CN114013447B - Method, device, equipment and storage medium for determining vehicle load - Google Patents
Method, device, equipment and storage medium for determining vehicle load Download PDFInfo
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- CN114013447B CN114013447B CN202111217949.3A CN202111217949A CN114013447B CN 114013447 B CN114013447 B CN 114013447B CN 202111217949 A CN202111217949 A CN 202111217949A CN 114013447 B CN114013447 B CN 114013447B
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- 238000004590 computer program Methods 0.000 claims description 6
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Classifications
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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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- 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
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
The application provides a method, a device, equipment and a storage medium for determining a vehicle load, wherein the method comprises the following steps: and responding to the determining instruction of the vehicle load, acquiring vehicle operation data, acquiring a target quality coefficient according to the vehicle operation data, and determining the vehicle load of the vehicle according to the target quality coefficient and the vehicle idle load quality. The vehicle load can be accurately determined, and then the vehicle can be stably and accurately controlled according to the vehicle load, so that the accuracy of vehicle control is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for determining a load of a vehicle.
Background
In recent years, the technology of automatic driving of vehicles has become more and more mature. Vehicles using automated driving technology are also becoming increasingly popular.
In general, the load of the vehicle will change, especially for vehicles such as port collector cards and city buses, for example, the load of the port collector cards when fully loaded may even exceed 3 times the load when unloaded. However, the change of the load of the vehicle can cause that the vehicle is difficult to be controlled stably and accurately, so how to accurately determine the load of the vehicle is a problem to be solved at present.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for determining a vehicle load, which can accurately determine the vehicle load.
In a first aspect, the present application provides a method for determining a load of a vehicle, including:
responding to a determining instruction of the vehicle load, and acquiring vehicle operation data;
according to the vehicle operation data, a target quality coefficient is obtained, and the quality coefficient is used for representing the vehicle load change proportion when the vehicle is unloaded;
and determining the vehicle load of the vehicle according to the target quality coefficient and the vehicle idle load quality.
Optionally, the vehicle operation data includes a vehicle accelerator pedal opening value and a first vehicle speed; according to the vehicle operation data, obtaining a target quality coefficient comprises: acquiring an actual speed variation of the vehicle according to the first vehicle speed, wherein the actual speed variation is a speed variation of the first vehicle speed relative to a second vehicle speed, and the acquisition time of the second vehicle speed is before the acquisition time of the first vehicle speed; acquiring an expected speed variation of the vehicle according to the calibration acceleration corresponding to the opening value of the accelerator pedal of the vehicle and the first vehicle speed, wherein the calibration acceleration is the actual acceleration corresponding to different vehicle speeds and the opening value of the accelerator pedal of the vehicle when the vehicle is unloaded; and acquiring a target quality coefficient according to the actual speed variation and the expected speed variation.
Optionally, the obtaining the expected speed variation of the vehicle according to the calibrated acceleration corresponding to the opening value of the accelerator pedal of the vehicle and the first vehicle speed includes: acquiring at least two times of vehicle operation data in a time period from the acquisition time of the second vehicle speed to the acquisition time of the first vehicle speed; and acquiring the expected speed variation of the vehicle according to the corresponding calibration acceleration of the vehicle operation data of at least two times.
Optionally, obtaining the target quality coefficient according to the actual speed variation and the expected speed variation includes: acquiring a difference value between an actual speed variation and an expected speed variation; and acquiring the target quality coefficient according to the difference value, the proportionality constant and the quality coefficient acquired at the adjacent moment before the acquisition moment of the first vehicle speed.
Optionally, determining the vehicle load of the vehicle according to the target quality coefficient and the vehicle idle load quality includes: determining that the stored vehicle operation data reaches a data amount threshold; the vehicle load of the vehicle is determined as the product of the target mass coefficient and the idle mass of the vehicle.
Optionally, the vehicle operation data further includes a vehicle steering wheel angle; before the target quality coefficient is obtained according to the vehicle operation data, the method further comprises the following steps: determining that a steering wheel angle of the vehicle is less than a steering angle threshold; and/or determining that the vehicle accelerator pedal opening value is greater than an opening value threshold.
In a second aspect, the present application provides a vehicle load determining apparatus, including:
the acquisition module is used for responding to a determining instruction of the vehicle load and acquiring vehicle operation data;
the processing module is used for acquiring a target quality coefficient according to vehicle operation data, wherein the quality coefficient is used for representing the vehicle load change proportion when the relative vehicle is unloaded;
and the determining module is used for determining the vehicle load of the vehicle according to the target quality coefficient and the vehicle idle load quality.
Optionally, the vehicle operation data includes a vehicle accelerator pedal opening value and a first vehicle speed; the processing module is specifically used for: acquiring an actual speed variation of the vehicle according to the first vehicle speed, wherein the actual speed variation is a speed variation of the first vehicle speed relative to a second vehicle speed, and the acquisition time of the second vehicle speed is before the acquisition time of the first vehicle speed; acquiring an expected speed variation of the vehicle according to the calibration acceleration corresponding to the opening value of the accelerator pedal of the vehicle and the first vehicle speed, wherein the calibration acceleration is the actual acceleration corresponding to different vehicle speeds and the opening value of the accelerator pedal of the vehicle when the vehicle is unloaded; and acquiring a target quality coefficient according to the actual speed variation and the expected speed variation.
Optionally, the processing module is configured to, when obtaining the expected speed variation of the vehicle according to the calibrated acceleration corresponding to the opening value of the accelerator pedal of the vehicle and the first vehicle speed, specifically: acquiring at least two times of vehicle operation data in a time period from the acquisition time of the second vehicle speed to the acquisition time of the first vehicle speed; and acquiring the expected speed variation of the vehicle according to the corresponding calibration acceleration of the vehicle operation data of at least two times.
Optionally, the processing module is configured to, when acquiring the target quality coefficient according to the actual speed variation and the desired speed variation, specifically: acquiring a difference value between an actual speed variation and an expected speed variation; and acquiring the target quality coefficient according to the difference value, the proportionality constant and the quality coefficient acquired at the adjacent moment before the acquisition moment of the first vehicle speed.
Optionally, the determining module is specifically configured to: determining that the stored vehicle operation data reaches a data amount threshold; the vehicle load of the vehicle is determined as the product of the target mass coefficient and the idle mass of the vehicle.
Optionally, the vehicle operation data further includes a vehicle steering wheel angle; the processing module is also used for: determining that the steering wheel angle of the vehicle is smaller than a steering angle threshold value before acquiring a target quality coefficient according to vehicle operation data; and/or determining that the vehicle accelerator pedal opening value is greater than an opening value threshold.
In a third aspect, the present application provides an electronic device, comprising: a processor, a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of determining the load of a vehicle as described in the first aspect of the application.
In a fourth aspect, the present application provides a computer readable storage medium having stored therein computer program instructions which, when executed by a processor, implement a method of determining a load of a vehicle as described in the first aspect of the present application.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements a method for determining the load of a vehicle according to the first aspect of the present application.
According to the method, the device, the equipment and the storage medium for determining the vehicle load, the vehicle running data are obtained by responding to the determining instruction of the vehicle load, the target quality coefficient is obtained according to the vehicle running data, and the vehicle load of the vehicle is determined according to the target quality coefficient and the vehicle idle load quality. Because the method and the device acquire the target quality coefficient according to the vehicle operation data acquired in real time in the vehicle operation process, and then determine the vehicle load, the vehicle load can be accurately determined, and then the vehicle can be stably and accurately controlled according to the vehicle load, so that the accuracy of vehicle control is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
FIG. 2 is a flow chart of a method for determining a load of a vehicle according to an embodiment of the present application;
FIG. 3 is a flow chart of a method for determining a load of a vehicle according to another embodiment of the present application;
fig. 4 is a schematic structural view of a vehicle load determining device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Based on the problem of how to accurately determine the vehicle load, the application provides a method, a device, equipment and a storage medium for determining the vehicle load, which determine the vehicle load through vehicle operation data (namely the state of the vehicle), so that the vehicle can be controlled according to the determined vehicle load, and the accuracy of vehicle control can be greatly improved.
In the following, first, an application scenario of the solution provided in the present application is illustrated.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application. As shown in fig. 1, in the present application scenario, the load of the autopilot port collector 110 is changed, and when the autopilot port collector 110 travels on the road 120 inside the harbor, the autopilot port collector 110 determines the load of the vehicle, and controls the vehicle to run according to the load of the vehicle. The implementation process of the automatic driving port cluster 110 to determine the load of the vehicle can be found in the following embodiments.
It should be noted that fig. 1 is only a schematic diagram of an application scenario provided by the embodiment of the present application, and the embodiment of the present application does not limit the devices included in fig. 1, or limit the positional relationship between the devices in fig. 1.
Next, a method of determining the load of the vehicle will be described by way of specific embodiments.
Fig. 2 is a flowchart of a method for determining a load of a vehicle according to an embodiment of the present application. The method of the embodiment of the application can be applied to electronic equipment, such as a micro control unit (Microcontroller Unit, MCU) of an automatic driving vehicle. As shown in fig. 2, the method of the embodiment of the present application includes:
s201, responding to a determining instruction of the vehicle load, and acquiring vehicle operation data.
In this embodiment of the present application, the instruction for determining the load of the vehicle may be sent by other devices to the electronic device that executes the embodiment of the method, or may be input by the user to the electronic device that executes the embodiment of the method. Illustratively, the vehicle acquires vehicle operation data after receiving information of a change in the vehicle load sent from a sensor that detects whether the vehicle load changes. The acquired vehicle operation data includes, for example, an operation speed of the vehicle, an opening value of an accelerator pedal of the vehicle, and the like.
S202, acquiring a target quality coefficient according to vehicle operation data.
Wherein the mass coefficient is used to characterize the ratio of change in load of the vehicle relative to when the vehicle is empty.
In this step, as for the mass coefficient, it is understood that when the vehicle load changes, a different mass coefficient is corresponding to the vehicle load when the vehicle is empty, for example, the mass coefficient increases with the increase of the vehicle load, and the mass coefficient decreases with the decrease of the vehicle load. After the vehicle operation data is acquired, a target quality coefficient may be acquired according to the vehicle operation data. For how to obtain the target quality coefficient according to the vehicle operation data, reference may be made to the following embodiments, which are not described herein.
S203, determining the vehicle load of the vehicle according to the target quality coefficient and the vehicle idle load quality.
For example, the vehicle idle mass (for example, denoted by m) may be measured in advance by a wagon balance as a reference value, and accordingly, the mass coefficient k of the vehicle idle mass is for example, 1. After the target mass coefficient and the vehicle no-load mass are obtained, the vehicle load of the vehicle may be determined based on the target mass coefficient and the vehicle no-load mass. For how to determine the vehicle load of the vehicle according to the target quality coefficient and the vehicle idle quality, reference may be made to the following embodiments, which are not described herein.
After determining the vehicle load of the vehicle, the vehicle may be adaptively controlled according to the vehicle load. For example, the opening degree of an accelerator pedal of the vehicle can be controlled according to the load of the vehicle.
According to the method for determining the vehicle load, the vehicle operation data are obtained by responding to the determining instruction of the vehicle load, the target quality coefficient is obtained according to the vehicle operation data, and the vehicle load of the vehicle is determined according to the target quality coefficient and the vehicle idle load quality. Because the embodiment of the application acquires the target quality coefficient according to the vehicle operation data acquired in real time in the vehicle operation process, and then the vehicle load is determined, the vehicle load can be accurately determined, and then the vehicle can be stably and accurately controlled according to the vehicle load, and the accuracy of vehicle control is improved.
Fig. 3 is a flowchart of a method for determining a load of a vehicle according to another embodiment of the present application. Based on the above embodiments, the embodiments of the present application further describe how to determine the load of the vehicle. As shown in fig. 3, the method of the embodiment of the present application may include:
s301, responding to a determining instruction of the vehicle load, and acquiring vehicle operation data; the vehicle operating data includes a vehicle accelerator pedal opening value, a first vehicle speed, and a vehicle steering wheel angle.
For a specific description of acquiring vehicle operation data in response to a determination instruction of the vehicle load, reference is made to the description related to S201 in the embodiment shown in fig. 2. For example, a vehicle accelerator pedal opening command, for example, of 10%, i.e., representing a vehicle accelerator pedal opening value of 10%, may be obtained from a controller area network (Controller Area Network, CAN) bus; a first vehicle speed may be obtained by a sensor; the vehicle steering angle, which is for example 60 degrees, CAN be obtained via the CAN bus. For example, during operation of the vehicle, the vehicle accelerator pedal opening value, the first vehicle speed and the vehicle steering wheel angle may be obtained in real time, the obtained vehicle accelerator pedal opening value, the first vehicle speed and the vehicle steering wheel angle may be stored in a queue, the queue may be preset to a maximum length, for example, 50 sets of vehicle operation data may be stored, each set of vehicle operation data includes the vehicle accelerator pedal opening value, the first vehicle speed and the vehicle steering wheel angle, and it is understood that the vehicle accelerator pedal opening value, the first vehicle speed and the vehicle steering wheel angle are vehicle operation data corresponding to the same time.
S302, determining that the steering wheel angle of the vehicle is smaller than an angle threshold; and/or determining that the vehicle accelerator pedal opening value is greater than an opening value threshold.
In this step, the rotation angle threshold is, for example, 100 degrees, and the opening value threshold is, for example, 5%. For example, after the vehicle accelerator pedal opening value, the first vehicle speed, and the vehicle steering wheel angle are obtained in real time, it may be determined whether the vehicle steering wheel angle is less than 100 degrees, and whether the vehicle accelerator pedal opening value is greater than 5%. After determining that the steering wheel angle of the vehicle is smaller than 100 degrees and determining that the opening value of the accelerator pedal of the vehicle is larger than 5%, storing the opening value of the accelerator pedal of the vehicle, the first vehicle speed and the steering wheel angle of the vehicle into a queue, and continuing to execute the step S303; if it is determined that the vehicle steering wheel angle is greater than or equal to 100 degrees, or the vehicle accelerator pedal opening value is less than or equal to 5%, the vehicle accelerator pedal opening value, the first vehicle speed and the vehicle steering wheel angle are not stored in the queue, all the vehicle operation data stored in the queue are emptied, and the vehicle operation data acquired in step S301 is re-executed.
Optionally, for the tractor and the semitrailer, determining that the steering wheel angle of the vehicle is less than the angle threshold; and/or determining that the opening value of the accelerator pedal of the vehicle is greater than an opening value threshold; and/or determining that the included angle between the tractor and the semitrailer is smaller than an included angle threshold.
By way of example, the angle between the tractor and the semitrailer can be obtained by means of a sensor, the angle threshold value being for example 30 degrees. Illustratively, the rotation angle threshold is, for example, 100 degrees, and the opening value threshold is, for example, 5%. For the tractor and the semitrailer, after the opening value of the accelerator pedal of the vehicle, the first vehicle speed, the steering wheel angle of the vehicle and the included angle of the tractor and the semitrailer are obtained in real time, whether the steering wheel angle of the vehicle is smaller than 100 degrees, whether the opening value of the accelerator pedal of the vehicle is larger than 5 percent and whether the included angle of the tractor and the semitrailer is smaller than 30 degrees can be judged. After determining that the turning angle of the steering wheel of the vehicle is less than 100 degrees, the opening value of the accelerator pedal of the vehicle is greater than 5 percent, and the included angle between the tractor and the semitrailer is less than 30 degrees, storing the opening value of the accelerator pedal of the vehicle, the first vehicle speed and the turning angle of the steering wheel of the vehicle into a queue, and continuously executing the step S303; if it is determined that the vehicle steering wheel angle is greater than or equal to 100 degrees, or the vehicle accelerator pedal opening value is less than or equal to 5%, or the included angle between the tractor and the semitrailer is greater than or equal to 30 degrees, the vehicle accelerator pedal opening value, the first vehicle speed and the vehicle steering wheel angle are not stored in the queue, all the vehicle operation data stored in the queue are emptied, and the vehicle operation data acquired in the step S301 is re-executed.
In this embodiment, step S202 in fig. 2 may further include three steps S303 to S305 as follows:
s303, acquiring the actual speed variation of the vehicle according to the first vehicle speed.
The actual speed variation is a speed variation of the first vehicle speed relative to the second vehicle speed, and the acquiring time of the second vehicle speed is before the acquiring time of the first vehicle speed.
In this step, the second vehicle speed is, for example, a vehicle speed corresponding to a start time of acquiring the vehicle running data in real time. For example, the vehicle operation data acquired in real time is stored in a queue, for example, 3 sets of vehicle operation data are stored in the queue, and then the vehicle speed in the 1 st set of vehicle operation data is the vehicle speed corresponding to the starting time of acquiring the vehicle operation data in real time, that is, the second vehicle speed. Assuming that the vehicle speed in the 3 rd group of vehicle operation data is the first vehicle speed acquired at the present time, an actual speed variation amount of the vehicle, which is represented by delta_true_v, for example, may be acquired from the first vehicle speed and the second vehicle speed. Specifically, a difference between the vehicle speed in the 3 rd set of vehicle operation data corresponding to the current time stored in the queue and the vehicle speed in the 1 st set of vehicle operation data corresponding to the starting time stored in the queue is obtained, where the difference is an actual speed variation of the vehicle. In the process of acquiring the vehicle running data, the actual speed variation of the corresponding vehicle needs to be acquired for each set of acquired vehicle running data, that is, the difference between the vehicle speed at the current time and the vehicle speed at the starting time in the queue is acquired.
S304, acquiring the expected speed variation of the vehicle according to the corresponding calibration acceleration of the opening value of the accelerator pedal of the vehicle and the first vehicle speed.
The calibration acceleration is the actual acceleration corresponding to different vehicle speeds and opening values of the accelerator pedal of the vehicle when the vehicle is in idle load.
For example, since the vehicle accelerator pedal opening value and the vehicle engine (motor) torque are positively correlated, and the vehicle engine (motor) torque and the vehicle acceleration generated thereby are positively correlated, the calibration acceleration may be calibrated in advance according to different vehicle speeds and vehicle accelerator pedal opening values when the vehicle is idling, i.e., a table of correspondence between the vehicle accelerator pedal opening value, the vehicle speed, and the vehicle acceleration is obtained, which may also be referred to as a cmd-v-a table. After the opening value of the accelerator pedal of the vehicle and the first vehicle speed are obtained, a cmd-v-a table can be queried to obtain the corresponding calibration acceleration of the opening value of the accelerator pedal of the vehicle and the first vehicle speed, and further, according to the calibration acceleration, the expected speed variation of the vehicle is obtained, wherein the expected speed variation is expressed by delta_exp_v for example.
Further, obtaining the expected speed variation of the vehicle according to the calibrated acceleration corresponding to the opening value of the accelerator pedal of the vehicle and the first vehicle speed may include: acquiring at least two times of vehicle operation data in a time period from the acquisition time of the second vehicle speed to the acquisition time of the first vehicle speed; and acquiring the expected speed variation of the vehicle according to the corresponding calibration acceleration of the vehicle operation data of at least two times.
The vehicle operation data acquired in real time is stored in a queue, for example, 3 sets of vehicle operation data are stored in the queue, wherein the vehicle speed in the 1 st set of vehicle operation data is the second vehicle speed, and the vehicle speed in the 3 rd set of vehicle operation data is the first vehicle speed acquired at the current moment. In a period from the time when the second vehicle speed is acquired to the time when the first vehicle speed is acquired, that is, in a period when 3 sets of vehicle operation data are acquired, according to the opening value of the accelerator pedal of the vehicle in the 1 st set of vehicle operation data and the first vehicle speed, inquiring a cmd-v-a table, and obtaining a corresponding calibration acceleration, wherein the calibration acceleration is represented by a1 for example; inquiring a cmd-v-a table according to the opening value of a vehicle accelerator pedal and the first vehicle speed in the 2 nd group of vehicle operation data to obtain corresponding calibration acceleration, wherein the calibration acceleration is expressed by a 2; assuming that a time interval between the acquisition of the 1 st group of vehicle operation data and the acquisition of the 2 nd group of vehicle operation data is t1 and a time interval between the acquisition of the 2 nd group of vehicle operation data and the acquisition of the 3 rd group of vehicle operation data is t2, an expected speed variation amount of the vehicle corresponding to the 3 rd group of vehicle operation data acquired at the current moment is: a1+a2+a2, i.e. the amount of change in velocity is obtained by integrating the acceleration over a period of time.
S305, acquiring a target quality coefficient according to the actual speed variation and the expected speed variation.
In this step, after the actual speed variation and the desired speed variation of the vehicle are obtained, the target quality coefficient may be obtained based on the actual speed variation and the desired speed variation. For example, if 3 sets of vehicle operation data are stored in the queue, the target quality coefficient may be obtained according to the actual speed variation and the expected speed variation corresponding to the 3 sets of vehicle operation data, respectively.
Further, obtaining the target quality coefficient according to the actual speed variation and the expected speed variation may include: acquiring a difference value between an actual speed variation and an expected speed variation; and acquiring the target quality coefficient according to the difference value, the proportionality constant and the quality coefficient acquired at the adjacent moment before the acquisition moment of the first vehicle speed.
Illustratively, the target mass coefficient may be obtained by the following equation one:
k i+1 ＝k i -P× (delta_true_v-delta_exp_v) equation one
Wherein k is i+1 Representing a quality coefficient corresponding to the first vehicle speed acquired at the current moment; k (k) i Representing the mass coefficient obtained at the adjacent time before the time of obtaining the first vehicle speed, wherein the initial value is the mass coefficient corresponding to the idle mass of the vehicle, for example, 1; p represents a proportionality constant, which can be predetermined empirically, and has a value of, for example, 0.05; delta_true_v represents the actual speed variation corresponding to the first vehicle speed acquired at the current moment; delta_exp_v represents the desired speed variation corresponding to the first vehicle speed acquired at the present time.
Illustratively, assume that a maximum length of the queue is set to store 3 sets of vehicle operation data, wherein a vehicle speed in the 1 st set of vehicle operation data is a second vehicle speed at a start time; the vehicle speed in the 3 rd set of vehicle operation data is the first vehicle speed acquired at the last moment. The mass coefficient corresponding to the start time is 1, for example, the actual speed change delta_true_v corresponding to the vehicle operation data of the group 2 2 And the desired speed variation delta_exp_v 2 The mass coefficient corresponding to the 2 nd group of vehicle operation data can be obtained through the formula I, and the mass coefficient is as follows: k (k) 2 ＝1-P×(delta_true_v 2 -delta_exp_v 2 ). Delta true v according to actual speed change corresponding to the 3 rd group of vehicle operation data 3 Desired speed variation delta_exp_v 3 And a quality coefficient k corresponding to the 2 nd group of vehicle operation data 2 The mass coefficient corresponding to the 3 rd group of vehicle operation data can be obtained through the formula I: k (k) 3 ＝k 2 -P×(delta_true_v 3 -delta_exp_v 3 ). Thus, the quality coefficient k corresponding to the obtained 3 rd group of vehicle operation data 3 The target quality coefficient is obtained.
It should be noted that, in the above formula one, P corresponds to the proportional controller, alternatively, proportional integral control may be further adopted, so that the target mass coefficient is obtained according to the difference value between the actual speed variation and the desired speed variation, the proportionality constant, the integral constant, and the mass coefficient obtained at the adjacent time before the obtaining time of the first vehicle speed.
In this embodiment, step S203 in fig. 2 may further include step S306 as follows:
s306, determining that stored vehicle operation data reaches a data volume threshold; the vehicle load of the vehicle is determined as the product of the target mass coefficient and the idle mass of the vehicle.
Illustratively, the queue is used to store vehicle operating data, and the data amount threshold is, for example, the maximum length of the queue, and the specific value is, for example, 50. Illustratively, after determining that the vehicle operation data stored in the queue reaches 50 sets of vehicle operation data, determining that the vehicle load of the vehicle at the current moment is the product of the target quality coefficient corresponding to the 50 th set of vehicle operation data and the idle load quality of the vehicle.
According to the method for determining the vehicle load, the vehicle operation data are obtained by responding to the determining instruction of the vehicle load; the vehicle operation data comprise a vehicle accelerator pedal opening value, a first vehicle speed and a vehicle steering wheel turning angle, and the vehicle steering wheel turning angle is determined to be smaller than a turning angle threshold value; and/or determining that the opening value of the accelerator pedal of the vehicle is greater than an opening value threshold; acquiring an actual speed variation of the vehicle according to the first vehicle speed; acquiring an expected speed variation of the vehicle according to the corresponding calibration acceleration of the opening value of the accelerator pedal of the vehicle and the first vehicle speed; acquiring a target quality system according to the actual speed variation and the expected speed variation; determining that the stored vehicle operation data reaches a data amount threshold; the vehicle load of the vehicle is determined as the product of the target mass coefficient and the idle mass of the vehicle. According to the vehicle control method and device, the vehicle operation data comprising the opening value of the accelerator pedal of the vehicle, the first vehicle speed and the rotation angle of the steering wheel of the vehicle are obtained in real time in the vehicle operation process, the actual speed change quantity and the expected speed change quantity corresponding to the first vehicle speed are obtained according to the vehicle operation data, the target quality coefficient is further obtained, and the vehicle load is determined according to the target quality coefficient, so that the vehicle load can be accurately determined, the vehicle can be stably and accurately controlled according to the vehicle load, and the accuracy of vehicle control is improved.
By the vehicle load determining method provided by the embodiment of the application, the vehicle load can be determined in real time within a short time (for example, within 1 s), and the determined vehicle load error is about 10%. The comfort and accuracy of vehicle control can be greatly improved according to the determined vehicle load.
The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.
Fig. 4 is a schematic structural diagram of a vehicle load determining device according to an embodiment of the present application, and as shown in fig. 4, a vehicle load determining device 400 according to an embodiment of the present application includes: an acquisition module 401, a processing module 402 and a determination module 403. Wherein:
the acquiring module 401 is configured to acquire vehicle operation data in response to a determination instruction of a load of the vehicle.
The processing module 402 is configured to obtain a target quality coefficient according to vehicle operation data, where the quality coefficient is used to characterize a vehicle load change ratio when the vehicle is idling.
A determining module 403, configured to determine a vehicle load of the vehicle according to the target quality coefficient and the idle quality of the vehicle.
In some embodiments, the vehicle operating data includes a vehicle accelerator pedal opening value and a first vehicle speed; the processing module 402 may be specifically configured to: acquiring an actual speed variation of the vehicle according to the first vehicle speed, wherein the actual speed variation is a speed variation of the first vehicle speed relative to a second vehicle speed, and the acquisition time of the second vehicle speed is before the acquisition time of the first vehicle speed; acquiring an expected speed variation of the vehicle according to the calibration acceleration corresponding to the opening value of the accelerator pedal of the vehicle and the first vehicle speed, wherein the calibration acceleration is the actual acceleration corresponding to different vehicle speeds and the opening value of the accelerator pedal of the vehicle when the vehicle is unloaded; and acquiring a target quality coefficient according to the actual speed variation and the expected speed variation.
Optionally, the processing module 402 may be specifically configured to, when configured to obtain the desired speed variation of the vehicle according to the calibrated acceleration corresponding to both the accelerator pedal opening value and the first vehicle speed: acquiring at least two times of vehicle operation data in a time period from the acquisition time of the second vehicle speed to the acquisition time of the first vehicle speed; and acquiring the expected speed variation of the vehicle according to the corresponding calibration acceleration of the vehicle operation data of at least two times.
Optionally, the processing module 402, when configured to obtain the target quality coefficient according to the actual speed variation and the desired speed variation, may be specifically configured to: acquiring a difference value between an actual speed variation and an expected speed variation; and acquiring the target quality coefficient according to the difference value, the proportionality constant and the quality coefficient acquired at the adjacent moment before the acquisition moment of the first vehicle speed.
In some embodiments, the determining module 403 may be specifically configured to: determining that the stored vehicle operation data reaches a data amount threshold; the vehicle load of the vehicle is determined as the product of the target mass coefficient and the idle mass of the vehicle.
Optionally, the vehicle operation data further includes a vehicle steering wheel angle; the processing module 402 may also be configured to: determining that the steering wheel angle of the vehicle is smaller than a steering angle threshold value before acquiring a target quality coefficient according to vehicle operation data; and/or determining that the vehicle accelerator pedal opening value is greater than an opening value threshold.
The device of the present embodiment may be used to execute the technical solution of any of the above-described method embodiments, and its implementation principle and technical effects are similar, and are not described herein again.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device is illustratively an MCU for an autonomous vehicle. Referring to fig. 5, an electronic device 500 includes a processing component 501 that further includes one or more processors and memory resources represented by memory 502 for storing instructions, such as applications, executable by the processing component 501. The application program stored in memory 502 may include one or more modules each corresponding to a set of instructions. Further, the processing component 501 is configured to execute instructions to perform any of the method embodiments described above.
The electronic device 500 may also include a power component 503 configured to perform power management of the electronic device 500, a wired or wireless network interface 504 configured to connect the electronic device 500 to a network, and an input output (I/O) interface 505. The electronic device 500 may operate based on an operating system stored in the memory 502, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, or the like.
The application also provides a computer readable storage medium, in which computer executable instructions are stored, which when executed by a processor, implement the solution of the above method for determining the load of a vehicle.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the solution of the method of determining a load of a vehicle as above.
The computer readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC). Of course, the processor and the readable storage medium may reside as discrete components in a vehicle load determination apparatus.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (5)
1. A method of determining a load of a vehicle, comprising:
responding to a determining instruction of the vehicle load, and acquiring vehicle operation data; the vehicle operation data comprises a vehicle accelerator pedal opening value, a first vehicle speed and a vehicle steering wheel corner;
when the steering wheel angle of the vehicle is determined to be smaller than a steering angle threshold value and the opening value of the accelerator pedal of the vehicle is determined to be larger than an opening value threshold value, storing the vehicle operation data into a queue, wherein the steering angle threshold value is 100 degrees, and the opening value threshold value is 5%;
if the steering wheel angle of the vehicle is determined to be greater than or equal to the steering angle threshold value, or the opening value of the accelerator pedal of the vehicle is less than or equal to the opening value threshold value, the vehicle running data are not stored in a queue, all the vehicle running data stored in the queue are emptied, and the vehicle running data are re-acquired;
acquiring an actual speed variation of a vehicle according to the first vehicle speed, wherein the actual speed variation is a speed variation of the first vehicle speed relative to a second vehicle speed, and the acquiring time of the second vehicle speed is before the acquiring time of the first vehicle speed;
acquiring at least two vehicle operation data in a time period from the acquisition time of the second vehicle speed to the acquisition time of the first vehicle speed; obtaining the expected speed variation of the vehicle according to the corresponding calibration acceleration of the at least two vehicle running data, wherein the calibration acceleration is the actual acceleration corresponding to different vehicle speeds and the opening value of the accelerator pedal of the vehicle when the vehicle is in idle load;
acquiring a target quality coefficient according to the actual speed variation and the expected speed variation, wherein the quality coefficient is used for representing the vehicle load variation ratio when the relative vehicle is unloaded;
determining that stored vehicle operating data reaches a data volume threshold, the data volume threshold being 50;
determining the vehicle load of the vehicle as the product of the target mass coefficient and the vehicle idle load mass;
the target mass system is obtained by the following formula:
k i+1 ＝k i -P×(delta_true_v-delta_exp_v)
wherein k is i+1 Representing a quality coefficient corresponding to the first vehicle speed acquired at the current moment; k (k) i Representing a quality coefficient obtained at an adjacent moment before the moment of obtaining the first vehicle speed, wherein an initial value is a quality coefficient 1 corresponding to the idle load quality of the vehicle; p represents a proportionality constant, and the value of P is 0.05; delta_true_v represents the actual speed variation corresponding to the first vehicle speed acquired at the current moment; delta_exp_v represents the desired speed variation corresponding to the first vehicle speed acquired at the present time.
2. The method according to claim 1, wherein the obtaining a target quality coefficient from the actual speed variation and the desired speed variation includes:
acquiring a difference value between the actual speed variation and the expected speed variation;
and acquiring a target quality coefficient according to the difference value, the proportionality constant and the quality coefficient acquired at the adjacent moment before the acquisition moment of the first vehicle speed.
3. A vehicle load determining apparatus, comprising:
the acquisition module is used for responding to a determining instruction of the vehicle load and acquiring vehicle operation data; the vehicle operation data comprises a vehicle accelerator pedal opening value, a first vehicle speed and a vehicle steering wheel corner;
the processing module is used for storing the vehicle operation data into a queue when the steering wheel angle of the vehicle is determined to be smaller than an angle threshold value and the opening value of the accelerator pedal of the vehicle is determined to be larger than the opening value threshold value, wherein the angle threshold value is 100 degrees, and the opening value threshold value is 5%; if the steering wheel angle of the vehicle is determined to be greater than or equal to the steering angle threshold value, or the opening value of the accelerator pedal of the vehicle is less than or equal to the opening value threshold value, the vehicle running data are not stored in a queue, all the vehicle running data stored in the queue are emptied, and the vehicle running data are re-acquired; acquiring an actual speed variation of a vehicle according to the first vehicle speed, wherein the actual speed variation is a speed variation of the first vehicle speed relative to a second vehicle speed, and the acquiring time of the second vehicle speed is before the acquiring time of the first vehicle speed; acquiring at least two vehicle operation data in a time period from the acquisition time of the second vehicle speed to the acquisition time of the first vehicle speed; obtaining the expected speed variation of the vehicle according to the corresponding calibration acceleration of the at least two vehicle running data, wherein the calibration acceleration is the actual acceleration corresponding to different vehicle speeds and the opening value of the accelerator pedal of the vehicle when the vehicle is in idle load; acquiring a target quality coefficient according to the actual speed variation and the expected speed variation, wherein the quality coefficient is used for representing the vehicle load variation ratio when the relative vehicle is unloaded;
a determination module for determining that stored vehicle operating data reaches a data volume threshold, the data volume threshold being 50; determining the vehicle load of the vehicle as the product of the target mass coefficient and the vehicle idle load mass;
the target mass system is obtained by the following formula:
k i+1 ＝k i -P×(delta_true_v-delta_exp_v)
wherein k is i+1 Representing a quality coefficient corresponding to the first vehicle speed acquired at the current moment; k (k) i Representing a quality coefficient obtained at an adjacent moment before the moment of obtaining the first vehicle speed, wherein an initial value is a quality coefficient 1 corresponding to the idle load quality of the vehicle; p represents a proportionality constant, and the value of P is 0.05; delta_true_v represents the actual speed variation corresponding to the first vehicle speed acquired at the current moment; delta_exp_v represents the desired speed variation corresponding to the first vehicle speed acquired at the present time.
4. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of determining a load of a vehicle as claimed in any one of claims 1 to 2.
5. A computer-readable storage medium, in which computer program instructions are stored which, when executed by a processor, implement the method of determining the load of a vehicle as claimed in any one of claims 1 to 2.
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| FR3062908A1 (en) * | 2017-02-15 | 2018-08-17 | Peugeot Citroen Automobiles Sa | METHOD FOR CALCULATING THE MASS OF A VEHICLE BY THE DEVICE FOR CONTROLLING ITS MOTORPOWER GROUP |
| CN110376608A (en) * | 2019-07-19 | 2019-10-25 | 成都云科新能汽车技术有限公司 | A kind of vehicular gross combined weight dynamic measurement method based on power-balance |
| CN113280901A (en) * | 2021-05-20 | 2021-08-20 | 北京海博思创科技股份有限公司 | Method and device for determining vehicle load |
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| JP5668701B2 (en) * | 2012-01-25 | 2015-02-12 | 株式会社アドヴィックス | Vehicle mass estimation device |
| US10053104B2 (en) * | 2016-10-20 | 2018-08-21 | Michael Hall | Determining gross combined weight |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3062908A1 (en) * | 2017-02-15 | 2018-08-17 | Peugeot Citroen Automobiles Sa | METHOD FOR CALCULATING THE MASS OF A VEHICLE BY THE DEVICE FOR CONTROLLING ITS MOTORPOWER GROUP |
| CN110376608A (en) * | 2019-07-19 | 2019-10-25 | 成都云科新能汽车技术有限公司 | A kind of vehicular gross combined weight dynamic measurement method based on power-balance |
| CN113280901A (en) * | 2021-05-20 | 2021-08-20 | 北京海博思创科技股份有限公司 | Method and device for determining vehicle load |
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