CN109808699B - Method and system for estimating vehicle load - Google Patents
Method and system for estimating vehicle load Download PDFInfo
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- CN109808699B CN109808699B CN201711135539.8A CN201711135539A CN109808699B CN 109808699 B CN109808699 B CN 109808699B CN 201711135539 A CN201711135539 A CN 201711135539A CN 109808699 B CN109808699 B CN 109808699B
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Abstract
The invention discloses a method and a system for estimating vehicle load, wherein the method comprises the following steps: acquiring a vehicle running parameter value within a preset time; calculating a weight value according to a vehicle running parameter value; when the weight value is not zero, calculating the load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient; and weighting the load value and the weight value to obtain an estimated load value. The method and the system for estimating the vehicle load can obtain the estimated load value by calculation according to the vehicle running parameter values obtained by various sensors of the vehicle in the vehicle running process and the vehicle running parameter values, thereby greatly improving the weighing efficiency of vehicle load weighing and greatly reducing the resource consumption.
Description
Technical Field
The invention relates to the technical field of vehicle management, in particular to a method and a system for estimating vehicle load.
Background
In the daily life and production process, the vehicle weight is required to be weighed for fleet management of road vehicles, preventive diagnosis of vehicles, driving behavior analysis and the like. At present, the weighing method of the vehicle load mainly comprises two methods: the first method is to inlay a weighing platform on the road surface, namely the traditional weighing method is that the vehicle must be parked on the platform for weighing, and the weighing method needs the vehicles to be sequentially weighed, so that the time is consumed, and the weighing efficiency is low; the second type is that a pressure sensor is additionally arranged on the vehicle, namely, a processor is used for processing a signal transmitted back by the pressure sensor, the load is calculated according to a pre-established mathematical model of pressure and load weight, the weighing efficiency is improved by additionally arranging the pressure sensor, but the weighing mode needs to additionally arrange a sensor on the vehicle, so that the resource consumption is high, and the use cost is increased.
Therefore, in order to improve the weighing efficiency of vehicle load weighing and reduce resource consumption, a technical problem to be solved urgently is to be solved by the technical personnel in the field.
Disclosure of Invention
The invention aims to provide a method and a system for estimating vehicle load so as to improve the weighing efficiency of vehicle load weighing and reduce resource consumption.
In order to achieve the purpose, the invention provides the following technical scheme:
a method of estimating vehicle load comprising:
obtaining a vehicle running parameter value in a preset time, wherein the vehicle running parameter value comprises: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine rotating speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque;
calculating a weight value according to the vehicle running parameter value;
when the weight value is not zero, calculating a load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient;
and weighting the load value and the weight value to obtain an estimated load value.
Preferably, the calculating the weight value according to the vehicle driving parameter value includes:
determining a yaw velocity weight value according to the yaw velocity average value;
determining a longitudinal acceleration weight value according to the longitudinal acceleration average value;
determining an engine rotating speed weight value according to the initial value of the engine rotating speed;
determining a vehicle speed weight value according to the initial value of the vehicle speed;
determining an engine torque weight value according to the initial value of the engine torque and the maximum value and the minimum value of the engine torque;
and accumulating and multiplying the yaw angular velocity weight value, the longitudinal acceleration weight value, the engine rotating speed weight value, the vehicle speed weight value and the engine torque weight value to obtain the weight value.
Preferably, determining a yaw-rate weight value according to the yaw-rate average value includes:
judging whether the vehicle is not in straight line or not according to the average value of the yaw rate, and when the average value of the yaw rate is more than 5m/s2If the vehicle is judged to be not in a straight line, determining that the weighted value of the yaw rate is a first weighted value of the yaw rate;
when the average value of the yaw angular velocity is less than or equal to 5m/s2When it is determined that the vehicle is traveling straight, the yaw angle is determinedThe velocity weight value is a second yaw rate weight value.
Preferably, the determining a longitudinal acceleration weight value according to the longitudinal acceleration average value includes:
when the average value of the longitudinal acceleration is less than or equal to 0.2m/s2If so, determining that the longitudinal acceleration weight value is a first longitudinal acceleration weight value;
when the average value of the longitudinal acceleration is more than 0.2m/s2And less than or equal to 0.6m/s2If so, determining the longitudinal acceleration weight value as a second longitudinal acceleration weight value;
when the average value of the longitudinal acceleration is more than 0.6m/s2And is less than or equal to 1.0m/s2If so, determining that the longitudinal acceleration weight value is a third longitudinal acceleration weight value;
when the average value of the longitudinal acceleration is more than 1.0m/s2And is less than or equal to 1.5m/s2Determining that the longitudinal acceleration weight value is a fourth longitudinal acceleration weight value;
when the average value of the longitudinal acceleration is more than 2m/s2If so, determining that the longitudinal acceleration weight value is a fourth longitudinal acceleration weight value;
when the average value of the longitudinal acceleration is more than 1.5m/s2And is less than or equal to 2m/s2And if so, determining that the longitudinal acceleration weight value is a fifth longitudinal acceleration weight value.
Preferably, the determining the weight value of the engine speed according to the initial value of the engine speed includes:
when the initial value of the engine speed is smaller than or equal to 1200RPM, determining that the engine speed weight value is a first engine speed weight value;
when the initial value of the engine speed is greater than 1200RPM and less than or equal to 2000RPM, determining that the engine speed weight value is a second engine speed weight value;
when the initial value of the engine speed is greater than 2000RPM and less than or equal to 4500RPM, then determining the engine speed weight value as a third engine speed weight value;
when the initial value of the engine speed is greater than 4500RPM and less than or equal to 6000RPM, then the engine speed weight value is determined to be a fourth engine speed weight value.
Preferably, the determining a vehicle speed weight value according to the initial value of the vehicle speed includes:
when the initial value of the vehicle speed is less than or equal to 20Km/h, determining the vehicle speed weight value as a first vehicle speed weight value;
when the initial value of the vehicle speed is greater than 20Km/h and less than or equal to 30Km/h, determining that the vehicle speed weight value is a second vehicle speed weight value;
when the initial value of the vehicle speed is greater than 30Km/h and less than or equal to 40Km/h, determining that the vehicle speed weight value is a third vehicle speed weight value;
when the initial value of the vehicle speed is more than 40Km/h and less than or equal to 80Km/h, determining that the vehicle speed weight value is a fourth vehicle speed weight value;
and when the initial value of the vehicle speed is greater than 80Km/h and less than or equal to 120Km/h, determining that the vehicle speed weight value is a fifth vehicle speed weight value.
Preferably, the determining an engine torque weight value according to the initial value of the engine torque and the maximum value and the minimum value of the engine torque includes:
when the initial value of the engine torque is less than or equal to 20N.m, determining the engine torque weight value as a first engine torque weight value;
when the initial value of the engine torque is greater than 20N.m, determining that the engine torque weight value is a second engine torque weight value;
when the difference between the maximum value of the engine torque and the minimum value of the engine torque is greater than 5N.m, determining that the engine torque weight value is a first engine torque weight value;
determining the engine torque weight value as a second engine torque weight value when a difference between the maximum value of the engine torque and the minimum value of the engine torque is less than or equal to 5 N.m.
Preferably, the calculating a load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient comprises:
step 1, dividing the vehicle speed by the wheel radius to obtain the wheel angular velocity, and obtaining the angular acceleration value of the wheel according to the wheel angular velocity;
step 2, dividing the engine speed by the wheel angular speed to obtain a transmission reduction ratio of the gearbox, and determining the transmission efficiency of the gearbox according to the transmission reduction ratio of the gearbox;
step 3, dividing the power consumed by the internal load by the rotating speed of the engine to calculate the torque consumed by the internal load;
step 4, calculating a difference value between the engine torque and the torque consumed by the internal load to obtain a first difference value, and calculating the torque output to the wheel edge by the engine according to the product of the first difference value, the transmission reduction ratio of the gearbox and the transmission efficiency of the gearbox;
step 5, calculating the product of the rotational inertia of the wheel and the angular acceleration value of the vehicle to obtain the torque consumed by the wheel and the rotating system during acceleration;
step 6, calculating a difference value between the torque consumed by the wheels and the transmission system during acceleration and the torque output to the wheel edge by the engine to obtain a second difference value, and dividing the second difference value by the radius of the wheels to obtain the driving force output to the wheel edge by the engine;
step 7, calculating the product of the square of the vehicle speed and the vehicle resistance coefficient to obtain the wind resistance, wherein the vehicle resistance coefficient is the product of the windward area of the vehicle, the wind resistance coefficient of the vehicle and a preset parameter value;
step 8, calculating to obtain a load value according to a preset calculation formula, wherein the preset calculation formula is
Wherein fweeleot is a driving force output from the engine to the wheel side; fWind is wind resistance; fPowertrain is the friction of the transmission system; xAccavg is the longitudinal acceleration average value of the vehicle(ii) a fWhellRatio is the tire rolling resistance coefficient, G is the gravitational acceleration, and the product of the fWhellRatio and the gravitational acceleration is the tire friction force;
substituting the initial value of the vehicle speed, the initial value of the engine rotating speed, the initial value of the engine torque, the power consumed by the internal load, the wheel rotational inertia and the vehicle resistance coefficient into the step 1-8, and calculating to obtain an initial load value;
substituting the final value of the vehicle speed, the final value of the engine rotating speed, the final value of the engine torque, the power consumed by the internal load, the wheel inertia moment and the vehicle resistance coefficient into the step 1-8 to calculate a load final value;
and calculating the average value of the initial load value and the final load value to obtain the load value.
Preferably, the weighting the load value and the weight value to obtain an estimated load value includes:
calculating to obtain the estimated load value according to a preset weighting formula, wherein the preset weighting formula is
Wherein n represents the number of calculations; massAllEstAvgnThe estimated load value after the current weighting; massAllEstAvgn-1The estimated load value after the previous weighting is obtained; valueWeightnThe weight value calculated at the current time; valueWeightn-1A weight value calculated for the previous time; massAllCalnIs the next unweighted payload value.
A system for estimating vehicle load comprising:
the device comprises a parameter acquisition module, a parameter acquisition module and a control module, wherein the parameter acquisition module is used for acquiring vehicle running parameter values in preset time, and the vehicle running parameter values comprise: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine rotating speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque;
the weight value calculating module is used for calculating a weight value according to the vehicle running parameter value;
the load value calculating module is used for calculating a load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient when the weight value is not zero;
and the estimated load value calculation module is used for weighting the load value and the weight value to obtain an estimated load value.
Compared with the prior art, the invention discloses a method and a system for estimating the load of a vehicle, wherein the method comprises the following steps: acquiring a vehicle running parameter value in preset time, wherein the vehicle running parameter value comprises: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine rotating speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque; calculating a weight value according to a vehicle running parameter value; when the weight value is not zero, calculating the load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient; and carrying out weighting processing according to the load value and the weight value to obtain an estimated load value. The method and the system for estimating the vehicle load can obtain the estimated load value by calculation according to the vehicle running parameter values obtained by various sensors of the vehicle in the vehicle running process and the vehicle running parameter values, thereby greatly improving the weighing efficiency of vehicle load weighing and greatly reducing the resource consumption.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for estimating a vehicle load according to an embodiment of the present invention;
fig. 2 is a schematic flowchart illustrating a specific process of step S102 in fig. 1 according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a system for estimating a load of a vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in FIG. 1, the embodiment of the invention discloses a method for estimating the load of a vehicle, which comprises the following steps:
s101, obtaining a vehicle running parameter value in a preset time, wherein the vehicle running parameter value comprises: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque.
In this embodiment, after the automobile is started, vehicle driving parameters required for calculation may be acquired by an On-Board Diagnostics (OBD), and the vehicle driving parameters include: longitudinal acceleration, yaw rate, engine speed, vehicle speed, and engine torque. Specifically, in the present embodiment, the calculation of the average values of the yaw rate and the longitudinal acceleration may be performed once every 500ms and the initial and final values of the engine speed, the vehicle speed, and the engine torque, and the maximum and minimum values of the engine torque may be recorded.
And S102, calculating a weight value according to the vehicle running parameter value.
As shown in fig. 2, the step S102 of calculating the weight value according to the vehicle driving parameter value specifically includes the following steps:
and S201, determining a yaw rate weight value according to the yaw rate average value.
And S202, determining a longitudinal acceleration weight value according to the longitudinal acceleration average value.
And S203, determining an engine speed weight value according to the initial value of the engine speed.
And S204, determining a vehicle speed weight value according to the initial value of the vehicle speed.
And S205, determining an engine torque weight value according to the initial value of the engine torque and the maximum value and the minimum value of the engine torque.
S206, multiplying the Weight value of the yaw angular velocity, the Weight value of the longitudinal acceleration, the Weight value of the engine rotating speed, the Weight value of the vehicle speed and the Weight value of the engine torque to obtain a Weight value, which is hereinafter referred to as value Weight.
It should be noted that, there is no specific restriction on the sequence between step S201 and step 205.
Specifically, determining the yaw rate weight value according to the yaw rate average value includes:
judging whether the vehicle is not in straight line or not according to the average value of the yaw rate, wherein the unit of the average value of the yaw rate is m/s2When the average yaw rate is more than 5m/s2If the vehicle is determined to be in a non-straight-driving condition, determining that the yaw rate weight value is a first yaw rate weight value and can be set to be 0; when the average yaw rate is less than or equal to 5m/s2When it is determined that the vehicle is in the straight-ahead condition, the yaw rate weight value is determined to be the second yaw rate weight value, which may be set to 1.
Specifically, determining the longitudinal acceleration weight value according to the longitudinal acceleration average value includes:
the longitudinal acceleration condition is the average value of the longitudinal acceleration with the unit of m/s2When the average value of the longitudinal acceleration is less than or equal to 0.2m/s2Specifically, when the average value of the longitudinal acceleration is a negative number, the longitudinal acceleration weight value is determined to be a first longitudinal acceleration weight value, which may be set to 0; when the average longitudinal acceleration is more than 0.2m/s2And less than or equal to 0.6m/s2If so, determining that the longitudinal acceleration weight value is a second longitudinal acceleration weight value, and setting the longitudinal acceleration weight value to be 1; when the average longitudinal acceleration is more than 0.6m/s2And is less than or equal to 1.0m/s2If so, determining that the longitudinal acceleration weight value is a third longitudinal acceleration weight value, and setting the longitudinal acceleration weight value to be 2; when the average longitudinal acceleration is more than 1.0m/s2And is less than or equal to 1.5m/s2If yes, determining that the longitudinal acceleration weight value is a fourth longitudinal acceleration weight value, which can be set to 3; when the average longitudinal acceleration is more than 2m/s2If so, determining that the longitudinal acceleration weight value is 3; when the average longitudinal acceleration is more than 1.5m/s2And is less than or equal to 2m/s2Then, it is determined that the longitudinal acceleration weight value is the fifth longitudinal acceleration weight value, which may be set to 4.
Specifically, determining an engine speed weight value according to an initial value of the engine speed includes:
engine speed condition, the initial value of engine speed is in RPM. When the initial value of the engine speed is less than or equal to 1200RPM, determining that the engine speed weight value is a first engine speed weight value, which can be set to 0; when the initial value of the engine speed is greater than 1200RPM and less than or equal to 2000RPM, determining that the engine speed weight value is a second engine speed weight value, which may be set to 1; when the initial value of the engine speed is greater than 2000RPM and less than or equal to 4500RPM, determining that the engine speed weight value is a third engine speed weight value, which may be set to 3; when the initial value of the engine speed is greater than 4500RPM and less than or equal to 6000RPM, then the engine speed weight value is determined to be a fourth engine speed weight value, which may be set to 2.
Specifically, determining a vehicle speed weight value according to an initial value of a vehicle speed includes:
the method comprises the following steps that under the condition of vehicle speed, the unit of the vehicle speed is Km/h, and when the initial value of the vehicle speed is less than or equal to 20Km/h, the vehicle speed weight value is determined to be a first vehicle speed weight value and can be set to be 0; when the initial value of the vehicle speed is greater than 20Km/h and less than or equal to 30Km/h, determining that the vehicle speed weight value is a second vehicle speed weight value and setting the vehicle speed weight value to be 1; when the initial value of the vehicle speed is greater than 30Km/h and less than or equal to 40Km/h, determining that the vehicle speed weight value is a third vehicle speed weight value, and setting the vehicle speed weight value to be 2; when the initial value of the vehicle speed is more than 40Km/h and less than or equal to 80Km/h, determining that the vehicle speed weight value is a fourth vehicle speed weight value, and setting the vehicle speed weight value to be 3; when the initial value of the vehicle speed is greater than 80Km/h and less than or equal to 120Km/h, the vehicle speed weight value is determined to be a fifth vehicle speed weight value, which may be set to 4.
Specifically, determining the engine torque weight value according to the initial value of the engine torque and the maximum value and the minimum value of the engine torque comprises the following steps:
engine torque condition, unit of engine torque n.m. When the initial value of the engine torque is less than or equal to 20n.m, determining that the engine torque weight value is a first engine torque weight value, which may be set to 0; when the initial value of the engine torque is greater than 20N.m, determining that the engine torque weight value is a second engine torque weight value, and setting the engine torque weight value to be 1; when the difference between the maximum value of the engine torque and the minimum value of the engine torque is greater than 5n.m, determining that the engine torque weight value is a first engine torque weight value, which may be set to 0; when the difference between the maximum value of the engine torque and the minimum value of the engine torque is less than or equal to 5n.m, it is determined that the engine torque weight value is the second engine torque weight value, which may be set to 1.
And then accumulating and multiplying the yaw angular velocity weight value, the longitudinal acceleration weight value, the engine rotating speed weight value, the vehicle speed weight value and the engine torque weight value to obtain weight values.
For example: the vehicle driving parameter values are compared to obtain a yaw angular velocity weight value of 1, a longitudinal acceleration weight value of 3, an engine speed weight value of 2, a vehicle speed weight value of 2, and an engine torque weight value of 1, and then the weight value in the step is 1 × 3 × 2 × 1 — 12.
And S103, when the weight value is not zero, calculating the load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient.
In this embodiment, it should be noted that the calculation of the load value needs to be performed by the following calculation steps:
1. the vehicle speed is divided by the wheel radius to obtain the wheel angular velocity, and the angular acceleration of the wheel is obtained according to the wheel angular velocity.
2. According to vehicle dynamics, the engine speed is divided by the wheel angular speed to obtain a transmission reduction ratio of the gearbox, and transmission efficiency of the gearbox is determined according to the transmission reduction ratio of the gearbox.
Specifically, the transmission efficiency value of the gearbox can be selected according to the transmission reduction ratio of the gearbox: if the transmission reduction ratio of the gearbox is more than or equal to 4.5, the transmission efficiency value of the gearbox is 76%; if the transmission reduction ratio of the gearbox is more than or equal to 3.5 and less than 4.5, the transmission efficiency value of the gearbox is 86%; if the transmission reduction ratio of the gearbox is less than 3.5, judging according to the vehicle speed: if the vehicle speed is less than 90Km/h, the transmission efficiency value of the gearbox is 86%; if the vehicle speed is greater than or equal to 90, judging according to the average value of the longitudinal acceleration: if the average value of the longitudinal acceleration is more than 0.3, the transmission efficiency value of the gearbox is 86%; and if the average value of the longitudinal acceleration is less than or equal to 0.3, the transmission efficiency value of the gearbox is 96%.
3. The power consumed by the internal load is divided by the engine speed to obtain the torque consumed by the internal load.
Specifically, the power consumed by the internal load mentioned above is a fixed value according to the vehicle, and mainly includes: basic consumption of various accessories of vehicles such as air conditioners, lights, hydraulic machines and the like, wherein the power consumed by internal loads is generally 500W to 800W.
4. And calculating a difference value between the torque of the engine and the torque consumed by the internal load to obtain a first difference value, and obtaining the torque output by the engine to the wheel edge according to the product of the first difference value, the transmission reduction ratio of the gearbox and the transmission efficiency of the gearbox.
5. And calculating the product of the rotational inertia of the wheel and the angular acceleration value of the vehicle to obtain the torque consumed by the acceleration of the wheel and the transmission system, wherein the rotational inertia of the wheel is a constant according to the vehicle.
6. And calculating the difference between the torque consumed by the wheels and the transmission system during acceleration and the torque output to the wheel edge by the engine to obtain a second difference, and dividing the second difference by the radius of the wheels to obtain the driving force output to the wheel edge by the engine.
7. And calculating the product of the square of the vehicle speed and the vehicle resistance coefficient to obtain the wind resistance, wherein the vehicle resistance coefficient is the product of the windward area of the vehicle, the wind resistance coefficient of the vehicle and a preset parameter value, the preset parameter value is the product of 0.5 and 1.2258, and the windward area and the wind resistance coefficient of the vehicle are determined according to the vehicle and are constant.
8. Calculating to obtain the load according to a preset calculation formula, wherein the preset calculation formula is as follows:
wherein fweeleot is a driving force output from the engine to the wheel side; fWind is wind resistance; fPowertrain is the transmission system friction, which depends on the vehicle; xACCavg is the average longitudinal acceleration of the vehicle; fwellratio is the tire rolling resistance coefficient, G is the gravitational acceleration, the product of which is the tire friction, and the tire rolling resistance coefficient depends on the vehicle.
And in the vehicle running parameter values, because the engine rotating speed, the vehicle speed and the engine torque all have initial values and final values, the load value calculated through the preset calculation formula also has initial values and final values, and the initial load value and the final load value are sequentially obtained through the calculation steps according to the vehicle running parameter values, the power consumed by the internal load, the wheel rotational inertia and the vehicle resistance coefficient.
Specifically, according to the calculation steps 1 to 8, the calculation process for calculating the initial load value is as follows:
and dividing the initial value of the vehicle speed by the radius of the wheel to obtain an initial value of the angular velocity of the wheel, and obtaining an initial value of the angular acceleration of the wheel according to the initial value of the angular velocity of the wheel.
According to vehicle dynamics, dividing the initial value of the engine speed by the initial value of the wheel angular speed to obtain an initial value of a transmission reduction ratio of the gearbox, and determining an initial value of transmission efficiency of the gearbox according to the initial value ratio of the transmission reduction ratio of the gearbox.
And dividing the power consumed by the internal load by the initial value of the engine speed to obtain the initial value of the torque consumed by the internal load.
And calculating the difference value between the initial value of the engine torque and the initial value of the torque consumed by the internal load to obtain a first difference value initial value, and obtaining the initial value of the torque output to the wheel edge by the engine according to the product of the first difference value initial value, the initial value of the transmission reduction ratio of the gearbox and the initial value of the transmission efficiency of the gearbox.
And calculating the product of the rotational inertia of the wheel and the initial value of the angular acceleration value of the vehicle to obtain the initial value of the torque consumed by the wheel and the transmission system during acceleration.
And calculating the difference between the initial torque value consumed by the wheels and the transmission system during acceleration and the initial torque value output to the wheel edge by the engine to obtain a second initial difference value, and dividing the second initial difference value by the radius of the wheels to obtain the initial driving force value output to the wheel edge by the engine.
And calculating the product of the square of the initial value of the vehicle speed and the vehicle resistance coefficient to obtain the initial value of the wind resistance.
Calculating to obtain an initial load value M according to a preset calculation formulaFirst stageThe preset calculation formula is as follows:
wherein, fWheelOutFirst stageThe initial value of the driving force output to the wheel edge by the engine is obtained; fWindFirst stageIs the initial value of the wind resistance; fPowertrain is the transmission system friction, which depends on the vehicle; xACCavg is the average longitudinal acceleration of the vehicle; fwellratio is the tire rolling resistance coefficient, G is the gravitational acceleration, the product of which is the tire friction, and the tire rolling resistance coefficient depends on the vehicle.
Specifically, according to the above calculation steps 1 to 8, the calculation process of calculating the load end value is as follows:
and dividing the final value of the vehicle speed by the radius of the wheel to obtain a final value of the angular speed of the wheel, and obtaining a final value of the angular acceleration of the wheel according to the final value of the angular speed of the wheel.
And according to vehicle dynamics, dividing the final value of the engine speed by the final value of the wheel angular speed to obtain a final value of a transmission reduction ratio of the gearbox, and determining a final value of transmission efficiency of the gearbox according to the final value ratio of transmission reduction of the gearbox.
The final value of torque consumed by the internal load is obtained by dividing the power consumed by the internal load by the final value of the engine speed.
And calculating a difference value between the final value of the engine torque and the final value of the torque consumed by the internal load to obtain a first difference value final value, and obtaining a torque final value output to a wheel edge by the engine according to the product of the first difference value final value, the final value of the transmission reduction ratio of the gearbox and the final value of the transmission efficiency of the gearbox.
And calculating the product of the rotational inertia of the wheel and the final value of the angular acceleration value of the vehicle to obtain the final value of the torque consumed by the wheel and the transmission system during acceleration.
And calculating the difference between the final torque value consumed by the wheels and the transmission system during acceleration and the final torque value output to the wheel edge by the engine to obtain a second difference final value, and dividing the second difference final value by the radius of the wheels to obtain the final driving force output to the wheel edge by the engine.
And calculating the product of the square of the final value of the vehicle speed and the vehicle resistance coefficient to obtain the wind resistance final value.
Calculating to obtain a load final value M according to a preset calculation formulaFinal (a Chinese character of 'gan')The preset calculation formula is as follows:
wherein, fWheelOutFinal (a Chinese character of 'gan')The final driving force value output to the wheel edge by the engine; fWindFinal (a Chinese character of 'gan')Is the wind resistance final value; fPowertrain is the transmission system friction, which depends on the vehicle; xACCavg is the average longitudinal acceleration of the vehicle; fwellratio is the tire rolling resistance coefficient, G is the gravitational acceleration, the product of which is the tire friction, and the tire rolling resistance coefficient depends on the vehicle.
Finally, the load initial value M calculated according to the steps is obtainedFirst stageAnd a final load value MFinal (a Chinese character of 'gan')Calculating the initial value M of the loadFirst stageAnd a final load value MFinal (a Chinese character of 'gan')The average value of (d) gives the load value.
And S104, weighting the load value and the weight value to obtain an estimated load value.
It should be noted that, after the load value and the weight value are calculated, the calculated weight value and the calculated load value are subjected to weighting processing, and finally the estimated load value is obtained. Specifically, the estimated load value massalelsestavg is obtained by calculation according to a preset weighting formula, wherein the preset weighting formula expression is as follows:
wherein n represents the number of calculations; massAllEstAvgnThe estimated load value after the current weighting; massAllEstAvgn-1The estimated load value after the previous weighting is obtained; valueWeightnThe weight value calculated at the current time; valueWeightn-1A weight value calculated for the previous time; massAllCalnThe final calculated massAllEstAvg is the next unweighted load valuenIs an estimated load value.
The embodiment of the invention discloses a method for estimating the load of a vehicle, which comprises the following steps: acquiring a vehicle running parameter value in preset time, wherein the vehicle running parameter value comprises: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine rotating speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque; calculating a weight value according to a vehicle running parameter value; when the weight value is not zero, calculating the load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient; and carrying out weighting processing according to the load value and the weight value to obtain an estimated load value. The method for estimating the vehicle load provided by the embodiment of the invention can obtain the estimated load value by calculation according to the vehicle running parameter values obtained by various sensors of the vehicle in the vehicle running process and the vehicle running parameter values, thereby greatly improving the weighing efficiency of vehicle load weighing and greatly reducing the resource consumption.
The system for estimating the vehicle load according to the embodiment of the present invention is described below, and it should be noted that the system for estimating the vehicle load may perform the method for estimating the vehicle load provided above, and details are not described below.
As shown in fig. 3, an embodiment of the present invention discloses a system for estimating a vehicle load, which may specifically include the following structure:
a parameter obtaining module 301, configured to obtain a vehicle driving parameter value within a preset time, where the vehicle driving parameter value includes: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine rotating speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque;
a weight value calculating module 302, configured to calculate a weight value according to a vehicle driving parameter value;
the load value calculation module 303 is configured to calculate a load value according to a vehicle driving parameter value, power consumed by an internal load, a wheel moment of inertia, and a vehicle resistance coefficient when the load value is not zero;
and an estimated load value calculation module 304, configured to perform weighting processing on the load value and the weight value to obtain an estimated load value.
The embodiment of the invention discloses a system for estimating vehicle load, which acquires a vehicle running parameter value in preset time through a parameter acquisition module, wherein the vehicle running parameter value comprises the following steps: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine rotating speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque; calculating a weight value according to the vehicle running parameter value through a weight value calculation module; when the weight value is not zero, calculating the load value through a load value calculating module according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient; and finally, weighting by the estimated load value calculation module according to the load value and the weight value to obtain an estimated load value. The system for predicting the vehicle load provided by the embodiment of the invention can obtain the predicted load value by calculation according to the vehicle running parameter values obtained by various sensors of the vehicle in the vehicle running process and the vehicle running parameter values, thereby greatly improving the weighing efficiency of vehicle load weighing and greatly reducing the resource consumption.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in an article or device that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A method of estimating vehicle load, comprising:
obtaining a vehicle running parameter value in a preset time, wherein the vehicle running parameter value comprises: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine rotating speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque;
calculating a weight value according to the vehicle running parameter value;
when the weight value is not zero, calculating a load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient;
weighting the load value and the weight value to obtain an estimated load value;
wherein the calculating a weight value according to the vehicle driving parameter value includes:
determining a yaw velocity weight value according to the yaw velocity average value;
determining a longitudinal acceleration weight value according to the longitudinal acceleration average value;
determining an engine rotating speed weight value according to the initial value of the engine rotating speed;
determining a vehicle speed weight value according to the initial value of the vehicle speed;
determining an engine torque weight value according to the initial value of the engine torque and the maximum value and the minimum value of the engine torque;
accumulating and multiplying the yaw angular velocity weight value, the longitudinal acceleration weight value, the engine rotating speed weight value, the vehicle speed weight value and the engine torque weight value to obtain the weight values;
wherein the calculating of the load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient comprises:
step 1, dividing the vehicle speed by the wheel radius to obtain the wheel angular velocity, and obtaining the angular acceleration value of the wheel according to the wheel angular velocity;
step 2, dividing the engine speed by the wheel angular speed to obtain a transmission reduction ratio of the gearbox, and determining the transmission efficiency of the gearbox according to the transmission reduction ratio of the gearbox;
step 3, dividing the power consumed by the internal load by the rotating speed of the engine to obtain the torque consumed by the internal load;
step 4, calculating a difference value between the engine torque and the torque consumed by the internal load to obtain a first difference value, and obtaining the torque output by the engine to the wheel edge according to the product of the first difference value, the transmission reduction ratio of the gearbox and the transmission efficiency of the gearbox;
step 5, calculating the product of the rotational inertia of the wheel and the angular acceleration value to obtain the torque consumed by the wheel and the transmission system during acceleration;
step 6, calculating a difference value between the torque consumed by the wheels and the transmission system during acceleration and the torque output to the wheel edge by the engine to obtain a second difference value, and dividing the second difference value by the radius of the wheels to obtain the driving force output to the wheel edge by the engine;
step 7, calculating the product of the square of the vehicle speed and the vehicle resistance coefficient to obtain the wind resistance, wherein the vehicle resistance coefficient is the product of the windward area of the vehicle, the wind resistance coefficient of the vehicle and a preset parameter value, and the preset parameter value is the product of 0.5 and 1.2258;
step 8, calculating to obtain a load value according to a preset calculation formula, wherein the preset calculation formula is
Wherein fweeleot is a driving force output from the engine to the wheel side; fWind is wind resistance; fPowertrain is the friction of the transmission system; xACCavg is the average longitudinal acceleration of the vehicle; fWhellRatio is the tire rolling resistance coefficient, G is the gravitational acceleration;
substituting the initial value of the vehicle speed, the initial value of the engine rotating speed, the initial value of the engine torque, the power consumed by the internal load, the wheel rotational inertia and the vehicle resistance coefficient into the steps 1 to 8, and calculating to obtain an initial load value;
substituting the final value of the vehicle speed, the final value of the engine rotating speed, the final value of the engine torque, the power consumed by the internal load, the wheel inertia moment and the vehicle resistance coefficient into the steps 1 to 8 to calculate a load final value;
calculating the average value of the initial load value and the final load value to obtain the load value;
wherein, weighting the load value and the weight value to obtain an estimated load value comprises:
calculating to obtain the estimated load value according to a preset weighting formula, wherein the preset weighting formula is
Wherein n represents the number of calculations; massAllEstAvgnThe estimated load value after the current weighting; massAllEstAvgn-1The estimated load value after the previous weighting is obtained; valueWeightnThe weight value calculated at the current time; valueWeightn-1A weight value calculated for the previous time; massAllCalnIs the next unweighted payload value.
2. The method of claim 1, wherein determining a yaw-rate weight value from the yaw-rate average value comprises:
judging whether the vehicle is not in straight line or not according to the average value of the yaw rate, and when the average value of the yaw rate is more than 5m/s2If the vehicle is judged to be not in a straight line, determining that the yaw rate weighted value is a first yaw rate weighted value and setting the first yaw rate weighted value to be 0;
when the average value of the yaw angular velocity is less than or equal to 5m/s2And if the vehicle is judged to be in a straight line, determining that the yaw rate weight value is a second yaw rate weight value and setting the second yaw rate weight value to be 1.
3. The method of claim 1, wherein said determining a longitudinal acceleration weight value from said longitudinal acceleration average value comprises:
when the average value of the longitudinal acceleration is less than or equal to 0.2m/s2If so, determining that the longitudinal acceleration weight value is a first longitudinal acceleration weight value and setting the longitudinal acceleration weight value as 0;
when the average value of the longitudinal acceleration is more than 0.2m/s2And less than or equal to 0.6m/s2If so, determining that the longitudinal acceleration weight value is a second longitudinal acceleration weight value and setting the longitudinal acceleration weight value as 1;
when the average value of the longitudinal acceleration is more than 0.6m/s2And is less than or equal to 1.0m/s2If so, determining that the longitudinal acceleration weight value is a third longitudinal acceleration weight value and setting the longitudinal acceleration weight value as 2;
when the average value of the longitudinal acceleration is more than 1.0m/s2And is less than or equal to 1.5m/s2Then determining the longitudinal acceleration weight value asA fourth longitudinal acceleration weight value set to 3;
when the average value of the longitudinal acceleration is more than 1.5m/s2And is less than or equal to 2m/s2If so, determining that the longitudinal acceleration weight value is a fifth longitudinal acceleration weight value and setting the longitudinal acceleration weight value as 4;
when the average value of the longitudinal acceleration is more than 2m/s2And if so, determining that the longitudinal acceleration weight value is a sixth longitudinal acceleration weight value and setting the longitudinal acceleration weight value to be 5.
4. The method of claim 1, wherein determining an engine speed weight value based on the initial value of engine speed comprises:
when the initial value of the engine speed is smaller than or equal to 1200RPM, determining that the engine speed weight value is a first engine speed weight value and setting the engine speed weight value as 0;
when the initial value of the engine speed is greater than 1200RPM and less than or equal to 2000RPM, determining that the engine speed weight value is a second engine speed weight value and setting the engine speed weight value as 1;
when the initial value of the engine speed is greater than 2000RPM and less than or equal to 4500RPM, determining that the engine speed weight value is a third engine speed weight value and setting the engine speed weight value as 2;
when the initial value of the engine speed is greater than 4500RPM and less than or equal to 6000RPM, then the engine speed weight value is determined to be a fourth engine speed weight value, set to 3.
5. The method of claim 1, wherein determining a vehicle speed weight value based on the initial value of the vehicle speed comprises:
when the initial value of the vehicle speed is less than or equal to 20Km/h, determining that the vehicle speed weight value is a first vehicle speed weight value and setting the vehicle speed weight value as 0;
when the initial value of the vehicle speed is greater than 20Km/h and less than or equal to 30Km/h, determining that the vehicle speed weight value is a second vehicle speed weight value and setting the vehicle speed weight value as 1;
when the initial value of the vehicle speed is greater than 30Km/h and less than or equal to 40Km/h, determining that the vehicle speed weight value is a third vehicle speed weight value and setting the third vehicle speed weight value as 2;
when the initial value of the vehicle speed is greater than 40Km/h and less than or equal to 80Km/h, determining that the vehicle speed weight value is a fourth vehicle speed weight value and setting the vehicle speed weight value to be 3;
and when the initial value of the vehicle speed is greater than 80Km/h and less than or equal to 120Km/h, determining that the vehicle speed weight value is a fifth vehicle speed weight value and setting the value to be 4.
6. The method of claim 1, wherein determining an engine torque weight value based on the initial value of engine torque and the maximum and minimum values of engine torque comprises:
when the initial value of the engine torque is less than or equal to 20N.m, determining that the engine torque weight value is a first initial value engine torque weight value and setting the engine torque weight value as 0;
when the initial value of the engine torque is greater than 20N.m, determining that the engine torque weight value is a second initial value engine torque weight value and setting the engine torque weight value as 1;
when the difference between the maximum value of the engine torque and the minimum value of the engine torque is greater than 5N.m, determining that the engine torque weight value is a first difference engine torque weight value and is set to be 0;
when the difference between the maximum value of the engine torque and the minimum value of the engine torque is less than or equal to 5N.m, determining that the engine torque weight value is a second difference engine torque weight value and setting the engine torque weight value as 1;
determining the engine torque weight value according to the first initial engine torque weight value, the second initial engine torque weight value, the first delta engine torque weight value, and the second delta engine torque weight value.
7. A system for estimating vehicle load, comprising:
the device comprises a parameter acquisition module, a parameter acquisition module and a control module, wherein the parameter acquisition module is used for acquiring vehicle running parameter values in preset time, and the vehicle running parameter values comprise: the average value of the yaw rate, the average value of the longitudinal acceleration, the initial value and the final value of the engine rotating speed, the initial value and the final value of the vehicle speed, the initial value and the final value of the engine torque and the maximum value and the minimum value of the engine torque;
the weight value calculating module is used for calculating a weight value according to the vehicle running parameter value;
the load value calculating module is used for calculating a load value according to the vehicle running parameter value, the power consumed by the internal load, the wheel moment of inertia and the vehicle resistance coefficient when the weight value is not zero;
the estimated load value calculation module is used for weighting the load value and the weight value to obtain an estimated load value;
the weight value calculation module is specifically configured to:
determining a yaw velocity weight value according to the yaw velocity average value;
determining a longitudinal acceleration weight value according to the longitudinal acceleration average value;
determining an engine rotating speed weight value according to the initial value of the engine rotating speed;
determining a vehicle speed weight value according to the initial value of the vehicle speed;
determining an engine torque weight value according to the initial value of the engine torque and the maximum value and the minimum value of the engine torque;
accumulating and multiplying the yaw angular velocity weight value, the longitudinal acceleration weight value, the engine rotating speed weight value, the vehicle speed weight value and the engine torque weight value to obtain the weight values;
wherein the load value calculation module is specifically configured to:
step 1, dividing the vehicle speed by the wheel radius to obtain the wheel angular velocity, and obtaining the angular acceleration value of the wheel according to the wheel angular velocity;
step 2, dividing the engine speed by the wheel angular speed to obtain a transmission reduction ratio of the gearbox, and determining the transmission efficiency of the gearbox according to the transmission reduction ratio of the gearbox;
step 3, dividing the power consumed by the internal load by the rotating speed of the engine to obtain the torque consumed by the internal load;
step 4, calculating a difference value between the engine torque and the torque consumed by the internal load to obtain a first difference value, and obtaining the torque output by the engine to the wheel edge according to the product of the first difference value, the transmission reduction ratio of the gearbox and the transmission efficiency of the gearbox;
step 5, calculating the product of the rotational inertia of the wheel and the angular acceleration value to obtain the torque consumed by the wheel and the transmission system during acceleration;
step 6, calculating a difference value between the torque consumed by the wheels and the transmission system during acceleration and the torque output to the wheel edge by the engine to obtain a second difference value, and dividing the second difference value by the radius of the wheels to obtain the driving force output to the wheel edge by the engine;
step 7, calculating the product of the square of the vehicle speed and the vehicle resistance coefficient to obtain the wind resistance, wherein the vehicle resistance coefficient is the product of the windward area of the vehicle, the wind resistance coefficient of the vehicle and a preset parameter value, and the preset parameter value is the product of 0.5 and 1.2258;
step 8, calculating to obtain a load value according to a preset calculation formula, wherein the preset calculation formula is
Wherein fweeleot is a driving force output from the engine to the wheel side; fWind is wind resistance; fPowertrain is the friction of the transmission system; xACCavg is the average longitudinal acceleration of the vehicle; fWhellRatio is the tire rolling resistance coefficient, G is the gravitational acceleration;
substituting the initial value of the vehicle speed, the initial value of the engine rotating speed, the initial value of the engine torque, the power consumed by the internal load, the wheel rotational inertia and the vehicle resistance coefficient into the steps 1 to 8, and calculating to obtain an initial load value;
substituting the final value of the vehicle speed, the final value of the engine rotating speed, the final value of the engine torque, the power consumed by the internal load, the wheel inertia moment and the vehicle resistance coefficient into the steps 1 to 8 to calculate a load final value;
calculating the average value of the initial load value and the final load value to obtain the load value;
wherein, weighting the load value and the weight value to obtain an estimated load value comprises:
calculating to obtain the estimated load value according to a preset weighting formula, wherein the preset weighting formula is
Wherein n represents the number of calculations; massAllEstAvgnThe estimated load value after the current weighting; massAllEstAvgn-1The estimated load value after the previous weighting is obtained; valueWeightnThe weight value calculated at the current time; valueWeightn-1A weight value calculated for the previous time; massAllCalnIs the next unweighted payload value.
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| CN110376608B (en) * | 2019-07-19 | 2021-03-30 | 成都云科新能汽车技术有限公司 | Dynamic measurement method for total mass of vehicle based on power balance |
| CN110406539A (en) * | 2019-07-22 | 2019-11-05 | 杭州鸿泉物联网技术股份有限公司 | A kind of method and device identifying vehicle load state |
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| US9358846B2 (en) * | 2012-10-19 | 2016-06-07 | The Goodyear Tire & Rubber Company | Vehicle weight and center of gravity estimation system and method |
| US8844346B1 (en) * | 2013-03-08 | 2014-09-30 | The Goodyear Tire & Rubber Company | Tire load estimation system using road profile adaptive filtering |
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