But both schemes be directed to hardware cost,
The increase of the administration fees such as installation cost, maintenance cost.
The content of the invention
In order to solve the shortcoming present in above-mentioned technology, the present invention provides a kind of vehicle that need not be installed in addition with sensor
Load-carrying acquisition methods.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of vehicle that need not be installed in addition with sensor
Load-carrying acquisition methods, the equipment that this method uses include car-mounted terminal, central server, vehicle CAN bus；Vehicle CAN is total
Line is connected by data cable with car-mounted terminal, for by the engine torque generated in real time, gearbox speed ratio, speed three
CAN parameters are sent to car-mounted terminal；Car-mounted terminal is connected by wireless network with central server, for by the CAN of collection
Reporting parameters to backstage central server；
The overall step of this method is：
Ith, according to the model of vehicle, apparent size information, front face area, the air resistance coefficient of vehicle, and registration of vehicle are calculated
Tire radius, rear axle ratio, the wherein unit of front face area is m2, the unit of tire radius is mm；
IIth, the CAN parameters in the real-time collection vehicle CAN bus of car-mounted terminal, including engine torque, gearbox speed ratio,
Speed, and by the central server of CAN reporting parameters to backstage；
IIIth, the default load-carrying segmentation condition of load custom is changed according to vehicle, usually using parking duration as condition；According to pre-
If load-carrying segmentation condition, the load-carrying section to vehicle divides；
IVth, when engine torque section for ± 100Nm, vehicle speed intervals are 60~120km/h and vehicle speed deviation scope is
During ± 5km/h as, the travel conditions of vehicle are regarded to the steady state condition of no acceleration；For each load-carrying section marked off, root
Each section of load value under steady state operating conditions is calculated respectively according to formula one, wherein, the unit of load-carrying M is ton；
Load-carrying M=(than * 0.82/ (tire radius/1000)-air resistance coefficient * meet after torque T rq* by axle ratio * gearboxes speed
Wind area * vehicle velocity Vs 2/21.15)/((0.0076+0.000056* vehicle velocity Vs) * 9800) formula one
Vth, the load value that gained is calculated each load-carrying section according to actual load value is modified；Amendment uses conventional method
A*M+b is carried out, i.e. the numerical value of actual test load-carrying several times, and the algorithm model in formula one is calculated to the load value M of gained, is passed through
After the adjustment of a*M+b, close to actual load value, so that it is determined that the deviation ratio a and offset b of correction algorithm.
The acquisition methods of vehicle velocity V are in formula one：With the fast ratio of gearbox for condition, select to make from highest three gears
With the most gear of the frequency；The median of the vehicle speed value corresponding to selection gear is obtained, is denoted as vehicle velocity V.
The acquisition methods of torque T rq are in formula one：The engine torque in " vehicle velocity V ± vehicle speed deviation scope " is chosen,
Moment of torsion invalid value is filtered out, and the intermediate value of the moment of torsion calculated is denoted as torque T rq.
The projectional technique of formula one is as follows：
Since the traveling road conditions of load-carrying vehicle are mostly expressway, the operating mode of its steady state ride is more, it is assumed that load-carrying
Vehicle is under the conditions of steady state condition, and then calculates vehicle load using running car equation, specific as follows：
Running car equation is：F=Ff+Fw+Fi+Fj；
Wherein, F is driving force, and Ff is rolling resistance, and Fw is windage, and Fi is grade resistance, and Fj is acceleration resistance；Due to car
In acceleration be zero steady state condition under, then it is assumed that vehicle at the uniform velocity travels on straight road, then Fi=0, Fj=0, therefore F=
Ff+Fw；
And Ff=mg*f, then m=(F-Fw)/fg, wherein, m is load-carrying, and f is rolling resistance coefficient, and g is acceleration of gravity, i.e.,
9.8m/s2；
Fw=air resistance coefficient * front face area * vehicle velocity Vs again2/ 21.15, and axle ratio * gearboxes speed after F=torque Ts rq*
Than * transmission efficiency/tire radius；Transmission efficiency is varied from because affected by various factors, but automobile is carried out preliminary
Dynamic property analysis when, it is often regarded as a constant；The transmission efficiency numerical recommendation of lorry uses 0.82, then：
Axle ratio * gearboxes speed is than * 0.82/ tire radius-air resistance coefficient * front face area * speeds after m=torque Ts rq*
V2/ 21.15) tire radius and load-carrying M due to f=0.0076+0.000056* vehicle velocity Vs, are then carried out unit and changed by/f*9.8
Calculate, obtain：
Load-carrying M=(than * 0.82/ (tire radius/1000)-air resistance coefficient * meet after torque T rq* by axle ratio * gearboxes speed
Wind area * vehicle velocity Vs 2/21.15)/((0.0076+0.000056* vehicle velocity Vs) * 9800).
The parameter that the present invention is gathered according to CAN bus, and the information such as the tire radius of vehicle itself, rear axle ratio are combined,
Load value can be calculated by the estimation model of vehicle equation, it is not necessary to increase any external equipment and can be achieved with
The collection of weight information, important Development volue when in applied to fleet management's technical field.
Embodiment
The present invention will be further described in detail with reference to the specific embodiments.
A kind of vehicle load acquisition methods that need not be installed in addition with sensor, the equipment that this method uses include car-mounted terminal,
Central server, vehicle CAN bus；Vehicle CAN bus is connected by data cable with car-mounted terminal, for that will generate in real time
Three engine torque, gearbox speed ratio, speed CAN parameters are sent to car-mounted terminal；Car-mounted terminal is by wireless network with
Central server is connected, for by the central server of the CAN reporting parameters of collection to backstage；Central server is by vehicle itself
Parameter with being calculated after CAN parameter integrations by following algorithm load value.The present invention is set by what vehicle itself was installed
It is standby to complete load value calculating, without purchasing external equipment, have the advantages that to save operation cost.
The overall step of this method is：
Ith, according to information such as the model of vehicle, apparent sizes, front face area, the air resistance coefficient of vehicle are calculated, and records car
Tire radius, rear axle ratio, the wherein unit of front face area is m2, the unit of tire radius is mm；
IIth, the CAN parameters in the real-time collection vehicle CAN bus of car-mounted terminal, including engine torque, gearbox speed ratio,
Speed, and by the central server of CAN reporting parameters to backstage；
IIIth, the default load-carrying segmentation condition of load custom is changed according to vehicle, usually using parking duration as condition, such as,
Vehicle is possible to carry out changing load, it may be driver that down time is too short only under the Parking situation with certain time length
Parking rest, can not complete to change load；Condition is segmented according to default load-carrying, the load-carrying section to vehicle divides；
IVth, when engine torque section for ± 100Nm, vehicle speed intervals are 60~120km/h and vehicle speed deviation scope is
During ± 5km/h as, the travel conditions of vehicle are regarded to the steady state condition of no acceleration, automobile gear level is constant at this time, has one
Fixed gearbox speed ratio；For each load-carrying section marked off, each section of load-carrying under steady state operating conditions is calculated according to formula one respectively
Value, wherein, the unit of load-carrying M is ton；
Load-carrying M=(than * 0.82/ (tire radius/1000)-air resistance coefficient * meet after torque T rq* by axle ratio * gearboxes speed
Wind area * vehicle velocity Vs 2/21.15)/((0.0076+0.000056* vehicle velocity Vs) * 9800) formula one
Vth, the load value that gained is calculated each load-carrying section according to actual load value is modified；Amendment uses conventional method
A*M+b is carried out, i.e. the numerical value of actual test load-carrying several times, and the algorithm model in formula one is calculated to the load value M of gained, is passed through
After the adjustment of a*M+b, close to actual load value, so that it is determined that the deviation ratio a and offset b of correction algorithm.
The acquisition methods of vehicle velocity V are in formula one：With the fast ratio of gearbox for condition, select to make from highest three gears
With the most gear of the frequency；The median of the vehicle speed value corresponding to selection gear is obtained, is denoted as vehicle velocity V.
The acquisition methods of torque T rq are in formula one：The engine torque in " vehicle velocity V ± vehicle speed deviation scope " is chosen,
Moment of torsion invalid value is filtered out, and the intermediate value of the moment of torsion calculated is denoted as torque T rq.
The projectional technique of formula one is as follows：
Since the traveling road conditions of load-carrying vehicle are mostly expressway, the operating mode of its steady state ride is more, it is assumed that load-carrying
Vehicle is under the conditions of steady state condition, and then calculates vehicle load using running car equation, specific as follows：
Running car equation is：F=Ff+Fw+Fi+Fj；
Wherein, F is driving force, and Ff is rolling resistance, and Fw is windage, and Fi is grade resistance, and Fj is acceleration resistance；Due to car
In acceleration be zero steady state condition under, then it is assumed that vehicle at the uniform velocity travels on straight road, then Fi=0, Fj=0, therefore F=
Ff+Fw；
And Ff=mg*f, then m=(F-Fw)/fg, wherein, m is load-carrying, and f is rolling resistance coefficient, and g is acceleration of gravity, i.e.,
9.8m/s2；
Fw=air resistance coefficient * front face area * vehicle velocity Vs again2/ 21.15, and axle ratio * gearboxes speed after F=torque Ts rq*
Than * transmission efficiency/tire radius；Transmission efficiency is varied from because affected by various factors, but automobile is carried out preliminary
Dynamic property analysis when, it is often regarded as a constant；The transmission efficiency numerical recommendation of lorry uses 0.82, then：
Axle ratio * gearboxes speed is than * 0.82/ tire radius-air resistance coefficient * front face area * speeds after m=torque Ts rq*
V2/ 21.15) tire radius and load-carrying M due to f=0.0076+0.000056* vehicle velocity Vs, are then carried out unit and changed by/f*9.8
Calculate, obtain formula one：
Load-carrying M=(than * 0.82/ (tire radius/1000)-air resistance coefficient * meet after torque T rq* by axle ratio * gearboxes speed
Wind area * vehicle velocity Vs 2/21.15)/((0.0076+0.000056* vehicle velocity Vs) * 9800).
The present invention make full use of vehicle CAN bus collection vehicle travel during information, then by wireless network by number
According to the central server for being transferred to backstage；The information such as pre-recorded vehicle tyre specification, front face area, then by genuinely convinced in backstage
Business device transfer pre-recorded information and generate in real time engine torque, gearbox speed compare etc. data, utilize vehicle equation
Estimation model, calculates the load-carrying data of output vehicle, so as to provide foundation for the operating analysis of commerial vehicle, can also as into
The important references information of this clearing.
The above embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made in the range of technical scheme, also belong to this hair
Bright protection domain.
Claims (4)
- A kind of 1. vehicle load acquisition methods that need not be installed in addition with sensor, it is characterised in that：The equipment bag that the method uses Include car-mounted terminal, central server, vehicle CAN bus；The vehicle CAN bus is connected by data cable with car-mounted terminal, For three engine torque generated in real time, gearbox speed ratio, speed CAN parameters to be sent to car-mounted terminal；It is described vehicle-mounted Terminal is connected by wireless network with central server, for by the central server of the CAN reporting parameters of collection to backstage；The overall step of the method is：Ith, according to the model of vehicle, apparent size information, front face area, the air resistance coefficient of vehicle, and the wheel of registration of vehicle are calculated Tire radius, rear axle ratio；Wherein the unit of front face area is m2, the unit of tire radius is mm；IIth, the CAN parameters in the real-time collection vehicle CAN bus of car-mounted terminal, including engine torque, gearbox speed ratio, speed, And by the central server of CAN reporting parameters to backstage；IIIth, the default load-carrying segmentation condition of load custom is changed according to vehicle, usually using parking duration as condition；According to default Load-carrying is segmented condition, and the load-carrying section to vehicle divides；IVth, when engine torque section is ± 100Nm, vehicle speed intervals are 60~120km/h and vehicle speed deviation scope for ± During 5km/h as, the travel conditions of vehicle are regarded to the steady state condition of no acceleration；For each load-carrying section marked off, according to Formula one calculates each section of load value under steady state operating conditions respectively, wherein, the unit of load-carrying M is ton；(axle ratio * gearboxes speed is than * 0.82/ (tire radius/1000)-air resistance coefficient * windward sides after torque T rq* by load-carrying M= Product * vehicle velocity Vs 2/21.15)/((0.0076+0.000056* vehicle velocity Vs) * 9800) formula oneVth, the load value that gained is calculated each load-carrying section according to actual load value is modified；Amendment uses conventional method a*M+b Carry out, i.e. the numerical value of actual test load-carrying several times, the algorithm model in formula one is calculated to the load value M of gained, passes through a*M+b Adjustment after, close to actual load value, so that it is determined that the deviation ratio a and offset b of correction algorithm.
- 2. the vehicle load acquisition methods according to claim 1 that sensor need not be installed in addition with, it is characterised in that：The formula The acquisition methods of vehicle velocity V are in one：With fast ratio of gearbox for condition, frequency of usage is selected from highest three gears at most Gear；The median of the vehicle speed value corresponding to selection gear is obtained, is denoted as vehicle velocity V.
- 3. the vehicle load acquisition methods according to claim 1 that sensor need not be installed in addition with, it is characterised in that：The formula The acquisition methods of torque T rq are in one：Choose " vehicle velocity V ± vehicle speed deviation scope " in engine torque, filter out moment of torsion without Valid value, and the intermediate value of the moment of torsion calculated is denoted as torque T rq.
- 4. the vehicle load acquisition methods according to claim 1 that sensor need not be installed in addition with, it is characterised in that：The formula One projectional technique is as follows：Since the traveling road conditions of load-carrying vehicle are mostly expressway, the operating mode of its steady state ride is more, it is assumed that load-carrying vehicle Vehicle load is calculated under the conditions of steady state condition, and then using running car equation, it is specific as follows：Running car equation is：F=Ff+Fw+Fi+Fj；Wherein, F is driving force, and Ff is rolling resistance, and Fw is windage, and Fi is grade resistance, and Fj is acceleration resistance；At vehicle Under the steady state condition that acceleration is zero, then it is assumed that vehicle at the uniform velocity travels on straight road, then Fi=0, Fj=0, therefore F=Ff+ Fw；And Ff=mg*f, then m=(F-Fw)/fg, wherein, m is load-carrying, and f is rolling resistance coefficient, and g is acceleration of gravity, i.e. 9.8m/ s2；Fw=air resistance coefficient * front face area * vehicle velocity Vs again2/ 21.15, and axle ratio * gearboxes speed is driven than * after F=torque Ts rq* Efficiency/tire radius；Transmission efficiency is varied from because affected by various factors, but preliminary dynamic property is carried out to automobile During analysis, it is often regarded as a constant；The transmission efficiency numerical recommendation of lorry uses 0.82, then：Axle ratio * gearboxes speed is than * 0.82/ tire radius-air resistance coefficient * front face area * vehicle velocity Vs after m=torque Ts rq*2/ 21.15) tire radius and load-carrying M due to f=0.0076+0.000056* vehicle velocity Vs, are then carried out unit conversion by/f*9.8, Obtain：(axle ratio * gearboxes speed is than * 0.82/ (tire radius/1000)-air resistance coefficient * windward sides after torque T rq* by load-carrying M= Product * vehicle velocity Vs 2/21.15)/((0.0076+0.000056* vehicle velocity Vs) * 9800).
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| 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 |
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