CN111942401A - Vehicle mass estimation method and system capable of avoiding increasing standard quantity - Google Patents

Vehicle mass estimation method and system capable of avoiding increasing standard quantity Download PDF

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CN111942401A
CN111942401A CN202010762051.3A CN202010762051A CN111942401A CN 111942401 A CN111942401 A CN 111942401A CN 202010762051 A CN202010762051 A CN 202010762051A CN 111942401 A CN111942401 A CN 111942401A
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speed
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acceleration
driving force
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刘勇
刘壮
郭祥靖
王天奇
李朝乐
陈大伟
曾振威
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Dongfeng Commercial Vehicle 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

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Abstract

The invention discloses a finished automobile mass estimation method for avoiding increasing a standard quantity, which comprises the following steps: firstly, acquiring real-time speed and engine rotating speed information of a vehicle to obtain a numerical value; step two, calculating the acceleration of the vehicle in real time; step three, calculating and storing the driving force and the resistance of the vehicle in real time; step four, respectively calculating and recording a plurality of vehicle resistances by the formula; step five, in the vehicle acceleration or deceleration process, calculate the whole vehicle mass the invention also discloses a whole vehicle mass estimation system for avoiding increasing the calibration quantity, comprising: a value acquisition module: obtaining the real-time speed of the vehicle and the rotating speed information of the engine so as to obtain a numerical value; a vehicle acceleration module; a vehicle driving force and resistance calculation module; a vehicle resistance recording module; the whole vehicle mass calculating module: the invention has the characteristics of rapidness, convenience and wide application in the vehicle acceleration or deceleration process, and can be widely applied to the field of vehicle control.

Description

Vehicle mass estimation method and system capable of avoiding increasing standard quantity
Technical Field
The invention relates to the field of automobile control, in particular to a method and a system for estimating the mass of a whole automobile without increasing a standard quantity.
Background
There are many current methods for estimating the mass of the whole vehicle, such as: 1. vehicle mass estimation method, invention patent, application number: 201210422369.X, establishing a vehicle motion balance model among the vehicle mass, the road surface gradient and the vehicle longitudinal acceleration, calculating to obtain a theoretical value of the vehicle longitudinal acceleration, and comparing the theoretical value with a real value of the actually measured vehicle longitudinal acceleration so as to determine an estimated value of the vehicle mass. However, an acceleration sensor needs to be added, and the cost is increased for mass production of vehicle types;
for another example, 2, a method for acquiring a vehicle load without adding a sensor, the invention patent, application number: CN 107901916A, transmitting three CAN (Controller Area Network) parameters of engine torque, gearbox speed ratio and vehicle speed generated in real time to a central server, and calculating to obtain the load value of the vehicle through a reverse model of a vehicle running equation by combining the information of the radius of the tire of the vehicle, the speed ratio of a rear axle and the like; however, the method cannot complete the whole vehicle mass estimation work at the vehicle-mounted end, the estimation work is calculated by collecting the whole vehicle data and the server, and different resistance coefficients and whole vehicle parameters are required to be adopted according to different vehicle types, so that the problem is caused that the calculation mode cannot be transplanted to a vehicle-mounted controller, and the selection of various parameters is difficult to implement in a host factory.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide a method and a system for estimating the mass of a whole vehicle, which avoid increasing the standard quantity, so that the method and the system have the characteristics of rapidness, convenience and wide application.
The invention provides a finished automobile mass estimation method for avoiding increasing a standard quantity, which comprises the following steps: step one, in the normal running process of the vehicle, the vehicle controller acquires the real-time speed and the engine rotating speed information of the vehicle from the CAN bus network of the vehicle so as to obtain PTNumerical values:
Figure BDA0002613353260000021
wherein: pTTransmission ratio coefficient, nT-transmission ratio, nBRear axle ratio, Rw-wheel radius, NE-engine speed, V-vehicle real time speed; step two, in the normal driving process of the vehicle, the vehicle control unit calculates the acceleration of the vehicle in real time:
Figure BDA0002613353260000022
wherein: a-vehicle acceleration, V-vehicle instantaneous speed, V--vehicle speed at a previous moment, t-sample time; step three, in the normal driving process of the vehicle, the vehicle control unit calculates and stores the driving force of the vehicle in real time:
Figure BDA0002613353260000023
wherein: fD-vehicle driving force, T0-engine drive torque, TF-engine drag torque, ηTTransmission power loss ratio, (V-V)-) -vehicle speed difference over sample time; when the vehicle control unit judges that the acceleration is maintained at-a b]And recording the driving force of the vehicle within the T time after the time is not less than the T time, wherein the driving force of the vehicle is equal to the vehicle resistance under the same vehicle speed according to a dynamic formula: ff＝FD(4) Wherein: ff-vehicle resistance; step four, in the running process of the vehicle, the vehicle resistance under different speeds in the constant speed working condition is unchanged, and a plurality of vehicle resistances can be respectively calculated and recorded by the formula; step five, in the vehicle acceleration process, the whole vehicle mass calculation mode:
Figure BDA0002613353260000024
during the deceleration of the vehicleAnd the finished automobile mass calculation mode is as follows:
Figure BDA0002613353260000025
in the above technical solution, in the fourth step, the vehicle resistances of n groups of constant speed working conditions are calculated respectively as follows:
vehicle speed 1 Vehicle speed 2 Vehicle speed 3 Vehicle speed 4 Vehicle speed 5 Vehicle speed 6 Vehicle speed 7 ^ Vehicle speed n
Ff1 Ff2 Ff3 Ff4 Ff5 Ff6 Ff7 ^ Ff9
。
The invention also provides a whole vehicle mass estimation system for avoiding increasing the standard quantity, which comprises the following parts: pTA value acquisition module: in the normal running process of the vehicle, the vehicle controller acquires the real-time speed and the engine speed information of the vehicle from the CAN bus network of the vehicle so as to obtain PTNumerical values:
Figure BDA0002613353260000031
wherein: pTTransmission ratio coefficient, nT-transmission ratio, nBRear axle ratio, Rw-wheel radius, NE-engine speed, V-vehicle real time speed; a vehicle acceleration module: in the normal driving process of the vehicle, the vehicle controller calculates the acceleration of the vehicle in real time:
Figure BDA0002613353260000032
wherein: a-vehicle acceleration, V-vehicle real-time speed, V--vehicle speed at a previous moment, t-sample time; vehicle driving force and resistance calculation module: in the normal driving process of the vehicle, the vehicle control unit calculates and stores the driving force of the vehicle in real time:
Figure BDA0002613353260000033
wherein: fD-vehicle driving force, TO-engine drive torque, TF-engine drag torque, ηTTransmission power loss ratio, (V-V)-) -vehicle speed difference over sample time; when the vehicle control unit judges that the acceleration is maintained at-a b]And recording the driving force of the vehicle within the T time after the time is not less than the T time, wherein the driving force of the vehicle is equal to the vehicle resistance under the same vehicle speed according to a dynamic formula: ff＝FD(4) Wherein: ff-vehicle resistance; vehicle resistance recording module: in the running process of the vehicle, the vehicle resistance under different vehicle speeds in the constant speed working condition is unchanged and can be changed from the frontThe formula respectively calculates and records a plurality of vehicle resistances; the whole vehicle mass calculating module: in the vehicle acceleration process, the whole vehicle mass calculation mode is as follows:
Figure BDA0002613353260000041
in the vehicle deceleration process, the whole vehicle mass calculation mode is as follows:
Figure BDA0002613353260000042
in the above technical solution, in the vehicle resistance recording module, the vehicle resistances of n groups of constant speed working conditions and vehicle speeds are calculated respectively as follows:
vehicle speed 1 Vehicle speed 2 Vehicle speed 3 Vehicle speed 4 Vehicle speed 5 Vehicle speed 6 Vehicle speed 7 …… Vehicle speed n
Ff1 Ff2 Ff3 Ff4 Ff5 Ff6 Ff7 …… Ff9
。
The invention discloses a vehicle mass estimation method and a vehicle mass estimation system for avoiding increasing a standard quantity, and has the following beneficial effects:
1. on the premise of not increasing parameters such as wind resistance coefficient, rolling resistance coefficient, tire radius, speed ratio of a rear axle of a gearbox and the like, the requirement that a host factory only upgrades software of an on-board controller is met, and the quality estimation of the whole vehicle is completed on the basis of no need of matching of a manufacturing department;
2. the quality estimation result is irrelevant to the road condition and the environment, and the influence of the road condition on the result is not required to be considered.
Drawings
FIG. 1 is a schematic flow chart of a method for estimating the quality of a finished vehicle without increasing a calibration quantity according to the present invention;
FIG. 2 is a schematic structural diagram of the entire vehicle mass estimation system avoiding increasing the calibration quantity according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples, which should not be construed as limiting the invention.
Referring to fig. 1, the method for estimating the quality of the whole vehicle avoiding increasing the calibration quantity comprises the following steps:
step one, in the normal running process of the vehicle, the vehicle controller acquires the real-time speed and the engine rotating speed information of the vehicle from the CAN bus network of the vehicle, and in order to acquire the quality result of the whole vehicle, the speed ratio of a gearbox of the whole vehicle, the speed ratio of a rear axle and the radius information of wheels CAN be acquired without acquiring the speed ratio of the whole vehicle, so that P is obtainedTNumerical values:
Figure BDA0002613353260000051
wherein: pTTransmission ratio coefficient, nT-transmission ratio, nBRear axle ratio, Rw-wheel radius, NE-engine speed, V-vehicle real time speed;
the speed ratio of the rear axle is unchanged in the normal running process of the vehicle, and the engine speed and the vehicle speed are in a strict direct proportion relation no matter what the gear position of the gearbox, so that PTThe parameters are not changed under any working condition, and three calibration quantities can be effectively prevented from being increased in the production of mass-production vehicle types through the mode;
step two, in the normal driving process of the vehicle, the vehicle control unit calculates the acceleration of the vehicle in real time:
Figure BDA0002613353260000052
wherein: a-vehicle acceleration, V-vehicle instantaneous speed, V--vehicle speed at a previous moment, t-sample time;
step three, in the normal driving process of the vehicle, the vehicle control unit calculates and stores the driving force of the vehicle in real time:
Figure BDA0002613353260000061
wherein: fD-vehicle driving force, TO-engine drive torque, TF-engine drag torque, ηTTransmission power loss ratio, (V-V)-) -vehicle speed difference over sample time;
when the vehicle control unit judges that the acceleration is maintained between-a b and the time is not less than T time, recording the vehicle driving force in the T time, and obtaining the vehicle driving force equal to the vehicle resistance under the same vehicle speed by a dynamic formula:
Ff＝FD (4)
wherein: ff-vehicle resistance;
step four, in the running process of the vehicle, the vehicle resistance under different speeds in the constant speed working condition is not changed, the vehicle resistance of n groups of constant speed working condition speeds can be respectively calculated and recorded by the formula, and the following table is shown:
vehicle speed 1 Vehicle speed 2 Vehicle speed 3 Vehicle speed 4 Vehicle speed 5 Vehicle speed 6 Vehicle speed 7 …… Vehicle speed n
Ff1 Ff2 Ff3 Ff4 Ff5 Ff6 Ff7 …… Ff9
；
Step five, in the vehicle acceleration process, the whole vehicle mass calculation mode:
Figure BDA0002613353260000062
in the vehicle deceleration process, the whole vehicle mass calculation mode is as follows:
Figure BDA0002613353260000063
referring to fig. 2, the vehicle quality estimation system avoiding the increase of the calibration quantity of the present invention includes the following components:
PTa value acquisition module: in the normal running process of the vehicle, the vehicle controller acquires the real-time speed and the engine rotating speed information of the vehicle from the CAN bus network of the vehicle, and in order to acquire the result of the mass of the whole vehicle, the information of the speed ratio of a gearbox of the whole vehicle, the speed ratio of a rear axle and the radius of wheels CAN be acquired without acquiring the information through the following formula, so that P is obtainedTNumerical values:
Figure BDA0002613353260000064
wherein: pTTransmission ratio coefficient, nT-transmission ratio, nBRear axle ratio, Rw-wheel radius, NE-engine speed, V-vehicle instantaneous speed;
the speed ratio of the rear axle is unchanged in the normal running process of the vehicle, and the engine speed and the vehicle speed are in a strict direct proportion relation no matter what the gear position of the gearbox, so that PTThe parameters are not changed under any working condition, and three calibration quantities can be effectively prevented from being increased in the production of mass-production vehicle types through the mode;
a vehicle acceleration module: in the normal driving process of the vehicle, the vehicle controller calculates the acceleration of the vehicle in real time:
Figure BDA0002613353260000071
wherein: a-vehicle acceleration, V-vehicle instantaneous speed, V--vehicle speed at a previous moment, t-sample time;
vehicle driving force and resistance calculation module: in the normal driving process of the vehicle, the vehicle control unit calculates and stores the driving force of the vehicle in real time:
Figure BDA0002613353260000072
wherein: fD-vehicle driving force, TO-engine drive torque, TF-engine drag torque, ηTTransmission power loss ratio, (V-V)-) -vehicle speed difference over sample time;
when the vehicle control unit judges that the acceleration is maintained between-a b and the time is not less than T time, recording the vehicle driving force in the T time, and obtaining the vehicle driving force equal to the vehicle resistance under the same vehicle speed by a dynamic formula:
Ff＝FD (4)
wherein: ff-vehicle resistance;
vehicle resistance recording module: in the running process of the vehicle, the vehicle resistance under different vehicle speeds under the constant speed working condition is unchanged, and the vehicle resistance of n groups of vehicle speeds under the constant speed working condition can be respectively calculated and recorded by the formula, as shown in the following table:
vehicle speed 1 Vehicle speed 2 Vehicle speed 3 Vehicle speed 4 Vehicle speed 5 Vehicle speed 6 Vehicle speed 7 …… Vehicle speed n
Ff1 Ff2 Ff3 Ff4 Ff5 Ff6 Ff7 …… Ff9
；
The whole vehicle mass calculating module: in the vehicle acceleration process, the whole vehicle mass calculation mode is as follows:
Figure BDA0002613353260000081
in the vehicle deceleration process, the whole vehicle mass calculation mode is as follows:
Figure BDA0002613353260000082
the technical principle of the invention is as follows:
the invention relies on the second law of dynamics and carries out deep extension on the basis of a real vehicle, and the program of the method is carried and operated in a vehicle controller:
Figure BDA0002613353260000083
wherein: m-vehicle mass, TO-engine drive torque, TF-engine drag torque, nT-transmission ratio, nBRear axle speed ratio, ηTTransmission power loss rate, t-sample time, Rw-wheel radius, (V-V)-) -vehicle speed difference over sample time.
According to the invention, the mass production requirement of a host factory is met, and the mass estimation of the whole vehicle is completed only on the basis of upgrading the software of the vehicle-mounted controller and not needing the cooperation of a manufacturing department on the premise of not increasing the sensor cost, the wind resistance coefficient, the rolling resistance coefficient, the tire radius, the speed ratio of a rear axle of a gearbox and other parameters;
the ratio of the speed ratio of the rear axle to the radius of the tire is calculated through the output rotating speed and the vehicle speed of the gearbox, so that the increase of the standard quantity is avoided; the method comprises the steps of determining vehicle running resistance moments at different vehicle speeds by establishing a dynamic model of the vehicle at a constant speed without paying attention to specific resistance coefficients (wind resistance coefficient and rolling resistance coefficient);
estimating the mass estimation value of the whole vehicle under acceleration through the resistance torque difference value obtained by looking up a table under the condition that the engine outputs the torque in real time and at different vehicle speeds;
and estimating the mass estimation value under the deceleration of the whole vehicle by using the resistance moment obtained by looking up the table at different vehicle speeds.
Because the calculation mode of the resistance can not only include the transmission efficiency, but also calculate the resistance coefficient of an unconventional road and the additional equivalent resistance of different ramps, the road applicability of the method is greatly improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Those not described in detail in this specification are within the skill of the art.

Claims (4)

1. A whole vehicle mass estimation method avoiding increasing a standard quantity is characterized in that: the method comprises the following steps:
step one, in the normal running process of the vehicle, the vehicle controller acquires the real-time speed and the engine rotating speed information of the vehicle from the CAN bus network of the vehicle so as to obtain PTNumerical values:
Figure FDA0002613353250000011
wherein: pTFor transmission speed ratio coefficient nTSpeed ratio of the gearbox, nBRear axle speed ratio, RwRadius of wheel, NEEngine speed, V vehicle real-time speed;
step two, in the normal driving process of the vehicle, the vehicle control unit calculates the acceleration of the vehicle in real time:
Figure FDA0002613353250000012
wherein: a vehicle acceleration, V vehicle real-time speed V-Sampling time of speed t at the previous moment of the vehicle;
step three, in the normal driving process of the vehicle, the vehicle control unit calculates and stores the driving force of the vehicle in real time:
Figure FDA0002613353250000013
wherein: fD-vehicle driving force, TOMotive drive torque, TFEngine drag torque, ηTTransmission power loss rate, (V-V)-) The vehicle speed difference in sampling time;
when the vehicle control unit judges that the acceleration is maintained between [ -ab ] and the time is not less than T time, recording the vehicle driving force in the T time, and obtaining the vehicle driving force equal to the vehicle resistance under the same vehicle speed according to a dynamic formula:
Ff＝FD (4)
wherein: ffVehicle drag;
step four, in the running process of the vehicle, the vehicle resistance under different speeds in the constant speed working condition is unchanged, and a plurality of vehicle resistances can be respectively calculated and recorded by the formula;
step five, in the vehicle acceleration process, the whole vehicle mass calculation mode:
Figure FDA0002613353250000021
in the vehicle deceleration process, the whole vehicle mass calculation mode is as follows:
Figure FDA0002613353250000022
2. the vehicle mass estimation method avoiding the increase of the calibration quantity according to claim 1, characterized in that: in the fourth step, the vehicle resistances of a plurality of groups of constant-speed working condition vehicle speeds are calculated respectively, as shown in the following table:
vehicle speed 1 Vehicle speed 2 Vehicle speed 3 Vehicle speed 4 Vehicle speed 5 Vehicle speed 6 Vehicle speed 7 …… Vehicle speed n Ff1 Ff2 Ff3 Ff4 Ff5 Ff6 Ff7 …… Ff9
。
3. The utility model provides a avoid increasing whole car mass estimation system of calibration volume which characterized in that: the method comprises the following steps:
PTa value acquisition module: in the normal running process of the vehicle, the vehicle controller acquires the real-time speed and the engine speed information of the vehicle from the CAN bus network of the vehicle so as to obtain PTNumerical values:
Figure FDA0002613353250000023
wherein: pTTo transmission ratio coefficient, nTSpeed ratio of the gearbox, nBRear axle speed ratio, RwRadius of wheel, NEEngine speed, V vehicle instant speed;
a vehicle acceleration module: in the normal driving process of the vehicle, the vehicle controller calculates the acceleration of the vehicle in real time:
Figure FDA0002613353250000024
wherein: a vehicle acceleration, V vehicle instantaneous speed V-Sampling time of speed t at the previous moment of the vehicle;
vehicle driving force and resistance calculation module: in the normal driving process of the vehicle, the vehicle control unit calculates and stores the driving force of the vehicle in real time:
Figure FDA0002613353250000031
wherein: fD-vehicle driving force, TOMotive drive torque, TFEngine drag torque, ηTTransmission power loss rate, (V-V)-) The vehicle speed difference in sampling time;
when the vehicle control unit judges that the acceleration is maintained between [ -ab ] and the time is not less than T time, recording the vehicle driving force in the T time, and obtaining the vehicle driving force equal to the vehicle resistance under the same vehicle speed according to a dynamic formula:
Ff＝FD (4)
wherein: ffVehicle drag;
vehicle resistance recording module: in the running process of the vehicle, the vehicle resistance under different speeds in a constant speed working condition is unchanged, and a plurality of vehicle resistances can be respectively calculated and recorded by the formula;
the whole vehicle mass calculating module: in the vehicle acceleration process, the whole vehicle mass calculation mode is as follows:
Figure FDA0002613353250000032
in the vehicle deceleration process, the whole vehicle mass calculation mode is as follows:
Figure FDA0002613353250000033
4. the vehicle mass estimation system avoiding the increase of the calibration amount according to claim 1, wherein: in the vehicle resistance recording module, the vehicle resistances of a plurality of groups of constant-speed working condition vehicle speeds are respectively calculated, and the following table is shown:
vehicle speed 1 Vehicle speed 2 Vehicle speed 3 Vehicle speed 4 Vehicle speed 5 Vehicle speed 6 Vehicle speed 7 …… Vehicle speed n Ff1 Ff2 Ff3 Ff4 Ff5 Ff6 Ff7 …… Ff9
。
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113569339A (en) * 2021-08-10 2021-10-29 北京理工大学 Vehicle weight calculation method
CN114212094A (en) * 2021-11-29 2022-03-22 东风商用车有限公司 Vehicle acceleration management method based on MPC control
CN114407906A (en) * 2022-01-25 2022-04-29 东风柳州汽车有限公司 Vehicle load measuring method and device, storage medium and equipment

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EP2956343B1 (en) * 2013-02-14 2018-12-19 Scania CV AB Simultaneous estimation of at least mass and rolling resistance
CN110356409A (en) * 2018-03-26 2019-10-22 北汽福田汽车股份有限公司 Complete vehicle quality detection method and device, vehicle
CN110816546A (en) * 2018-08-14 2020-02-21 福特全球技术公司 Method and device for determining vehicle weight information based on travel height

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Publication number Priority date Publication date Assignee Title
EP2956343B1 (en) * 2013-02-14 2018-12-19 Scania CV AB Simultaneous estimation of at least mass and rolling resistance
CN107901916A (en) * 2017-11-15 2018-04-13 康明斯天远（河北）科技有限公司 A kind of vehicle load acquisition methods that need not be installed in addition with sensor
CN110356409A (en) * 2018-03-26 2019-10-22 北汽福田汽车股份有限公司 Complete vehicle quality detection method and device, vehicle
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Publication number Priority date Publication date Assignee Title
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CN114212094A (en) * 2021-11-29 2022-03-22 东风商用车有限公司 Vehicle acceleration management method based on MPC control
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CN114407906A (en) * 2022-01-25 2022-04-29 东风柳州汽车有限公司 Vehicle load measuring method and device, storage medium and equipment
CN114407906B (en) * 2022-01-25 2023-07-07 东风柳州汽车有限公司 Vehicle load measuring method, device, storage medium and equipment

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