CN111016917A - Vehicle load capacity detection method and device, computer readable storage medium and vehicle - Google Patents

Vehicle load capacity detection method and device, computer readable storage medium and vehicle Download PDF

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Publication number
CN111016917A
CN111016917A CN201811180117.7A CN201811180117A CN111016917A CN 111016917 A CN111016917 A CN 111016917A CN 201811180117 A CN201811180117 A CN 201811180117A CN 111016917 A CN111016917 A CN 111016917A
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vehicle
preset
running
load
interval
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CN111016917B (en
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乔国顺
王帅
赵琳琳
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Beiqi Foton Motor Co Ltd
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Beiqi Foton Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

Abstract

The disclosure relates to a vehicle load capacity detection method, a vehicle load capacity detection device, a computer-readable storage medium and a vehicle. The method comprises the following steps: acquiring running parameter information of a vehicle in a preset historical running interval, wherein the running parameter information comprises running speed information, gear information, rotating speed information of an engine of the vehicle and accumulated fuel consumption; judging whether the vehicle is in a preset driving state in the preset historical driving interval or not according to the driving speed information, the gear information and the rotating speed information; and if the vehicle is in the preset running state in the preset historical running interval, determining the load capacity of the vehicle according to the accumulated fuel consumption. Through the technical scheme, the requirement for detecting the load state of the vehicle in real time can be met, the load state detection device can be applied to real-time detection of the load of various load-carrying vehicles, the use safety of various load-carrying vehicles is improved, and logistics companies and traffic management departments can conveniently supervise and manage the load state detection device.

Description

Vehicle load capacity detection method and device, computer readable storage medium and vehicle
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for detecting a vehicle load, a computer-readable storage medium, and a vehicle.
Background
Although the holding capacity of various transport vehicles is continuously improved and the carrying capacity is continuously enhanced, the operation capacity of the market is far from meeting the transport demand, the vehicles are often overloaded, and a series of serious problems are brought, including damage to road facilities, potential traffic safety hazards, environmental pollution, national tax loss and the like.
The traditional vehicle-mounted weighing needs to be completed by using a corresponding weighing system at a specified place under the arrangement of related workers, and the load state of a vehicle cannot be monitored in the transportation process. How to identify the current load state of the vehicle in real time and quickly and feed the current load state back to an operation management department in real time becomes one of important research directions of transportation.
In the related art, a vehicle-mounted weighing system is usually installed on a load-carrying vehicle to monitor the load capacity of the vehicle in real time, and the system comprises various sensors, a control module and other hardware facilities, so that the detection strategy of the load capacity of the vehicle is complicated and the cost is high.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a vehicle load detection method, apparatus, computer-readable storage medium, and vehicle.
In order to achieve the above object, the present disclosure provides a vehicle load detection method, including:
acquiring running parameter information of a vehicle in a preset historical running interval, wherein the running parameter information comprises running speed information, gear information, rotating speed information of an engine of the vehicle and accumulated fuel consumption;
judging whether the vehicle is in a preset driving state in the preset historical driving interval or not according to the driving speed information, the gear information and the rotating speed information;
and if the vehicle is in the preset running state in the preset historical running interval, determining the load capacity of the vehicle according to the accumulated fuel consumption.
Optionally, the determining, according to the driving speed information, the gear information, and the rotation speed information, whether the vehicle is in a preset driving state in the preset historical driving interval includes:
judging whether the vehicle is in a constant-speed running state in the preset historical running interval or not according to the running speed information;
judging whether the vehicle runs on a horizontal road surface in the preset historical running interval or not according to the gear information, the rotating speed information and the running speed information;
and if the vehicle is in a constant-speed running state in the preset historical running interval and runs on a horizontal road, determining that the vehicle is in the preset running state.
Optionally, the travel speed information includes a plurality of travel speeds;
the step of judging whether the vehicle is in a constant-speed running state in the preset historical running interval according to the running speed information comprises the following steps:
the variance of the travel speed is calculated according to the following formula:
Figure BDA0001824793100000021
wherein σv 2Is a variance of the travel speeds, N is a number of the plurality of travel speeds,
Figure BDA0001824793100000022
is the average running speed, v, of the vehicle in the preset historical running intervaliIs any one of the plurality of travel speeds;
and if the variance is smaller than a first preset threshold value, determining that the vehicle is in a constant-speed running state in the preset historical running interval.
Optionally, the running speed information includes a plurality of running speeds, and the rotation speed information includes a plurality of rotation speeds;
the judging whether the vehicle runs on a horizontal road surface in the preset historical running interval according to the gear information, the rotating speed information and the running speed information comprises the following steps:
determining a reference travel speed from the plurality of travel speeds and a reference rotational speed from the plurality of rotational speeds;
calculating a speed ratio of the engine in the preset history travel section according to the following formula:
Figure BDA0001824793100000031
wherein R is the speed ratio, n is the reference rotation speed, R1A preset final reduction ratio for the vehicle, D being the diameter of a wheel of the vehicle, v being the reference running speed;
determining the gearbox speed ratio of the vehicle in the preset historical driving interval according to the preset corresponding relation between the gears and the gearbox speed ratio and the gear information;
the reference is calculated according to the following formula:
λ＝|R/R2-1|
wherein λ is the reference amount, R2The speed ratio of the gearbox in the preset historical driving interval is obtained;
and if the reference quantity is smaller than a second preset threshold value, determining that the vehicle runs on a horizontal road surface in the historical running interval.
Optionally, the determining the loading capacity of the vehicle according to the accumulated fuel consumption comprises:
determining the fuel consumption of the vehicle in the preset historical driving interval in unit time according to the accumulated fuel consumption;
determining a payload capacity of the vehicle according to the following formula:
Figure BDA0001824793100000032
wherein M is the load capacity of the vehicle, M0For the weight of the vehicle in the unloaded state, L1For the preset historyFuel consumption per unit time, L, in the driving interval0And the fuel consumption per unit time when the vehicle runs in the preset running state under the idle state is adopted.
Optionally, the method further comprises:
judging whether the obtained load capacity is normal or not according to a preset rule;
if the load capacity is normal, determining the load grade of the vehicle by adopting the following method:
determining the load grade of the vehicle according to the preset corresponding relation between the load capacity and the load grade and the obtained load capacity; or
Inputting the obtained load into a preset load grade recognition model to obtain the load grade of the vehicle, wherein the load grade recognition model is obtained by training the load and the load grade of a plurality of vehicles;
wherein the load rating comprises any one of the following ratings: no load, medium load, heavy load and overload.
The present disclosure also provides a vehicle load capacity detection device, including:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring running parameter information of a vehicle in a preset historical running interval, and the running parameter information comprises running speed information, gear information, rotating speed information of an engine of the vehicle and accumulated fuel consumption;
the first judging module is used for judging whether the vehicle is in a preset driving state in the preset historical driving interval according to the driving speed information, the gear information and the rotating speed information;
and the first determining module is used for determining the loading capacity of the vehicle according to the accumulated fuel consumption when the vehicle is in the preset running state in the preset historical running interval.
Optionally, the first determining module includes:
the first judgment submodule is used for judging whether the vehicle is in a constant-speed running state in the preset historical running interval or not according to the running speed information;
and the second judgment submodule is used for judging whether the vehicle runs on a horizontal road surface in the preset historical running interval or not according to the gear information, the rotating speed information and the running speed information.
The first determining submodule is used for determining that the vehicle is in the preset running state when the vehicle is in the constant-speed running state in the preset historical running interval and runs on a horizontal road surface.
Optionally, the travel speed information includes a plurality of travel speeds;
the first judgment submodule is used for:
the variance of the travel speed is calculated according to the following formula:
Figure BDA0001824793100000051
wherein σv 2Is a variance of the travel speeds, N is a number of the plurality of travel speeds,
Figure BDA0001824793100000053
is the average running speed, v, of the vehicle in the preset historical running intervaliIs any one of the plurality of traveling speeds.
And if the variance is smaller than a first preset threshold value, determining that the vehicle is in a constant-speed running state in the preset historical running interval.
Optionally, the running speed information includes a plurality of running speeds, and the rotation speed information includes a plurality of rotation speeds;
the second judgment sub-module is configured to:
determining a reference travel speed from the plurality of travel speeds and a reference rotational speed from the plurality of rotational speeds;
calculating a speed ratio of the engine in the preset history travel section according to the following formula:
Figure BDA0001824793100000052
wherein R is the speed ratio, n is the reference rotation speed, R1A preset final reduction ratio for the vehicle, D being the diameter of a wheel of the vehicle, v being the reference running speed;
determining the gearbox speed ratio of the vehicle in the preset historical driving interval according to the preset corresponding relation between the gears and the gearbox speed ratio and the gear information;
the reference is calculated according to the following formula:
λ＝|R/R2-1|
wherein λ is the reference amount, R2The speed ratio of the gearbox in the preset historical driving interval is obtained;
and if the reference quantity is smaller than a second preset threshold value, determining that the vehicle runs on a horizontal road surface in the historical running interval.
Optionally, the first determining module includes:
the second determining submodule is used for determining the fuel consumption of the vehicle in unit time within the preset historical driving interval according to the accumulated fuel consumption;
a third determination submodule for determining a payload of the vehicle according to the following formula:
Figure BDA0001824793100000061
wherein M is the load capacity of the vehicle, M0For the weight of the vehicle in the unloaded state, L1For the fuel consumption per unit time, L, in the preset history driving interval0And the fuel consumption per unit time when the vehicle runs in the preset running state under the idle state is adopted.
Optionally, the apparatus further comprises:
the second judgment module is used for judging whether the obtained load capacity is normal or not according to a preset rule;
a second determining module for determining a load level of the vehicle when the load capacity is normal, in the following manner:
determining the load grade of the vehicle according to the preset corresponding relation between the load capacity and the load grade and the obtained load capacity; or
Inputting the obtained load into a preset load grade recognition model to obtain the load grade of the vehicle, wherein the load grade recognition model is obtained by training the load and the load grade of a plurality of vehicles;
wherein the load rating comprises any one of the following ratings: no load, medium load, heavy load and overload.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle payload detection method provided by the present disclosure.
The present disclosure also provides a vehicle including an engine and the vehicle load detection apparatus provided by the present disclosure.
By adopting the technical scheme, the following technical effects can be at least achieved:
the method has the advantages that whether the vehicle is in the preset running state or not in the preset historical running interval is determined through the obtained running parameter information of the vehicle in the preset historical running interval, if the vehicle is in the preset running state in the preset historical running interval, the load capacity of the vehicle is determined according to the accumulated fuel consumption in the running parameter information, compared with the prior art, the real-time detection of the load capacity of the vehicle can be realized without installing hardware facilities such as various sensors, the detection strategy is simple and convenient, the cost is low, the method can be applied to the real-time monitoring of various heavy-duty vehicles, the conditions of the vehicle such as illegal unloading and illegal transportation can be effectively prevented, the use safety of various heavy-duty vehicles is improved, and the logistics company and the traffic transportation management department can supervise and manage conveniently.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a vehicle payload detection method according to an exemplary embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a vehicle payload detection method according to another exemplary embodiment of the present disclosure;
FIG. 3 is a block diagram illustrating a vehicle payload detection arrangement according to an exemplary embodiment of the present disclosure;
fig. 4 is a block diagram illustrating a vehicle load detection apparatus according to another exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the terms "first," "second," and the like in the description and claims of the present disclosure and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Fig. 1 is a flowchart illustrating a vehicle load detection method according to an exemplary embodiment of the present disclosure, as shown in fig. 1, the method including the steps of:
in step S101, the running parameter information of the vehicle within the preset history running section is acquired, the running parameter information including running speed information, gear information, rotational speed information of an engine of the vehicle, and accumulated fuel consumption.
In one embodiment, a sensor assembly in the vehicle CAN detect information such as the running speed, gear position, rotating speed of an engine and accumulated fuel consumption of the vehicle in real time and send the information to a CAN bus, and running parameter information of the vehicle in a preset historical running interval CAN be obtained through the CAN bus of the vehicle, wherein the running parameter information comprises the running speed information, the gear position information, the rotating speed information of the engine of the vehicle and the accumulated fuel consumption.
It should be noted that the preset historical driving interval may be a preset historical duration from the current time, or may be a preset historical driving distance from the current position. For example, the preset historical travel time period may be 1min, and the preset historical travel mileage may be 1 km.
In step S102, it is determined whether the vehicle is in a preset driving state within a preset history driving interval according to the driving speed information, the gear information, and the rotation speed information.
In one embodiment, as shown in fig. 2, the step S102 may include:
in step S121, it is determined whether the vehicle is in a constant speed running state within a preset history running section according to the running speed information.
The running speed information of the vehicle in the preset historical running section comprises a plurality of running speeds. For example, the speed sensor of the vehicle may acquire the running speed every 1s and upload the running speed to the CAN bus of the vehicle, and a plurality of running speeds may be obtained by taking the preset historical running section as 1min from the current time as an example.
Specifically, the variance of the running speed may be first calculated according to formula (1), and if the variance is smaller than the first preset threshold, it may be determined that the vehicle is in the constant speed running state within the preset history running section.
Figure BDA0001824793100000091
Wherein σv 2Is the variance of the travel speeds, N is the number of the plurality of travel speeds,
Figure BDA0001824793100000093
for the average running speed, v, of the vehicle in a predetermined historical running intervaliIs any one of a plurality of travel speeds.
It is to be noted that the first preset threshold value reflects the fluctuation of the running speed, and may be set manually empirically, for example, the first preset threshold value is set to 2.
In step S122, it is determined whether the vehicle is traveling on a horizontal road surface within a preset history traveling zone based on the shift position information, the rotational speed information, and the traveling speed information.
The rotation speed information includes a plurality of rotation speeds, for example, a rotation speed sensor of the vehicle CAN acquire the rotation speed of the engine once every 1s and upload the rotation speed to a CAN bus of the vehicle, and the rotation speeds CAN be acquired by taking a preset historical driving interval as 1min from the current time.
Specifically, first, a reference running speed may be determined from a plurality of running speeds and a reference rotational speed may be determined from a plurality of rotational speeds, wherein the reference running speed may be an average or median value of the plurality of running speeds and the reference rotational speed may be an average or median value of the plurality of rotational speeds. Then, the speed ratio of the engine in a preset historical driving interval can be calculated according to a formula (2), the gearbox speed ratio of the vehicle in the preset historical driving interval is determined according to a preset corresponding relation between the gear and the gearbox speed ratio and the acquired gear information, a reference quantity is calculated according to a formula (3), and if the reference quantity is smaller than a second preset threshold value, the vehicle can be determined to drive on a horizontal road surface in the historical driving interval.
Figure BDA0001824793100000092
λ＝|R/R2-1| (3)
Wherein R is the calculated speed ratio, n is the reference rotation speed, R1For a predetermined final reduction ratio of the vehicle, D is the wheel diameter of the vehicle, v is a reference running speed, λ is the reference quantity, R2The transmission speed ratio of the vehicle in the historical driving interval is obtained.
It should be noted that the second preset threshold may also be set manually according to experience, for example, the second preset threshold is set to 0.1.
In step S123, if the vehicle is in the constant speed driving state and is traveling on a horizontal road surface within the preset history traveling section, it is determined that the vehicle is in the preset traveling state.
If it is determined that the vehicle is in the preset driving state in the preset history driving interval, it may be determined that the reliability of the acquired driving parameter information of the vehicle in the preset history driving interval is high, and then the load capacity of the vehicle may be determined by using the driving parameter information in the history driving interval, that is, step S103 may be performed.
In step S103, if the vehicle is in the preset running state in the preset history running section, the load capacity of the vehicle is determined according to the accumulated fuel amount.
In one embodiment, first, the fuel consumption per unit time when the vehicle travels in the preset travel state in the preset section may be determined from the accumulated fuel consumption of the vehicle in the preset history travel section. Then, the load capacity of the vehicle can be calculated according to equation (4):
Figure BDA0001824793100000101
wherein M is the load capacity of the vehicle, M0For the weight of the vehicle in the unloaded state, L1For presetting fuel consumption per unit time in the history driving interval, L0The fuel consumption per unit time when the vehicle is running in the preset running state in the idling state is used.
In order to facilitate those skilled in the art to understand the technical solution of the present disclosure more easily, the derivation process of formula (4) is described in detail below.
First, considering the function conservation of the vehicle when running at a constant speed, the relationship between the output energy of the engine (i.e., the traction force is used) and the traction force and the driving distance can be obtained as shown in equation (5):
W＝F·S (5)
wherein, W is the output energy of the engine, F is the traction force, and S is the driving mileage.
Next, based on the relationship between the engine output energy and the energy generated by burning fuel per unit, the fuel consumption amount per unit time, and the engine thermal efficiency, and the relationship between the mileage and the traveling speed and the unit traveling time, as shown in equation (6):
Figure BDA0001824793100000111
where Q is energy generated in unit fuel combustion, L is fuel consumption per unit time, η is engine thermal efficiency, Δ t is unit time, and v is the reference running speed.
Further, from equations (5) and (6), equation (7) can be derived:
Q·L·η＝F·v·Δt (7)
when the vehicle runs on a horizontal road surface at a constant speed, the rolling resistance is the main assistance force which needs to be overcome by the vehicle, and the relationship between the traction force and the rolling resistance is shown in a formula (8):
F＝Ff＝M·g·f (8)
wherein, FfFor rolling resistance, M is the total mass of the load-carrying vehicle, g is the gravitational acceleration, and f is the rolling friction coefficient.
From equations (7) and (8), equation (9) can be derived when the vehicle is in an unloaded state:
Q·L0·η＝M0·g·f·v·Δt (9)
from equations (7) and (8), equation (10) can be derived for the vehicle in the loaded state:
Q·L1·η＝M1·g·f·v·Δt (10)
the formula (11) is derived by comparing the formula (9) with the formula (10):
Figure BDA0001824793100000112
finally, the load capacity of the vehicle is obtained according to equation (11), as shown in equation (12):
Figure BDA0001824793100000113
by adopting the method, whether the vehicle is in the preset running state in the preset historical running interval is determined through the obtained running parameter information of the vehicle in the preset historical running interval, if the vehicle is in the preset running state in the preset historical running interval, the load capacity of the vehicle is determined according to the accumulated fuel consumption in the running parameter information, compared with the prior art, the real-time detection of the load capacity of the vehicle can be realized without installing hardware facilities such as various sensors, the detection strategy is simple and convenient, the cost is low, the method can be applied to the real-time monitoring of various load-carrying vehicles, the conditions of the vehicle which is not normally unloaded by oneself and is stolen and missed can be effectively prevented, the use safety of various load-carrying vehicles is improved, and the supervision and management of logistics companies and traffic transportation management departments are facilitated.
In another embodiment of the present disclosure, in order to further facilitate monitoring of the load condition of the vehicle by the detection personnel, the load grade of the vehicle may also be determined according to the obtained load capacity of the vehicle, where the load grade includes any one of the following grades: no load, medium load, heavy load and overload. Specifically, whether the obtained load capacity is normal or not may be first determined according to a preset rule, and if the load capacity is normal, the load grade of the vehicle may be determined in the following two ways.
The first method is as follows: and determining the load grade of the vehicle according to the preset corresponding relation between the load capacity and the load grade and the obtained load capacity.
For example, a real vehicle calibration may be used, such as determining a load level based on a percentage of the maximum load of the vehicle load, and determining a load level of the vehicle when the load is within a corresponding percentage of the maximum load of the vehicle load.
The second method comprises the following steps: and inputting the obtained load into a preset load grade recognition model to obtain the load grade of the vehicle, wherein the load grade recognition model is obtained by training the load and the load grade of a plurality of vehicles.
It should be added that the preset rule may be: if the calculated vehicle load is significantly smaller or larger than other vehicle load values, the secondary vehicle load value may be considered as abnormal.
In addition, if the calculated vehicle load capacity is abnormal, the abnormal value may be filtered, and the vehicle load capacity detection method may be performed again.
By filtering the abnormal load capacity, the finally obtained load capacity can be more accurate, and the effective determination of the load capacity grade is also beneficial to the supervision and management of logistics companies and transportation management departments.
Fig. 3 is a block diagram illustrating a vehicular loaded vehicle detecting apparatus according to an exemplary embodiment. As shown in fig. 3, the apparatus 100 includes an obtaining module 101, a first judging module 102, and a first determining module 103.
The obtaining module 101 is configured to obtain driving parameter information of a vehicle in a preset historical driving interval, where the driving parameter information includes driving speed information, gear information, rotational speed information of an engine of the vehicle, and accumulated fuel consumption;
the first judging module 102 is configured to judge whether the vehicle is in a preset driving state in the preset historical driving interval according to the driving speed information, the gear information and the rotation speed information;
the first determining module 103 is configured to determine the load capacity of the vehicle according to the accumulated fuel consumption when the vehicle is in the preset driving state in the preset historical driving interval.
Optionally, as shown in fig. 4, the first determining module 102 includes:
the first judging submodule 121 is configured to judge whether the vehicle is in a constant-speed running state in the preset historical running interval according to the running speed information;
a second determining submodule 122, configured to determine whether the vehicle is traveling on a horizontal road surface within the preset historical traveling interval according to the gear information, the rotation speed information, and the traveling speed information;
the first determining submodule 123 is configured to determine that the vehicle is in the preset driving state when the vehicle is in the constant speed driving state in the preset historical driving interval and is driving on a horizontal road surface.
Optionally, the travel speed information includes a plurality of travel speeds;
the first determining submodule 121 is configured to calculate a variance of the driving speed according to the formula (1), and determine that the vehicle is in a constant-speed driving state in the preset historical driving interval if the variance is smaller than a first preset threshold.
Optionally, the running speed information includes a plurality of running speeds, and the rotation speed information includes a plurality of rotation speeds;
the second determination submodule 122 is configured to determine a reference travel speed from the plurality of travel speeds and a reference rotation speed from the plurality of rotation speeds; calculating a speed ratio of the engine in the preset historical driving interval according to a formula (2); determining the gearbox speed ratio of the vehicle in the preset historical driving interval according to the preset corresponding relation between the gears and the gearbox speed ratio and the gear information; the reference quantity is calculated according to equation (3).
And if the reference quantity is smaller than a second preset threshold value, determining that the vehicle runs on a horizontal road surface in the historical running interval.
Optionally, as shown in fig. 4, the first determining module 103 includes:
a second determining submodule 131, configured to determine, according to the accumulated fuel consumption, a fuel consumption of the vehicle per unit time within the preset historical travel interval;
a third determination submodule 132 for determining the payload of the vehicle according to equation (4).
As shown in fig. 4, the apparatus further comprises a second judging module 104 and a second determining module 105.
The second judging module 104 is configured to judge whether the obtained payload is normal according to a preset rule;
the second determination module 105 is configured to determine the load level of the vehicle when the load is normal, in the following manner:
determining the load grade of the vehicle according to the preset corresponding relation between the load capacity and the load grade and the obtained load capacity; or
Inputting the obtained load into a preset load grade recognition model to obtain the load grade of the vehicle, wherein the load grade recognition model is obtained by training the load and the load grade of a plurality of vehicles;
wherein the load rating comprises any one of the following ratings: no load, medium load, heavy load and overload.
With regard to the apparatus in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated upon here.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, software, or a combination of hardware and software. Moreover, various implementations of the physical implementation of the above functional units are also possible.
By adopting the device provided by the disclosure, whether the vehicle is in the preset running state in the preset historical running interval is determined through the obtained running parameter information of the vehicle in the preset historical running interval, if the vehicle is in the preset running state in the preset historical running interval, the load capacity of the vehicle is determined according to the accumulated fuel consumption in the running parameter information, compared with the prior art, the real-time detection of the load capacity of the vehicle can be realized without installing hardware facilities such as various sensors, the detection strategy is simple and convenient, the cost is low, the method can be applied to the real-time monitoring of various heavy-duty vehicles, the conditions of private abnormal unloading and illegal transportation of the vehicle can be effectively prevented, the use safety of various heavy-duty vehicles is improved, and the supervision and management of logistics companies and traffic transportation management departments are facilitated.
Accordingly, the present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle load detection method provided by the present disclosure.
The present disclosure also provides a vehicle including an engine and the vehicle load detection apparatus provided by the present disclosure. The vehicle load detection device may be a microcontroller ECU implementing the vehicle by software, hardware, or a combination thereof.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A vehicle load detection method, characterized by comprising:
acquiring running parameter information of a vehicle in a preset historical running interval, wherein the running parameter information comprises running speed information, gear information, rotating speed information of an engine of the vehicle and accumulated fuel consumption;
judging whether the vehicle is in a preset driving state in the preset historical driving interval or not according to the driving speed information, the gear information and the rotating speed information;
and if the vehicle is in the preset running state in the preset historical running interval, determining the load capacity of the vehicle according to the accumulated fuel consumption.
2. The method according to claim 1, wherein the determining whether the vehicle is in a preset driving state within the preset history driving interval according to the driving speed information, the gear information, and the rotation speed information includes:
judging whether the vehicle is in a constant-speed running state in the preset historical running interval or not according to the running speed information;
judging whether the vehicle runs on a horizontal road surface in the preset historical running interval or not according to the gear information, the rotating speed information and the running speed information;
and if the vehicle is in a constant-speed running state in the preset historical running interval and runs on a horizontal road, determining that the vehicle is in the preset running state.
3. The method of claim 2, wherein the travel speed information includes a plurality of travel speeds;
the step of judging whether the vehicle is in a constant-speed running state in the preset historical running interval according to the running speed information comprises the following steps:
the variance of the travel speed is calculated according to the following formula:
Figure FDA0001824793090000021
wherein σv 2Is a variance of the travel speeds, N is a number of the plurality of travel speeds,
Figure FDA0001824793090000022
is the average running speed, v, of the vehicle in the preset historical running intervaliIs any one of the plurality of travel speeds;
and if the variance is smaller than a first preset threshold value, determining that the vehicle is in a constant-speed running state in the preset historical running interval.
4. The method of claim 2, wherein the travel speed information includes a plurality of travel speeds, and the rotational speed information includes a plurality of rotational speeds;
the judging whether the vehicle runs on a horizontal road surface in the preset historical running interval according to the gear information, the rotating speed information and the running speed information comprises the following steps:
determining a reference travel speed from the plurality of travel speeds and a reference rotational speed from the plurality of rotational speeds;
calculating a speed ratio of the engine in the preset history travel section according to the following formula:
Figure FDA0001824793090000023
wherein R is the speed ratio, n is the reference rotation speed, R1A preset final reduction ratio for the vehicle, D being the diameter of a wheel of the vehicle, v being the reference running speed;
determining the gearbox speed ratio of the vehicle in the preset historical driving interval according to the preset corresponding relation between the gears and the gearbox speed ratio and the gear information;
the reference is calculated according to the following formula:
λ＝|R/R2-1|
wherein λ is the reference amount, R2The speed ratio of the gearbox in the preset historical driving interval is obtained;
and if the reference quantity is smaller than a second preset threshold value, determining that the vehicle runs on a horizontal road surface in the historical running interval.
5. The method of claim 1, wherein said determining a loading capacity of said vehicle based on said accumulated fuel consumption comprises:
determining the fuel consumption of the vehicle in the preset running state in the preset historical running interval in unit time according to the accumulated fuel consumption;
determining a payload capacity of the vehicle according to the following formula:
Figure FDA0001824793090000031
wherein M is the load capacity of the vehicle, M0For the weight of the vehicle in the unloaded state, L1For the fuel consumption per unit time, L, in the preset history driving interval0And the fuel consumption per unit time when the vehicle runs in the preset running state under the idle state is adopted.
6. The method according to any one of claims 1 to 5, further comprising:
judging whether the obtained load capacity is normal or not according to a preset rule;
if the load capacity is normal, determining the load grade of the vehicle by adopting the following method:
determining the load grade of the vehicle according to the preset corresponding relation between the load capacity and the load grade and the obtained load capacity; or
Inputting the obtained load into a preset load grade recognition model to obtain the load grade of the vehicle, wherein the load grade recognition model is obtained by training the load and the load grade of a plurality of vehicles;
wherein the load rating comprises any one of the following ratings: no load, medium load, heavy load and overload.
7. A vehicle load detection device, characterized by comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring running parameter information of a vehicle in a preset historical running interval, and the running parameter information comprises running speed information, gear information, rotating speed information of an engine of the vehicle and accumulated fuel consumption;
the judging module is used for judging whether the vehicle is in a preset driving state in the preset historical driving interval according to the driving speed information, the gear information and the rotating speed information;
and the determining module is used for determining the load capacity of the vehicle according to the accumulated fuel consumption when the vehicle is in the preset running state in the preset historical running interval.
8. The apparatus of claim 7, wherein the determining module comprises:
the first determining submodule is used for determining the fuel consumption of the vehicle in unit time within the preset historical driving interval according to the accumulated fuel consumption;
a second determination submodule for determining a payload of the vehicle according to the following formula:
Figure FDA0001824793090000041
wherein M is the load capacity of the vehicle, M0For the weight of the vehicle in the unloaded state, L1For the fuel consumption per unit time, L, in the preset history driving interval0And the fuel consumption per unit time when the vehicle runs in the preset running state under the idle state is adopted.
9. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 6.
10. A vehicle characterized by comprising an engine and the vehicle load detection device according to claim 7 or 8.
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