CN113335290A - Vehicle rolling resistance acquisition method, acquisition module and storage medium - Google Patents
Vehicle rolling resistance acquisition method, acquisition module and storage medium Download PDFInfo
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- CN113335290A CN113335290A CN202110829079.9A CN202110829079A CN113335290A CN 113335290 A CN113335290 A CN 113335290A CN 202110829079 A CN202110829079 A CN 202110829079A CN 113335290 A CN113335290 A CN 113335290A
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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
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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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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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
- B60W40/10—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 vehicle motion
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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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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Abstract
The invention relates to the technical field of vehicle state quantity estimation, and discloses a vehicle rolling resistance acquisition method, an acquisition module and a storage medium. The method for acquiring the rolling resistance of the vehicle comprises the following steps: the traction force of the hook is obtained through a tension sensor; calculating the net driving force and air resistance of the vehicle in longitudinal running to obtain the relations between rolling resistance, gradient resistance and acceleration resistance and vehicle mass, gravity acceleration, rolling resistance coefficient and road gradient; acquiring the longitudinal acceleration of the vehicle, and calculating to obtain the road gradient through an inverse trigonometric function; the vehicle mass when the road gradient is constant is obtained by differential processing, and the rolling resistance coefficient is obtained. According to the invention, the longitudinal running dynamic equation of the vehicle is more complete by considering the traction force of the hook, so that the vehicle mass obtained by calculation is closer to the actual vehicle mass, and further, the accuracy of other parameters calculated by the vehicle mass and the finally obtained rolling resistance coefficient is improved; meanwhile, the calculation through the differential is more concise.
Description
Technical Field
The invention relates to the technical field of vehicle state quantity estimation, in particular to a vehicle rolling resistance acquisition method, an acquisition module and a storage medium.
Background
With the development of automobile electronic control technology, people pursue higher and higher automobile performance, so more and more controllers and control algorithms are applied to automobiles. These control algorithms are highly dependent on the vehicle running state quantity, and need to provide self or external complete state quantity information, including but not limited to longitudinal running state quantities such as gradient resistance, rolling resistance (or coefficients), road gradient, and vehicle mass. The accurate and real-time calculation of the automobile state quantity is a necessary condition for ensuring the performance of the algorithm and is also a core link in the automobile electric control process.
The existing rolling resistance estimation method is based on the longitudinal running stress equation of the automobile to analyze, but most of the existing rolling resistance estimation methods are based on certain assumed conditions, for example, the total mass of the automobile is equal to the mass of the whole automobile and equipment; the individual algorithm does not make assumptions about the equation, but introduces coupling influences of gradient, mass and even rolling resistance coefficient in the calculation process, so that the iterative calculation process is complicated, and even the result divergence is not converged.
Therefore, a method for obtaining rolling resistance of a vehicle is needed to solve the above problems.
Disclosure of Invention
Based on the above, the invention aims to provide a vehicle rolling resistance obtaining method, which has the advantages of comprehensive parameter consideration, simple calculation process and better reliability of obtained results.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vehicle rolling resistance acquisition method comprising the steps of:
hook traction force F obtained by tension sensorp；
Calculating the net driving force F for longitudinal running of vehiclet-FbAir resistance FwAccording to the vehicle longitudinal driving dynamics equation Ft-Fb＝Ff+Fi+Fj+Fw+FpObtaining rolling resistance FfSlope resistance FiAcceleration resistance FjRelationship with vehicle mass m, gravitational acceleration g, rolling resistance coefficient f, road gradient α: ft-Fb-Fw-Fp＝Ff+Fi+Fj＝mgf cos α+mg sin α+mdVx；
Obtaining the longitudinal acceleration a of the vehiclex＝g sin α+dVxAnd obtaining road gradient alpha as arcsin [ (a) by calculating through an inverse trigonometric functionx-dVx)/g]And obtains a longitudinal driving force F of the vehicletVehicle braking force FbAir resistance FwAnd hook traction force FpThe mass m of the vehicle, the gravity acceleration g, the rolling resistance coefficient f, the road gradient alpha and the longitudinal acceleration a of the vehiclexThe relationship of (1): ft-Fb-Fw-Fp＝mgf cos α+max；
Obtaining Δ F ═ mg Δ F cos α + m Δ a by differential processingxWherein F ═ Ft-Fb-Fw-FpWhen the road gradient alpha is not changed, the vehicle mass m is obtained as delta F/delta axAnd carry in Ft-Fb-Fw-Fp＝mgf cos α+maxAnd obtaining the rolling resistance coefficient f.
As a preferable aspect of the vehicle rolling resistance obtaining method, the rolling resistance FfAs mg cos α, slope drag Fi＝mg sin αAcceleration resistance Fj＝mdVxIn which dVxRepresenting a vehicle operating speed differential; substituting the obtained road gradient alpha, the vehicle mass m and the rolling resistance coefficient F into the formula for calculation to obtain the rolling resistance FfSlope resistance FiAnd acceleration resistance Fj。
As a preferable aspect of the vehicle rolling resistance obtaining method, the vehicle longitudinal net driving force is a vehicle driving force FtAnd vehicle braking force FbThe difference of (a).
As a preferable aspect of the vehicle rolling resistance obtaining method, the vehicle driving force
Wherein T istRepresenting engine or motor drive torque, igRepresenting transmission ratio, i0Representing the transmission ratio of a main speed reducer, eta representing the transmission efficiency and r representing the radius of the tire; vehicle braking force
Wherein P isbThe brake pressure is represented, S represents the piston area of a brake wheel cylinder, mu represents the friction coefficient of a brake disc, and R represents the average acting radius of the brake disc.
As a preferable scheme of the method for acquiring the rolling resistance of the vehicle, the air resistance
Wherein C represents the coefficient of air resistance, A represents the frontal area of the vehicle, and VxIs the vehicle operating speed.
As a preferable aspect of the vehicle rolling resistance acquisition method, when the road gradient α changes, the vehicle mass m acquired last time through the vehicle rolling resistance acquisition method is taken as the vehicle mass m in the vehicle rolling resistance acquisition method of this time.
A vehicle rolling resistance acquisition module comprising:
one or more processors;
storage means for storing one or more programs;
a tension sensor for acquiring the traction force F of the hookp；
Longitudinal acceleration sensor for acquiring the longitudinal acceleration a of the vehicle itselfx；
Chassis CAN bus for obtaining engine driving torque TtTransmission ratio i of the transmissiongMain reducer transmission ratio i0Transmission efficiency eta, tire radius r, brake pressure PbThe piston area S of the brake wheel cylinder, the friction coefficient mu of the brake disc, the average acting radius R of the brake disc, the air resistance coefficient C, the windward area A of the vehicle and the running speed V of the vehiclex；
When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle rolling resistance acquisition method according to any one of the above aspects.
As a preferable aspect of the vehicle rolling resistance obtaining module, the tension sensor is provided on a rear bumper stay of the vehicle.
As a preferred scheme of the vehicle rolling resistance acquisition module, the tension sensor comprises a strain gauge, a power circuit and a detection circuit, the strain gauge is arranged on the vehicle rear bumper bracket, and the power circuit and the detection circuit are in communication connection with the strain gauge and the chassis CAN bus.
A storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle rolling resistance acquisition method as in any one of the above aspects.
The invention has the beneficial effects that:
the method for acquiring the rolling resistance of the vehicle considers the traction force F of the hookpBy taking into account the hook traction force FpThe longitudinal driving dynamic equation of the vehicle is more complete, and the parameters acquired by the longitudinal driving of the vehicle are more reliable; the road gradient alpha is obtained through an inverse trigonometric function, and the vehicle mass m when the road gradient alpha is unchanged is obtained through differential processingThe vehicle mass m is closer to the actual vehicle mass, so that other parameters calculated through the vehicle mass m and the accuracy of the finally obtained rolling resistance coefficient are improved; meanwhile, the vehicle mass m is obtained through differential calculation, so that a repeated iteration process is avoided, the calculation is simpler, and the condition that the result is dispersed and not converged is effectively avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a flowchart of a method for obtaining rolling resistance of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a vehicle rolling resistance obtaining module according to a second embodiment of the present invention.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
Example one
As shown in fig. 1, the present embodiment provides a vehicle rolling resistance acquisition method for vehicle state quantity estimation, including the steps of: hook traction force F obtained by tension sensorp(ii) a Calculating the net driving force F for longitudinal running of vehiclet-FbAir resistance FwAccording to the vehicle longitudinal driving dynamics equation Ft-Fb＝Ff+Fi+Fj+Fw+FpObtaining rolling resistance FfSlope resistance FiAcceleration resistance FjRelationship with vehicle mass m, gravitational acceleration g, rolling resistance coefficient f, road gradient α: ft-Fb-Fw-Fp＝Ff+Fi+Fj＝mgf cos α+mg sin α+mdVx(ii) a Obtaining the longitudinal acceleration a of the vehiclex＝g sin α+dVxAnd obtaining road gradient alpha ═ arc sin [ (a) by inverse trigonometric function calculationx-dVx)/g]And obtains a longitudinal driving force F of the vehicletVehicle braking force FbAir resistance FwAnd hook traction force FpThe mass m of the vehicle, the gravity acceleration g, the rolling resistance coefficient f, the road gradient alpha and the longitudinal acceleration a of the vehiclexThe relationship of (1): ft-Fb-Fw-Fp＝mgf cos α+max(ii) a Obtaining Δ F ═ mg Δ F cos α + m Δ a by differential processingxWherein F ═ Ft-Fb-Fw-FpWhen the road gradient alpha is not changed, the vehicle mass m is obtained as delta F/delta axAnd carry in Ft-Fb-Fw-Fp＝mgf cos α+maxAnd obtaining the rolling resistance coefficient f.
The method for acquiring the rolling resistance of the vehicle takes the traction force F of the hook into considerationpBy taking into account the hook traction force FpThe longitudinal driving dynamic equation of the vehicle is more complete, and the parameters acquired by the longitudinal driving of the vehicle are more reliable; the method comprises the steps that a road gradient alpha is obtained through an inverse trigonometric function, and then the vehicle mass m when the road gradient alpha is unchanged is obtained through differential processing, compared with the assumed automobile mass in the prior art that the automobile mass is equal to the total automobile and equipment mass, the vehicle mass m obtained through calculation is closer to the actual vehicle mass, and further the accuracy of other parameters calculated through the vehicle mass m and the finally obtained rolling resistance coefficient is improved; meanwhile, the vehicle mass m is obtained through differential calculation, so that a repeated iteration process is avoided, the calculation is simpler, and the condition that the result is dispersed and not converged is effectively avoided.
In particular, running in the longitudinal direction of the vehicleEquation of dynamics Ft-Fb＝Ff+Fi+Fj+Fw+FpMiddle, vehicle longitudinal net driving force Ft-FbAs a vehicle driving force FtAnd vehicle braking force FbThe difference of (a). Wherein the vehicle drives
Wherein T istRepresenting engine or motor drive torque, igRepresenting transmission ratio, i0Representing the transmission ratio of a main speed reducer, eta representing the transmission efficiency and r representing the radius of the tire; vehicle braking force
Wherein P isbThe brake pressure is represented, S represents the piston area of a brake wheel cylinder, mu represents the friction coefficient of a brake disc, and R represents the average acting radius of the brake disc; air resistance
Wherein C represents the coefficient of air resistance, A represents the frontal area of the vehicle, and VxIs the vehicle operating speed.
It is worth to say that the above-mentioned engine drive torque TtTransmission ratio i of the transmissiongMain reducer transmission ratio i0Transmission efficiency eta, tire radius r, brake pressure PbThe piston area S of the brake wheel cylinder, the friction coefficient mu of the brake disc, the average acting radius R of the brake disc, the air resistance coefficient C, the windward area A of the vehicle and the running speed V of the vehiclexCan be obtained from vehicle parameters and existing sensors on the vehicle.
Further, after obtaining the road gradient α, the vehicle mass m, and the rolling resistance coefficient F, the rolling resistance F may be further calculatedfSlope resistance FiAcceleration resistance Fj. Wherein the rolling resistance FfAs mg cos α, slope drag FiMg sin α, acceleration resistance Fj＝mdVx，dVxRepresenting a vehicle operating speed differential; substituting the obtained road gradient alpha, the vehicle mass m and the rolling resistance coefficient F into the formula for calculation, and further obtaining the rolling resistance FfSlope resistance FiAcceleration resistance Fj。
It should be noted that the above-mentioned vehicle rolling resistance obtaining method is based on the calculation when the road gradient α is not changed, because only when the road gradient α is not changed, cos α is constant and the differential of the constant is zero, and thus the vehicle mass m ═ Δ F/Δ a can be obtainedx。
Further, when the road gradient α changes, since the vehicle mass m cannot be obtained by differential calculation, the vehicle mass m obtained in the last pass through the vehicle rolling resistance acquisition method is taken as the vehicle mass m in the present vehicle rolling resistance acquisition method.
Example two
The present embodiment discloses a vehicle rolling resistance acquisition module comprising one or more processors, a memory device for storing one or more programs, and a processor for acquiring a hitch tractive force FpTension sensor for acquiring the longitudinal acceleration a of the vehicle itselfxA longitudinal acceleration sensor and a chassis CAN bus, wherein the chassis CAN bus CAN acquire the engine drive torque TtTransmission ratio i of the transmissiongMain reducer transmission ratio i0Transmission efficiency eta, tire radius r, brake pressure PbThe piston area S of the brake wheel cylinder, the friction coefficient mu of the brake disc, the average acting radius R of the brake disc, the air resistance coefficient C, the windward area A of the vehicle and the running speed V of the vehiclex. When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle rolling resistance obtaining method described in the first embodiment.
Specifically, the vehicle rolling resistance obtaining module is used for obtaining the parameters and further comprises a module for obtaining the driving torque T of the enginetTorque sensor for detecting brake pressure PbAnd acquiring the operating speed VxSpeed sensors, etc. Moment of forceThe sensor, the pressure sensor and the speed sensor are all in communication connection with a chassis CAN bus.
In this embodiment, to accurately obtain the hook traction force FpAnd the tension sensor is arranged on a vehicle rear bumper bracket. Further, force transducer includes foil gage, power supply circuit and detection circuitry, and the foil gage sets up on vehicle rear bumper support, and power supply circuit and detection circuitry all are connected with foil gage and chassis CAN bus communication, and the foil gage is used for detecting vehicle rear bumper support's deflection, turns into through power supply circuit and detection circuitry and CAN calculate couple traction force FpThe parameters are input into a chassis CAN bus to finally obtain the traction force F of the hookp。
Fig. 2 is a schematic diagram of a vehicle rolling resistance obtaining module according to a second embodiment of the present invention, as shown in fig. 2, the vehicle rolling resistance obtaining module includes a processor, a memory, a tension sensor, and a longitudinal acceleration sensor; the number of processors in the vehicle rolling resistance acquisition module can be one or more, and one processor is taken as an example in fig. 2; the processor, the memory, the tension sensor and the longitudinal acceleration sensor of the vehicle rolling resistance acquisition module CAN be connected through a chassis CAN bus.
The memory is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle rolling resistance obtaining method in one embodiment of the present invention (for example, obtaining the road gradient α ═ arcsin [ (a) by calculating an inverse trigonometric functionx-dVx)/g](ii) a Obtaining Δ F ═ mg Δ F cos α + m Δ a by differential processingxEtc.). The processor executes various functional applications and data processing of the vehicle rolling resistance acquisition module by running software programs, instructions and modules stored in the memory, namely, the vehicle rolling resistance acquisition method is realized.
The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory remotely located from the processor, and these remote memories may be connected to the vehicle rolling resistance acquisition module by a chassis CAN bus. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The vehicle rolling resistance acquisition module further comprises an input device and an output device which are in communication connection with the chassis CAN bus. The input device may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the vehicle rolling resistance acquisition module, such as tire radius R, brake cylinder piston area S, brake disc friction coefficient μ, brake disc mean radius of action R, and the like. The output means may comprise a display device, such as a display screen, for displaying the rolling resistance coefficient F, the rolling resistance FfSlope resistance FiAcceleration resistance FjAnd the like.
EXAMPLE III
The present embodiment discloses a storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle rolling resistance acquisition method as described in the first embodiment.
The storage medium contains computer-executable instructions which, when executed by a computer processor, are for performing a vehicle rolling resistance acquisition method comprising the steps of: hook traction force F obtained by tension sensorp(ii) a Calculating the net driving force F for longitudinal running of vehiclet-FbAnd air resistance FwAccording to the vehicle longitudinal driving dynamics equation Ft-Fb＝Ff+Fi+Fj+Fw+FpObtaining rolling resistance FfSlope resistance FiAcceleration resistance FjRelationship F with vehicle mass m, gravitational acceleration g, rolling resistance coefficient F, road gradient alphat-Fb-Fw-Fp＝Ff+Fi+Fj＝mgf cos α+mg sin α+mdVx(ii) a Obtaining the longitudinal acceleration a of the vehiclex＝g sin α+dVxAnd obtaining road gradient alpha as arcsin [ (a) by calculating through an inverse trigonometric functionx-dVx)/g]And obtains a longitudinal driving force F of the vehicletVehicle braking force FbAir resistance FwAnd hook traction force FpThe mass m of the vehicle, the gravity acceleration g, the rolling resistance coefficient f, the road gradient alpha and the longitudinal acceleration a of the vehiclexRelation F oft-Fb-Fw-Fp＝mgf cos α+max(ii) a Obtaining Δ F ═ mg Δ F cos α + m Δ a by differential processingxWherein F ═ Ft-Fb-Fw-FpWhen the road gradient alpha is not changed, the vehicle mass m is obtained as delta F/delta axAnd carry in Ft-Fb-Fw-Fp＝mgf cos α+maxThe rolling resistance coefficient f is obtained.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the acquisition method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the vehicle rolling resistance obtaining module, the included devices are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the devices are only for convenience of distinguishing from each other and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (10)
1. A vehicle rolling resistance acquisition method characterized by comprising the steps of:
hook traction force F obtained by tension sensorp；
Calculating the net driving force F for longitudinal running of vehiclet-FbAir resistance FwAccording to the vehicle longitudinal driving dynamics equation Ft-Fb＝Ff+Fi+Fj+Fw+FpObtaining rolling resistance FfSlope resistance FiAcceleration resistance FjRelationship with vehicle mass m, gravitational acceleration g, rolling resistance coefficient f, road gradient α: ft-Fb-Fw-Fp＝Ff+Fi+Fj＝mgfcosα+mgsinα+mdVx；
Obtaining the longitudinal acceleration a of the vehiclex＝gsinα+dVxAnd obtaining road gradient alpha as arcsin [ (a) by calculating through an inverse trigonometric functionx-dVx)/g]And obtains a longitudinal driving force F of the vehicletVehicle braking force FbAir resistance FwAnd hook traction force FpThe mass m of the vehicle, the gravity acceleration g, the rolling resistance coefficient f, the road gradient alpha and the longitudinal acceleration a of the vehiclexThe relationship of (1): ft-Fb-Fw-Fp＝mgfcosα+max；
Obtaining Δ F ═ mg Δ fcos α + m Δ a by differential processingxWherein F ═ Ft-Fb-Fw-FpWhen the road gradient alpha is not changed, the vehicle mass m is obtained as delta F/delta axAnd carry in Ft-Fb-Fw-Fp＝mgfcosα+maxAnd obtaining the rolling resistance coefficient f.
2. The vehicle rolling resistance acquisition method according to claim 1, characterized in that rolling resistance FfAs mg cos α, slope drag FiMg sin α, acceleration resistance Fj＝mdVxIn which dVxRepresenting a vehicle operating speed differential; substituting the obtained road gradient alpha, the vehicle mass m and the rolling resistance coefficient F into the formula for calculation to obtain the rolling resistance FfSlope resistance FiAnd acceleration resistance Fj。
3. The vehicle rolling resistance acquisition method according to claim 1, characterized in that the vehicle longitudinal net driving force is a vehicle driving force FtAnd vehicle braking force FbThe difference of (a).
4. The vehicle rolling resistance acquisition method according to claim 3, characterized in that vehicle driving force
Wherein T istRepresenting engine or motor drive torque, igRepresenting transmission ratio, i0Representing the transmission ratio of a main speed reducer, eta representing the transmission efficiency and r representing the radius of the tire; vehicle braking force
Wherein P isbThe brake pressure is represented, S represents the piston area of a brake wheel cylinder, mu represents the friction coefficient of a brake disc, and R represents the average acting radius of the brake disc.
5. The vehicle rolling resistance acquisition method according to claim 1, characterized in that air resistance
Wherein C represents the coefficient of air resistance, A represents the frontal area of the vehicle, and VxIs the vehicle operating speed.
6. The vehicle rolling resistance acquisition method according to any one of claims 1 to 5, characterized in that when the road gradient α changes, the vehicle mass m acquired last time through the vehicle rolling resistance acquisition method is taken as the vehicle mass m in the present vehicle rolling resistance acquisition method.
7. A vehicle rolling resistance acquisition module, comprising:
one or more processors;
storage means for storing one or more programs;
a tension sensor for acquiring the traction force F of the hookp；
Longitudinal acceleration sensor for acquiring the longitudinal acceleration a of the vehicle itselfx；
Chassis CAN bus for obtaining engine driving torque TtTransmission ratio i of the transmissiongMain reducer transmission ratio i0Transmission efficiency eta, tire radius r, brake pressure PbThe piston area S of the brake wheel cylinder, the friction coefficient mu of the brake disc, the average acting radius R of the brake disc, the air resistance coefficient C, the windward area A of the vehicle and the running speed V of the vehiclex；
When executed by the one or more processors, cause the one or more processors to implement the vehicle rolling resistance acquisition method of any one of claims 1-6.
8. The vehicle rolling resistance acquisition module according to claim 7, wherein the tension sensor is provided on a vehicle rear bumper bracket.
9. The vehicle rolling resistance acquisition module of claim 8, wherein the strain sensor comprises a strain gauge, a power circuit and a detection circuit, the strain gauge is disposed on the rear bumper bracket of the vehicle, and the power circuit and the detection circuit are both in communication connection with the strain gauge and the chassis CAN bus.
10. A storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle rolling resistance acquisition method according to any one of claims 1 to 6.
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| CN202110829079.9A CN113335290B (en) | 2021-07-22 | 2021-07-22 | Vehicle rolling resistance acquisition method, acquisition module and storage medium |
| PCT/CN2022/107396 WO2023001289A1 (en) | 2021-07-22 | 2022-07-22 | Vehicle rolling resistance acquisition method and module, and storage medium |
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| CN202110829079.9A CN113335290B (en) | 2021-07-22 | 2021-07-22 | Vehicle rolling resistance acquisition method, acquisition module and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114707366A (en) * | 2022-06-06 | 2022-07-05 | 江铃汽车股份有限公司 | Vehicle running resistance calculation method and system |
| WO2023001289A1 (en) * | 2021-07-22 | 2023-01-26 | 中国第一汽车股份有限公司 | Vehicle rolling resistance acquisition method and module, and storage medium |
| CN117141504A (en) * | 2023-11-01 | 2023-12-01 | 浙江万里扬新能源驱动有限公司杭州分公司 | Method and device for calculating quality of whole vehicle |
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| CN116729399B (en) * | 2023-07-11 | 2024-02-13 | 长春一东离合器股份有限公司苏州研发中心 | Vehicle ramp, vehicle weight dynamic identification method, device, equipment and medium |
| CN116821775A (en) * | 2023-08-29 | 2023-09-29 | 陕西重型汽车有限公司 | Load estimation method based on machine learning |
| CN117709127B (en) * | 2024-02-04 | 2024-05-07 | 中汽研汽车检验中心（天津）有限公司 | Method, equipment and medium for determining sliding resistance of light vehicle |
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| WO2023001289A1 (en) | 2023-01-26 |
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