CN107901916B - A kind of vehicle load acquisition methods without being installed in addition with sensor - Google Patents
A kind of vehicle load acquisition methods without being installed in addition with sensor Download PDFInfo
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- CN107901916B CN107901916B CN201711126762.6A CN201711126762A CN107901916B CN 107901916 B CN107901916 B CN 107901916B CN 201711126762 A CN201711126762 A CN 201711126762A CN 107901916 B CN107901916 B CN 107901916B
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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
- 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
Abstract
The vehicle load acquisition methods that the invention discloses a kind of without being 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 line 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, the central server of the CAN parameter real-time report for that will acquire to backstage.The parameter that the present invention is acquired according to CAN bus, and the information such as tire radius, rear axle speed ratio for combining vehicle itself, the load value of vehicle can be calculated by the estimation model of vehicle driving equation, it does not need to increase any external equipment and can be achieved with the collection of weight information, the important Development volue when being applied in 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 sides without being installed in addition with sensor
Method.
Background technique
Load-carrying problem is always to perplex an important problem of fleet manager.Since the difference of loading capacity can be related to transporting
It seeks 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 there is no certainly currently on the market
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 uses 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.
Summary of the invention
In order to solve shortcoming present in above-mentioned technology, the vehicle that the present invention provides a kind of without being 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 that: a kind of vehicle without being 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 line with car-mounted terminal, for by the engine torque generated in real time, gearbox speed ratio, speed three
CAN parameter is sent to car-mounted terminal；Car-mounted terminal is connected by wireless network with central server, the CAN for will acquire
Reporting parameters to backstage central server；
The overall step of this method are as follows:
I, according to the model of vehicle, apparent size information, front face area, the air resistance coefficient of vehicle are calculated, and records vehicle
Tire radius, rear axle speed ratio, wherein the unit of front face area be m2, the unit of tire radius is mm；
II, car-mounted terminal acquires the CAN parameter in vehicle CAN bus in real time, including engine torque, gearbox speed ratio,
Speed, and by the central server of CAN reporting parameters to backstage；
III, default load-carrying segmentation condition is accustomed to according to the load of changing of vehicle, usually using parking duration as condition；According to pre-
If load-carrying be segmented condition, the load-carrying section of vehicle is divided；
IV, when engine torque section is ± 100Nm, vehicle speed intervals are 60~120km/h and vehicle speed deviation range is
When ± 5km/h as, the driving condition of vehicle is regarded to the steady state condition of not acceleration；For each load-carrying section marked off, root
Each section of load value under steady state operating conditions is calculated separately according to formula one, wherein the unit of load-carrying M is ton；
(0.82/ (tire radius/1000)-air resistance coefficient * of torque T rq* rear axle speed ratio * gearbox speed ratio * is met load-carrying M=
Wind area * vehicle velocity V2/ 21.15)/((0.0076+0.000056* vehicle velocity V) * 9800) formula one
V, resulting load value is calculated to each load-carrying section according to practical load value to be 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 resulting load value M, 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 in formula one are as follows: using gearbox speed ratio as condition, select to make from highest three gears
With the most gear of the frequency；The median for finding out vehicle speed value corresponding to selection gear, is denoted as vehicle velocity V.
The acquisition methods of torque T rq in formula one are as follows: the engine torque in " vehicle velocity V ± vehicle speed deviation range " is chosen,
Torque invalid value is filtered out, and the intermediate value of calculated torque 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 condition of 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 are as follows: 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 vehicle
In acceleration be zero steady state condition under, then it is assumed that vehicle drives at a constant speed 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 V again2/ 21.15, and F=torque T rq* rear axle speed ratio * gearbox speed
Than * transmission efficiency/tire radius；Transmission efficiency is varied because being affected by various factors, but is carried out to automobile preliminary
Dynamic property analysis when, it is often regarded as a constant；The transmission efficiency numerical recommendation of lorry uses 0.82, then:
0.82/ tire radius of m=torque T rq* rear axle speed ratio * gearbox speed ratio *-air resistance coefficient * front face area * speed
V2/ 21.15)/f*9.8 is then carried out unit to tire radius and load-carrying M and is changed due to f=0.0076+0.000056* vehicle velocity V
It calculates, obtains:
(0.82/ (tire radius/1000)-air resistance coefficient * of torque T rq* rear axle speed ratio * gearbox speed ratio * is met load-carrying M=
Wind area * vehicle velocity V2/ 21.15)/((0.0076+0.000056* vehicle velocity V) * 9800).
The parameter that the present invention is acquired according to CAN bus, and the information such as tire radius, rear axle speed ratio for combining vehicle itself,
Load value can be calculated by the estimation model of vehicle driving equation, not needing to increase any external equipment can be achieved with
The collection of weight information, the important Development volue when being applied in fleet management's technical field.
Specific embodiment
The present invention will be further described in detail with reference to the specific embodiments.
A kind of vehicle load acquisition methods without being 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 line 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 in
Central server is connected, the central server of the CAN reporting parameters for that will acquire to backstage；Central server is by vehicle itself
Parameter load value is calculated by following algorithm with after CAN parameter integration.The present invention is set by what vehicle itself was installed
It is standby that load value calculating can be completed, without purchasing external equipment, have the advantages that save operation cost.
The overall step of this method are as follows:
I, according to information such as the model of vehicle, apparent sizes, front face area, the air resistance coefficient of vehicle are calculated, and records vehicle
Tire radius, rear axle speed ratio, wherein the unit of front face area be m2, the unit of tire radius is mm；
II, car-mounted terminal acquires the CAN parameter in vehicle CAN bus in real time, including engine torque, gearbox speed ratio,
Speed, and by the central server of CAN reporting parameters to backstage；
III, default load-carrying segmentation condition is accustomed to according to the load of changing of vehicle, usually using parking duration as condition, for example,
Vehicle is possible to change load, it may be driver that down time is too short only under the Parking situation with certain time length
Parking rest, is unable to complete and changes load；It is segmented condition according to preset load-carrying, the load-carrying section of vehicle is divided；
IV, when engine torque section is ± 100Nm, vehicle speed intervals are 60~120km/h and vehicle speed deviation range is
When ± 5km/h as, the driving condition of vehicle is regarded to the steady state condition of not 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 separately according to formula one
Value, wherein the unit of load-carrying M is ton；
(0.82/ (tire radius/1000)-air resistance coefficient * of torque T rq* rear axle speed ratio * gearbox speed ratio * is met load-carrying M=
Wind area * vehicle velocity V2/ 21.15)/((0.0076+0.000056* vehicle velocity V) * 9800) formula one
V, resulting load value is calculated to each load-carrying section according to practical load value to be 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 resulting load value M, 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 in formula one are as follows: using gearbox speed ratio as condition, select to make from highest three gears
With the most gear of the frequency；The median for finding out vehicle speed value corresponding to selection gear, is denoted as vehicle velocity V.
The acquisition methods of torque T rq in formula one are as follows: the engine torque in " vehicle velocity V ± vehicle speed deviation range " is chosen,
Torque invalid value is filtered out, and the intermediate value of calculated torque 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 condition of 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 are as follows: 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 vehicle
In acceleration be zero steady state condition under, then it is assumed that vehicle drives at a constant speed 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 V again2/ 21.15, and F=torque T rq* rear axle speed ratio * gearbox speed
Than * transmission efficiency/tire radius；Transmission efficiency is varied because being affected by various factors, but is carried out to automobile preliminary
Dynamic property analysis when, it is often regarded as a constant；The transmission efficiency numerical recommendation of lorry uses 0.82, then:
0.82/ tire radius of m=torque T rq* rear axle speed ratio * gearbox speed ratio *-air resistance coefficient * front face area * speed
V2/ 21.15)/f*9.8 is then carried out unit to tire radius and load-carrying M and is changed due to f=0.0076+0.000056* vehicle velocity V
It calculates, obtains formula one:
(0.82/ (tire radius/1000)-air resistance coefficient * of torque T rq* rear axle speed ratio * gearbox speed ratio * is met load-carrying M=
Wind area * vehicle velocity V2/ 21.15)/((0.0076+0.000056* vehicle velocity V) * 9800).
The present invention makes full use of the information in vehicle CAN bus acquisition vehicle travel process, then will be counted by wireless network
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 transfers pre-recorded information and the data such as the engine torque, the gearbox speed ratio that generate in real time, utilizes vehicle driving equation
Estimation model, the load-carrying data for calculating output vehicle can also be used as into so that the operating analysis for commerial vehicle provides foundation
The important references information of this clearing.
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 within the scope of technical solution of the present invention, also belong to this hair
Bright protection scope.
Claims (4)
1. a kind of vehicle load acquisition methods without being installed in addition with sensor, it is characterised in that: the equipment packet that the method uses
Include car-mounted terminal, central server, vehicle CAN bus；The vehicle CAN bus is connected by data line 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, the central server of the CAN reporting parameters for that will acquire to backstage；
The overall step of the method are as follows:
I, according to the model of vehicle, apparent size information, front face area, the air resistance coefficient of vehicle are calculated, and records the wheel of vehicle
Tire radius, rear axle speed ratio；Wherein the unit of front face area is m2, the unit of tire radius is mm；
II, car-mounted terminal acquires the CAN parameter in vehicle CAN bus, including engine torque, gearbox speed ratio, speed in real time,
And by the central server of CAN reporting parameters to backstage；
III, default load-carrying segmentation condition is accustomed to according to the load of changing of vehicle, usually using parking duration as condition；According to preset
Load-carrying is segmented condition, divides to the load-carrying section of vehicle；
IV, when engine torque section is ± 100Nm, vehicle speed intervals are 60~120km/h and vehicle speed deviation range be ±
When 5km/h as, the driving condition of vehicle is regarded to the steady state condition of not acceleration；For each load-carrying section marked off, according to
Formula one calculates separately each section of load value under steady state operating conditions, wherein the unit of load-carrying M is ton；
(0.82/ windward side (tire radius/1000)-air resistance coefficient * torque T rq* rear axle speed ratio * gearbox speed ratio * load-carrying M=
Product * vehicle velocity V2/ 21.15)/((0.0076+0.000056* vehicle velocity V) * 9800) formula one
V, resulting load value is calculated to each load-carrying section according to practical load value to be modified；Amendment uses conventional method a*M+b
It carries out, i.e. the numerical value of actual test load-carrying several times, the algorithm model in formula one is calculated into resulting load value M, 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 without being installed in addition with sensor, it is characterised in that: the formula
The acquisition methods of vehicle velocity V in one are as follows: using gearbox speed ratio as condition, select from highest three gears frequency of usage most
Gear；The median for finding out vehicle speed value corresponding to selection gear, is denoted as vehicle velocity V.
3. the vehicle load acquisition methods according to claim 1 without being installed in addition with sensor, it is characterised in that: the formula
The acquisition methods of torque T rq in one are as follows: choose " vehicle velocity V ± vehicle speed deviation range " in engine torque, filter out torque without
Valid value, and the intermediate value of calculated torque is denoted as torque T rq.
4. the vehicle load acquisition methods according to claim 1 without being installed in addition with sensor, 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 condition of 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, specific as follows:
Running car equation are as follows: 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 drives at a constant speed 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 V again2/ 21.15, and F=torque T rq* rear axle speed ratio * gearbox speed ratio * is driven
Efficiency/tire radius；Transmission efficiency is varied because being affected by various factors, but preliminary dynamic property is carried out to automobile
When analysis, it is often regarded as a constant；The transmission efficiency numerical recommendation of lorry uses 0.82, then:
0.82/ tire radius of m=torque T rq* rear axle speed ratio * gearbox speed ratio *-air resistance coefficient * front face area * vehicle velocity V2/
21.15)/f*9.8 then carries out unit conversion to tire radius and load-carrying M due to f=0.0076+0.000056* vehicle velocity V,
It obtains:
(0.82/ windward side (tire radius/1000)-air resistance coefficient * torque T rq* rear axle speed ratio * gearbox speed ratio * load-carrying M=
Product * vehicle velocity V2/ 21.15)/((0.0076+0.000056* vehicle velocity V) * 9800).
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| CN103449268A (en) * | 2013-09-23 | 2013-12-18 | 哈尔滨工业大学 | Weighing-sensor-free self-adaption starting torque compensation method of elevator permanent-magnet dragging guiding system |
| CN104943696A (en) * | 2015-06-19 | 2015-09-30 | 北汽福田汽车股份有限公司 | Method and device for obtaining engine power parameters |
| CN106564504A (en) * | 2016-11-02 | 2017-04-19 | 陕西法士特齿轮有限责任公司 | Computing method of AMT finished automobile mass |
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