CN114370918A - Vehicle load monitoring method, device and system - Google Patents

Vehicle load monitoring method, device and system Download PDF

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Publication number
CN114370918A
CN114370918A CN202210169935.7A CN202210169935A CN114370918A CN 114370918 A CN114370918 A CN 114370918A CN 202210169935 A CN202210169935 A CN 202210169935A CN 114370918 A CN114370918 A CN 114370918A
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load
vehicle
suspension
wheel
information
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CN202210169935.7A
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CN114370918B (en
Inventor
刘志敏
李明一
窦德海
季红丽
王伟
张愿
马先进
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely New Energy Commercial Vehicle Group Co Ltd
Zhejiang Remote Commercial Vehicle R&D Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely New Energy Commercial Vehicle Group Co Ltd
Zhejiang Remote Commercial Vehicle R&D Co Ltd
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Publication of CN114370918A publication Critical patent/CN114370918A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
    • G01G19/03—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing during motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles

Abstract

The application provides a vehicle load monitoring method, device and system. The method comprises the following steps: the controller may periodically acquire height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle. The controller can calculate the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle. The controller can calculate the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the servicing quality of the vehicle. The controller may determine the actual load of the vehicle based on the suspension load, the wheel load, and the calibrated minimum load. The controller may output and display the actual load. The method improves the timeliness of the vehicle load test, and improves the calculation precision and the algorithm reliability.

Description

Vehicle load monitoring method, device and system
Technical Field
The present application relates to the field of vehicles, and in particular, to a method, an apparatus, and a system for monitoring a vehicle load.
Background
With the enhancement of safety awareness, the attention of users to driving safety is higher and higher. During the driving of the vehicle, overload is one of the factors that are likely to cause vehicle accidents. The vehicle is subjected to a load test to detect whether the vehicle is overloaded.
Currently, fixed load testing systems may install load testing equipment at fixed locations in a pre-set field. The user can realize the whole vehicle weight measurement of the vehicle by driving the vehicle to the fixed position. The load testing system can determine whether the vehicle is overloaded according to the service mass of the vehicle and the measured vehicle weight of the whole vehicle.
However, the fixed load test cannot realize real-time monitoring of the vehicle, and has the problem of poor timeliness.
Disclosure of Invention
The application provides a vehicle load monitoring method, device and system, which are used for solving the problem that the timeliness is poor because the real-time monitoring of vehicle load cannot be realized in the prior art.
In a first aspect, the present application provides a vehicle load monitoring method, comprising:
periodically acquiring height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle;
calculating the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle;
calculating to obtain the wheel load of the vehicle according to the tire pressure information of the wheel, a preset tire pressure load coefficient and the servicing quality of the vehicle;
determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load;
and outputting and displaying the actual load.
Optionally, the calculating a suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension, and the service mass of the vehicle includes:
calculating four first wheel loads of four suspensions of the vehicle according to four height information of the four suspensions of the vehicle and preset parameters in the suspension information;
and calculating the suspension load of the vehicle according to the four first wheel loads and the servicing mass of the vehicle.
Optionally, the calculating the wheel load of the vehicle according to the tire pressure information of the wheel, a preset tire pressure load coefficient and the service mass of the vehicle includes:
calculating four second wheel loads of the four wheels of the vehicle according to the four tire pressure information of the four wheels of the vehicle and a preset tire pressure load coefficient;
and calculating to obtain the wheel load of the vehicle according to the four second wheel loads of the vehicle and the servicing mass.
Optionally, said determining an actual load of said vehicle from said suspension load, said wheel load and a calibrated minimum load comprises:
when the difference value between the suspension load and the wheel load is smaller than the calibrated minimum load, the actual load is the suspension load;
and when the difference value between the suspension load and the wheel load is greater than or equal to the calibrated minimum load, the actual load is the wheel load.
Optionally, the method further comprises:
and when the actual load is larger than the preset load, sending an alarm signal, wherein the alarm signal is used for reminding a user that the vehicle is overloaded.
In a second aspect, the present application provides a vehicle load monitoring device comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for periodically acquiring height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle;
the processing module is used for calculating the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle; calculating to obtain the wheel load of the vehicle according to the tire pressure information of the wheel, a preset tire pressure load coefficient and the servicing quality of the vehicle; determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load;
and the display module is used for outputting and displaying the actual load.
Optionally, the processing module is specifically configured to:
calculating four first wheel loads of four suspensions of the vehicle according to four height information of the four suspensions of the vehicle and preset parameters in the suspension information;
and calculating the suspension load of the vehicle according to the four first wheel loads and the servicing mass of the vehicle.
Optionally, the processing module is specifically configured to:
calculating four second wheel loads of the four wheels of the vehicle according to the four tire pressure information of the four wheels of the vehicle and a preset tire pressure load coefficient;
and calculating to obtain the wheel load of the vehicle according to the four second wheel loads of the vehicle and the servicing mass.
Optionally, the processing module is specifically configured to:
when the difference value between the suspension load and the wheel load is smaller than the calibrated minimum load, the actual load is the suspension load;
and when the difference value between the suspension load and the wheel load is greater than or equal to the calibrated minimum load, the actual load is the wheel load.
Optionally, the apparatus further comprises:
and the alarm module is used for sending an alarm signal when the actual load is greater than the preset load, and the alarm signal is used for reminding a user that the vehicle is overloaded.
In a third aspect, the present application provides a controller comprising: a memory and a processor;
the memory is used for storing a computer program; the processor is configured to perform the method for monitoring a vehicle load according to the first aspect and any one of the possible designs of the first aspect, according to the computer program stored in the memory.
In a fourth aspect, the present application provides a vehicle load monitoring system comprising: a height sensor, a tire pressure monitor, and a controller of any one of the possible designs of the third aspect and the third aspect;
four height sensors are respectively arranged on four suspensions of the vehicle; one end of the height sensor is arranged on a control arm of the suspension, and the other end of the height sensor is arranged at a fixed point of the vehicle body.
In a fifth aspect, the present application provides a readable storage medium having a computer program stored therein, which when executed by at least one processor of a controller, causes the controller to perform the method for vehicle load monitoring of the first aspect as well as any one of the possible designs of the first aspect.
In a sixth aspect, the present application provides a computer program product comprising a computer program which, when executed by at least one processor of a controller, causes the controller to carry out the method of vehicle load monitoring of the first aspect as well as any one of the possible designs of the first aspect.
According to the vehicle load monitoring method, height information of four suspensions of a vehicle and tire pressure information of four wheels of the vehicle are periodically acquired; calculating to obtain the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle; calculating to obtain the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the servicing quality of the vehicle; determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load; and the method for outputting and displaying the actual load realizes the effects of improving the timeliness of the vehicle load test and improving the calculation precision and the algorithm reliability.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a vehicle load monitoring system according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a height sensor assembly according to an embodiment of the present application;
fig. 3 is an installation diagram of a tire pressure monitor according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of a vehicle load monitoring method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of suspension stiffness provided in accordance with an embodiment of the present application;
FIG. 6 is a tire pressure versus load graph according to an embodiment of the present application;
FIG. 7 is a tire pressure temperature relationship diagram provided in accordance with an embodiment of the present application;
FIG. 8 is a flow chart of a method for vehicle load monitoring provided in an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a vehicle load monitoring apparatus according to an embodiment of the present application;
fig. 10 is a schematic hardware structure diagram of a controller according to an embodiment of the present application;
FIG. 11 is a schematic structural diagram of a vehicle load monitoring system according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a vehicle load monitoring system according to an embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged where appropriate. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise.
It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, items, species, and/or groups thereof.
The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
With the enhancement of safety awareness, the attention of users to driving safety is higher and higher. During the driving of the vehicle, overload is one of the factors that are likely to cause vehicle accidents. The vehicle is subjected to a load test to detect whether the vehicle is overloaded. Currently, vehicle load testing systems are typically both stationary and vehicle-mounted. Fixed load testing systems, among other things, typically require fixed equipment to be located at a fixed site. The user can realize the whole vehicle weight measurement of the vehicle by driving the vehicle to the fixed position. The load testing system can determine whether the vehicle is overloaded according to the service mass of the vehicle and the measured vehicle weight of the whole vehicle. The fixed load test system cannot realize real-time monitoring of vehicles and has the problem of poor timeliness.
And the following type load test system can effectively solve the problem of timeliness. The vehicle-mounted load test system is usually mounted on a vehicle, so that the vehicle can conveniently carry out load test at any time. However, the conventional vehicle-mounted load testing system usually requires a user to manually complete the start of the load test and the acquisition of the weight of the whole vehicle during the vehicle stop period, and has the problem of single test scene.
In order to solve the problems, the application provides a vehicle load monitoring method. The present application installs a suspension height module and a wheel tire pressure module in a vehicle. The controller of the vehicle can acquire the height information of the suspension through the suspension height module. The controller of the vehicle can also calculate the suspension load of the vehicle according to the height information of the suspension and a preset calculation model. The controller of the vehicle can acquire the tire pressure information of the vehicle through the tire pressure module of the wheel. The controller of the vehicle can also calculate the wheel load of the vehicle according to the tire pressure information and a preset calculation model. The controller of the vehicle may determine the actual load of the vehicle based on the suspension load, the wheel load and the calibrated minimum load. The controller of the vehicle may also transmit the actual load to a display for display. The display may be a display in the vehicle. Alternatively, the display may be a display of another terminal device communicatively coupled to the controller. According to the vehicle load testing device, the suspension height module and the wheel tire pressure module are used for realizing real-time acquisition of the vehicle load, the actual load of the vehicle under the static condition and the dynamic condition can be acquired, and the timeliness of the vehicle load testing is improved. Meanwhile, the controller in the application can calculate the suspension load of the vehicle more accurately according to the rigidity of the suspension, and improves the calculation precision and the algorithm reliability through the load calculation of the double modules, so that the application is not only suitable for the load test of the vehicle under the common condition, but also suitable for the load test under the limit overload condition. In addition, this application can also improve the managerial efficiency of vehicle load through sending the actual load to the management platform.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 shows a schematic diagram of a framework of a vehicle load monitoring system according to an embodiment of the present application. As shown in fig. 1, the vehicle load monitoring system may include four parts, a suspension module, a wheel module, a processing module, and a display module.
Wherein, the suspension module at least comprises a height sensor. As shown in fig. 2(a), the height sensor in the vehicle is provided on the suspension of the vehicle. One end of the height sensor is arranged on a control arm of the suspension, and the other end of the height sensor is arranged at a fixed point of the vehicle body. The vehicle is provided with 4 height sensors. The 4 height sensors are respectively arranged on the suspensions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel. The relative relationship between the height sensor and the wheels of the vehicle may be as shown in fig. 2 (b). The four height sensors can acquire 4 height information of the vehicle in real time/periodically. The four height sensors may each send their acquired height information to the processing module. The suspension module may further include at least one of a vehicle speed monitor, suspension stiffness calibration information, and an Inertial Measurement Unit (IMU). The vehicle speed detector is used for acquiring the current vehicle speed of the vehicle in real time/periodically and sending the current vehicle speed to the processing module. The suspension stiffness calibration information comprises a preset suspension stiffness type of the vehicle before leaving a factory. The suspension stiffness types may include combined linear and nonlinear stiffness, linear secondary stiffness, and the like. When the processing module accesses the suspension stiffness calibration information, the processing module can obtain a stiffness type of the vehicle suspension. The IMU may detect inertial information of the current vehicle in real time/periodically. The IMU may also generate parameter information such as acceleration information and steering information of the vehicle from the inertial information, and send the parameter information such as acceleration information and steering information to the processing module.
The wheel module may include a Tire Pressure Monitoring System (TPMS), among others. As shown in fig. 3, the TPMS is mounted at the valve core of the hub of each wheel. Each vehicle may have 4 TPMSs installed therein. The 4 TPMSs are respectively installed in 4 wheels of the vehicle. The TPMS may detect the tire pressure information of the wheel in real time/periodically and transmit the tire pressure information to the processing module. A temperature sensor may also be included in the wheel module. The temperature sensor may be mounted with the TPMS. The temperature sensor can acquire the gas temperature inside the wheel in real time/periodically. The temperature sensor may send the gas temperature to a processing module.
The processing module may include a Vehicle Communication Unit (VCU) and a controller (MCU). When the processing module receives the information sent by other components, the controller in the processing module specifically receives and processes the information to obtain the processing results of the actual load, the alarm signal and the like of the vehicle. The MCU may send the processing result to the VCM. The VCM may send the processing results to the display module. The VCM can also send the processing result to a management background so that the management platform can uniformly manage the vehicles.
The display module may include an interactive Interface (HMI) and an alarm. When the display module obtains the actual load sent by the processing module, the display module may display the actual load of the vehicle in the interactive interface. When the display module acquires the alarm signal sent by the processing module, the alarm in the display module can give an alarm. The alarm may include a buzzer, an alarm light illuminated, an alarm light flashing, etc. When the display module acquires the alarm signal, the HMI in the display module can display the alarm information.
In the present application, the controller is used as an execution subject to execute the vehicle load monitoring method of the following embodiment. Specifically, the execution body may be a hardware device of the controller, or a software application implementing the following embodiments in the controller, or a computer-readable storage medium installed with the software application implementing the following embodiments, or code of the software application implementing the following embodiments.
Fig. 4 shows a flowchart of a vehicle load monitoring method according to an embodiment of the present application. On the basis of the embodiments shown in fig. 1 to 3, as shown in fig. 4, with the controller as the main execution body, the method of the embodiment may include the following steps:
s101, height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle are periodically acquired.
In this embodiment, the controller may be connected to 4 height sensors on 4 suspensions. The controller may periodically acquire the height information of the vehicle at the present time from the 4 height sensors. The height information is indicative of a height variation value of the suspension of the vehicle. The 4 height sensorsThe height information of the front-rear axle left and right suspension acquired by the device can be respectively expressed as hfl，hfr，hrl，hrr. For example, when the vehicle is not loaded, the height information of the vehicle is the initial suspension height of the vehicle under normal conditions. When the vehicle is loaded, the suspension of the vehicle is subjected to a greater weight force, which will cause the height information of the vehicle at that moment to be higher than the initial suspension height. When the vehicle is in an uneven road section, the force borne by the suspension of the vehicle is changed due to bumping under the action of inertia, and the change of the force causes the height information of the vehicle to be changed. The controller may also be connected with 4 tire pressure sensors provided in the 4 wheels. The controller may periodically acquire tire pressure information of the vehicle at the current time from the 4 tire pressure sensors.
In one example, the controller may also be connected to 4 temperature sensors in 4 wheels of the vehicle. The controller may periodically acquire temperature information of each wheel at the current time from the 4 temperature sensors. The temperature information is used to indicate the temperature of the gas inside the wheel at that moment.
And S102, calculating the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the preparation mass of the vehicle.
In this embodiment, the controller may calculate the first wheel load of each suspension of the vehicle according to the height information of the 4 suspensions and a preset calculation model. Wherein the preset calculation model may be determined from suspension information of the vehicle. After the controller calculates 4 first wheel loads of the 4 suspensions, the controller may calculate the suspension load of the vehicle according to the four first wheel loads and the service mass of the vehicle. Wherein the staging quality is used to indicate the outgoing weight of the vehicle without any cargo.
In one example, the specific process of calculating the suspension load by the controller may include the following steps:
step 1, calculating four first wheel loads of four suspensions of the vehicle according to four height information of the four suspensions of the vehicle and preset parameters in the suspension information.
In this step, the controller may determine a preset calculation model used for calculating the first wheel load according to suspension information of the suspension. The suspension information can be requested by the controller from the suspension stiffness calibration information. The suspension information is used to indicate the type of suspension stiffness of the suspension. The type of suspension stiffness may include one of a combined linear and non-linear stiffness, a linear secondary stiffness.
When the suspension stiffness of the suspension is a combined linear and nonlinear stiffness, a stiffness diagram of the suspension stiffness of the suspension can be shown in fig. 5 (a). The suspensions having the combined linear and nonlinear stiffness are most often those provided to the front axle. When the suspension stiffness is a combined linear and nonlinear stiffness, the preset calculation model used for calculating the first wheel load may include the following formula:
Figure BDA0003517219560000091
Figure BDA0003517219560000092
wherein G isfrThe first wheel load of the right front wheel, with the unit of N. GflThe first wheel load of the left front wheel, in units of N. L is1、L2、L3Are nonlinear coefficients. The nonlinear coefficient L1，L2，L3Are coefficients in the fitting equation for the curve in fig. 5 (a). h isfrIs height information of the front right suspension, which is used to indicate the amount of height change of the suspension in mm. h isflIs height information of the left front suspension, which is used to indicate the amount of height change of the suspension in mm.
When the suspension rigidity of the suspension is a linear rigidity, a rigidity diagram of the suspension rigidity of the suspension may be as shown in fig. 5 (b). When the suspension stiffness is a linear stiffness, the preset calculation model used for calculating the first wheel load may include the following formula:
Gfr＝hfr×kfr
Gfl＝hfl×kfl
Grl＝hrl×krl
Grr＝hrr×krr
wherein k isfrIs the slope of the linear stiffness in the suspension stiffness map of the right front wheel, i.e., the slope as in fig. 5 (b). The k isfrIs the right front wheel load coefficient and has the unit of N/mm. k is a radical offlIs the left front wheel load coefficient, and the unit is N/mm. k is a radical ofrrIs the right rear wheel load coefficient and has the unit of N/mm. k is a radical ofrlThe left rear wheel load coefficient is expressed in N/mm. h isrrHeight information of the right rear suspension, which is used to indicate the amount of height change of the suspension in mm. h isrlIs height information of the left rear suspension, which is used to indicate the amount of height change of the suspension in mm. GrrIs the first wheel load of the right rear wheel, and the unit is N. GrlThe first wheel load of the left rear wheel, in N.
When the suspension stiffness of the suspension is a linear secondary stiffness, a stiffness diagram of the suspension stiffness of the suspension can be shown in fig. 5 (c). The suspension with the linear secondary stiffness is mostly a leaf spring rear axle. When the suspension stiffness is a linear secondary stiffness, the preset calculation model used for calculating the first wheel load may include the following formula:
Figure BDA0003517219560000101
Figure BDA0003517219560000102
wherein k isrl1The first-order stiffness coefficient of the left rear suspension is N/mm. k is a radical ofrl2The second-order stiffness coefficient of the left rear suspension is N/mm. For example, in the suspension stiffness diagram shown in fig. 5(c), the stiffness slope on the left side of the inflection point is the first-order stiffness coefficient, and the stiffness slope on the right side of the inflection point is the first-order stiffness coefficientThe stiffness slope of (a) is the second-order stiffness coefficient. k is a radical ofrr1The first-order stiffness coefficient of the right rear suspension is N/mm. k is a radical ofrr2And the second-order stiffness coefficient of the right rear suspension is N/mm. G1The load of the contact point with the secondary stiffness is shown in N. This secondary stiffness contact point is an inflection point in the suspension stiffness diagram shown in fig. 5 (c).
The controller can input the height information of each suspension into a preset calculation model corresponding to the suspension. And calculating to obtain the first wheel load corresponding to each suspension.
And 2, calculating to obtain the suspension load of the vehicle according to the four first wheel loads and the servicing mass of the vehicle.
In this step, the controller may calculate the suspension load of the vehicle according to the following calculation formula of the suspension load, where the formula is:
Gsuspension frame＝(Gfl+Gfr+Grr+Grl)-G0
Wherein G is0The service weight of the vehicle. The trim weight is the initial weight of the vehicle in N without cargo or people. GSuspension frameIs the suspension load in N.
S103, calculating to obtain the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the vehicle servicing quality.
In this embodiment, the controller may acquire the tire pressure information of the four wheels. The controller may calculate a second wheel load of each wheel of the vehicle according to the tire pressure information and a preset tire pressure load coefficient. The controller may determine a wheel load for the vehicle based on the second wheel load for the 4 wheels and the service mass for the vehicle.
In one example, the specific process of calculating the wheel load by the controller may include the following steps:
step 1, calculating four second wheel loads of four wheels of the vehicle according to four tire pressure information of the four wheels of the vehicle and a preset tire pressure load coefficient.
In this step, the correspondence relationship between the tire pressure of the wheel and the load of the wheel may be, as shown in fig. 6, a linear relationship between the tire pressure of the wheel and the load of the wheel. Different wheels may have different slopes between their tire pressure and their load. The slope is the preset tire pressure load coefficient of the tire. Therefore, when the controller determines the tire pressure of each wheel, the controller may calculate the second wheel load of each wheel according to the tire pressure of each wheel and the tire pressure load coefficient of each wheel. The formula can be:
Gfl＝β×pfl
Gfr＝β×pfr
Grl＝β×prl
Grr＝β×prr
wherein beta is the tire pressure load coefficient. GflIs the second load of the left front wheel in N. GfrIs the second load for the right front wheel in N. GrlIs the second load for the left rear wheel in N. GrrIs the second load for the left rear wheel in N. p is a radical offlIs the second load of the left front wheel in N. p is a radical offrIs the second load for the right front wheel in N. p is a radical ofrlIs the second load for the left rear wheel in N. p is a radical ofrrIs the second load for the left rear wheel in N.
And 2, calculating to obtain the wheel load of the vehicle according to the four second wheel loads and the servicing mass of the vehicle.
In this step, the controller may calculate the wheel load of the vehicle according to the following calculation formula of the wheel load, where the formula is:
Gtyre for vehicle wheels＝(Gfl+Gfr+Grr+Grl)-G0
Wherein G is0The service weight of the vehicle. The trim weight is the initial weight of the vehicle in N without cargo or people. GSuspension frameIs the suspension load in N.
In one example, the controller may also obtain temperature information and determine the tire pressure of each wheel based on the temperature information. The variation curve between the temperature information and the tire pressure of the wheel may be as shown in fig. 7. The tire pressure and temperature information of the wheel can be regarded as isochoric change in common temperature change, and an ideal gas state equation is met. The controller may calculate the tire pressure of each wheel based on the temperature information of each wheel. The formula can be:
Pfl＝α×Tfl
Pfr＝α×Tfr
Prl＝α×Trl
Prr＝α×Trr
where α is the tire pressure coefficient, i.e., the slope of the slope line shown in fig. 7.
In one example, the controller may also calibrate the measured tire pressure using the calculated tire pressure.
Pfl→pfl
Pfr→pfr
Prl→prl
Prr→prr
And S104, determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load.
In the embodiment, the actual load of the vehicle can be more accurately represented by the suspension load under normal conditions. However, when the vehicle is overweight, the suspension of the vehicle is subjected to a pressure that exceeds its allowable value. Therefore, when a vehicle is overweight, the suspension load of the vehicle may present an inaccurate problem. When the suspension load is accurate, the controller may take the wheel load as the actual load of the vehicle.
In one example, the specific steps of the controller determining the actual planting of the vehicle may include:
step 1, when the difference value between the suspension load and the wheel load is smaller than the calibrated minimum load, the actual load is the suspension load.
In this step, the formula of the judgment condition may be:
Gsuspension frame-GTyre for vehicle wheels≤Gmin
Wherein G isminThe minimum load is calibrated for the vehicle.
And 2, when the difference value between the suspension load and the wheel load is greater than or equal to the calibrated minimum load, the actual load is the wheel load.
In this step, the formula of the judgment condition may be:
Gsuspension frame-GTyre for vehicle wheels>Gmin
And S105, outputting and displaying the actual load.
In this embodiment, the controller may send the actual load to the display for display. The display may be a display on the vehicle. Alternatively, the display may be a display on other terminal devices.
According to the vehicle load monitoring method, the controller can periodically acquire the height information of four suspensions of the vehicle and the tire pressure information of four wheels of the vehicle. The controller can calculate the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle. The controller can calculate the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the servicing quality of the vehicle. The controller may determine the actual load of the vehicle based on the suspension load, the wheel load, and the calibrated minimum load. The controller may output and display the actual load. In the application, the sensor information is acquired periodically, the calculation of the load of the suspension and the load of the wheel is realized, and the timeliness of the vehicle load test is improved. Meanwhile, the actual load of the vehicle is calculated through the suspension load and the wheel load, and the calculation precision and the algorithm reliability are improved.
Fig. 8 shows a flowchart of a vehicle load monitoring method according to an embodiment of the present application. On the basis of the embodiments shown in fig. 1 to 7, as shown in fig. 8, with the controller as the main execution body, the method of the embodiment may include the following steps:
s201, height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle are periodically acquired.
Step S201 is similar to the step S101 in the embodiment of fig. 4, and this embodiment is not described herein again.
S202, judging whether the vehicle load information can be calculated under the current condition.
In this embodiment, the controller may first determine whether the current environment of the vehicle is suitable for calculating the vehicle load information. For example, when the vehicle is in a bumpy state, the load of the vehicle is constantly changed due to the inertia caused by the bumpy road, and even if the load information is obtained through measurement, the load information has the problem of inaccuracy and cannot be used as the actual load of the vehicle. Therefore, the controller needs to first determine whether the vehicle is running stably or whether the vehicle is in a stopped state. The controller may calculate the load information of the vehicle when the vehicle is running stably or in a stopped state.
In one example, the formula for determining the condition may include:
Vi＝0km/h
ti>temp
wherein, ViIndicating the current vehicle speed of the vehicle. i denotes the current time. When the current vehicle speed of the vehicle is 0, it indicates that the vehicle is in a stopped state. t is tiIndicating the length of time the current time is from entering the state. temp is a time threshold, which may be a set value. That is, when the period of time for which the vehicle enters the stopped state reaches the time threshold, the controller starts calculating the load information of the vehicle. At this time, the height sensor can acquire the influence of the vehicle load on the suspension height under the action of gravity.
In another example, the formula for determining the condition may include:
Vi>0km/h
IMUi<ε
h0-hi<A
ti>temp
wherein, the IMUiRepresenting the inertial parameters of the vehicle monitored by the inertial sensors at the current time. When the inertia parameter is less than the preset valueA value epsilon indicates that the vehicle is in a steady running state. h is0Is the initial height of the height sensing. h isiIs the height information of the suspension of the vehicle at the current moment. A is the minimum height fluctuation value approved by calibration. I.e., when the difference between the height of the suspension at the present time and the initial height is less than a, the vehicle can be considered to be in a stationary state. Therefore, when the vehicle is in a running state, the control can start to calculate the load information of the vehicle when the inertia parameter of the vehicle is smaller than the preset value, the suspension height information is smaller than the minimum height fluctuation value, and the state keeping time length reaches the preset time length.
And S203, calculating the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle.
And S204, calculating to obtain the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the vehicle preparation quality.
And S205, determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load.
And S206, outputting and displaying the actual load.
Steps S203 to S206 are similar to steps S102 to S105 in the embodiment of fig. 4, and are not described herein again.
And S207, when the actual load is larger than the preset load, sending an alarm signal, wherein the alarm signal is used for reminding a user that the vehicle is overloaded.
In this embodiment, the controller may further store a preset load. When the actual load is greater than the preset load, the controller may determine that the vehicle is in an overload state. The controller may generate a warning signal when the vehicle is in an overload state. The controller may send the alarm signal to an alarm. The alarm can remind a user through modes of buzzer sounding, alarm lamp lighting, alarm lamp flashing and the like. In order to ensure the driving safety, the user can manually turn off the alarm after receiving the alarm information.
The controller may also send the alarm signal to the HMI for display. Since the controller is an actual load generated periodically. The controller can periodically reset the overload information in the HMI. I.e. when the controller detects that the vehicle is not overloaded during a certain period, the HMI will no longer display the overload information.
The controller can also send the alarm signal to a management platform so that a user can uniformly manage a plurality of vehicles on the management platform.
According to the vehicle load monitoring method, the controller can periodically acquire the height information of four suspensions of the vehicle and the tire pressure information of four wheels of the vehicle. The controller may first determine whether the current environment of the vehicle is suitable for calculating the vehicle load information. The controller can calculate the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle. The controller can calculate the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the servicing quality of the vehicle. The controller may determine the actual load of the vehicle based on the suspension load, the wheel load, and the calibrated minimum load. The controller may output and display the actual load. When the actual load is larger than the preset load, the controller can send an alarm signal, and the alarm signal is used for reminding a user that the vehicle is overloaded. In the application, the accuracy of vehicle load calculation is improved by judging whether the vehicle is in a proper state or not. This application can also be through sending alarm information when the vehicle is in overload state, improves the interactivity, and the user of being convenient for is controlled the load of vehicle.
Fig. 9 shows a schematic structural diagram of a vehicle load monitoring device according to an embodiment of the present application, and as shown in fig. 9, a vehicle load monitoring device 10 according to the present embodiment is used for implementing operations corresponding to a controller in any one of the method embodiments described above, and the vehicle load monitoring device 10 according to the present embodiment includes:
the acquiring module 11 is used for periodically acquiring height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle.
And the processing module 12 is used for calculating the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle. And calculating the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the servicing quality of the vehicle. And determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load.
And the display module 13 is used for outputting and displaying the actual load.
In one example, the processing module 12 is specifically configured to:
and calculating four first wheel loads of the four suspensions of the vehicle according to preset parameters in the four height information and the suspension information of the four suspensions of the vehicle.
And calculating the suspension load of the vehicle according to the four first wheel loads and the servicing mass of the vehicle.
In one example, the processing module 12 is specifically configured to:
and calculating four second wheel loads of the four wheels of the vehicle according to the four tire pressure information of the four wheels of the vehicle and the preset tire pressure load coefficient.
And calculating to obtain the wheel load of the vehicle according to the four second wheel loads and the servicing mass of the vehicle.
In one example, the processing module 12 is specifically configured to:
and when the difference value between the load of the suspension and the load of the wheel is smaller than the calibrated minimum load, the actual load is the load of the suspension.
And when the difference value between the suspension load and the wheel load is greater than or equal to the calibrated minimum load, the actual load is the wheel load.
In one example, an apparatus further comprises:
and the alarm module 14 is used for sending an alarm signal when the actual load is greater than the preset load, and the alarm signal is used for reminding a user that the vehicle is overloaded.
The vehicle load monitoring device 10 provided in the embodiment of the present application may implement the above method embodiment, and for specific implementation principles and technical effects, reference may be made to the above method embodiment, which is not described herein again.
Fig. 10 shows a hardware structure diagram of a controller according to an embodiment of the present application. As shown in fig. 10, the controller 20 is configured to implement the operations corresponding to the controller in any of the above method embodiments, and the controller 20 of this embodiment may include: memory 21, processor 22 and communication interface 24.
A memory 21 for storing a computer program. The Memory 21 may include a Random Access Memory (RAM), a Non-Volatile Memory (NVM), at least one disk Memory, a usb disk, a removable hard disk, a read-only Memory, a magnetic disk or an optical disk.
A processor 22 for executing the computer program stored in the memory to implement the vehicle load monitoring method in the above-described embodiments. Reference may be made in particular to the description relating to the method embodiments described above. The Processor 22 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
Alternatively, the memory 21 may be separate or integrated with the processor 22.
When the memory 21 is a separate device from the processor 22, the controller 20 may also include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The communication interface 24 may be connected to the processor 21 via a bus 23. The communication interface 24 may be used to obtain information detected by height sensors, tire pressure detectors, and the like. The communication interface 24 may also be used to output signals to a display or upload to a network monitoring platform.
The controller provided in this embodiment may be used to execute the vehicle load monitoring method, and its implementation manner and technical effect are similar, and this embodiment is not described herein again.
Fig. 11 shows a schematic structural diagram of a vehicle load monitoring system provided in an embodiment of the present application. As shown in fig. 11, the vehicle load monitoring system 30 may include: a height sensor 31, a tire pressure monitor 32, and a controller 33 as shown in fig. 5;
as shown in fig. 12, four height sensors provided in four suspensions of the vehicle are connected to the processing module, respectively. Each height sensor may send its detected height information to the processing module. The tire pressure sensors on the four tires of the vehicle are respectively connected with the processing module. Each tire pressure sensor may transmit the tire pressure information detected by the tire pressure sensor to the processing module. After the processing module completes the calculation of the actual load of the vehicle according to the height information and the tire pressure information, the processing module may transmit the actual load to a display of the vehicle. When the vehicle is overloaded and alarm information is generated, the processing module can also send the alarm information to a display of the vehicle. The user can close the alarm prompt in a man-machine interaction mode.
The vehicle load monitoring system provided by the embodiment can be used for executing the vehicle load monitoring method, the implementation manner and the technical effect are similar, and details are not repeated here.
The present application also provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used for implementing the methods provided by the above-mentioned various embodiments when being executed by a processor.
The computer-readable storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, a computer readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the computer readable storage medium. Of course, the computer readable storage medium may also be integral to the processor. The processor and the computer-readable storage medium may reside in an Application Specific Integrated Circuit (ASIC). Additionally, the ASIC may reside in user equipment. Of course, the processor and the computer-readable storage medium may also reside as discrete components in a communication device.
In particular, the computer-readable storage medium 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 storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The present application also provides a computer program product comprising a computer program stored in a computer readable storage medium. The computer program can be read by at least one processor of the device from a computer-readable storage medium, and execution of the computer program by the at least one processor causes the device to implement the methods provided by the various embodiments described above.
Embodiments of the present application further provide a chip, where the chip includes a memory and a processor, where the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device in which the chip is installed executes the method in the above various possible embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Wherein the modules may be physically separated, e.g. mounted at different locations of one device, or mounted on different devices, or distributed over multiple network elements, or distributed over multiple processors. The modules may also be integrated, for example, in the same device, or in a set of codes. The respective modules may exist in the form of hardware, or may also exist in the form of software, or may also be implemented in the form of software plus hardware. The method and the device can select part or all of the modules according to actual needs to achieve the purpose of the scheme of the embodiment.
When the respective modules are implemented as integrated modules in the form of software functional modules, they may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods according to the embodiments of the present application.
It should be understood that, although the respective steps in the flowcharts in the above-described embodiments are sequentially shown as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit 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: it is also possible to modify the solutions described in the previous embodiments or to substitute some or all of them with equivalents. And the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A vehicle load monitoring method, the method comprising:
periodically acquiring height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle;
calculating the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle;
calculating to obtain the wheel load of the vehicle according to the tire pressure information of the wheel, a preset tire pressure load coefficient and the servicing quality of the vehicle;
determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load;
and outputting and displaying the actual load.
2. The method of claim 1, wherein calculating a suspension payload for the vehicle based on the height information for the suspension, the suspension information for the suspension, and the trim mass for the vehicle comprises:
calculating four first wheel loads of four suspensions of the vehicle according to four height information of the four suspensions of the vehicle and preset parameters in the suspension information;
and calculating the suspension load of the vehicle according to the four first wheel loads and the servicing mass of the vehicle.
3. The method of claim 1, wherein calculating the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the service mass of the vehicle comprises:
calculating four second wheel loads of the four wheels of the vehicle according to the four tire pressure information of the four wheels of the vehicle and a preset tire pressure load coefficient;
and calculating to obtain the wheel load of the vehicle according to the four second wheel loads of the vehicle and the servicing mass.
4. The method of claim 1, wherein said determining an actual load of said vehicle from said suspension load, said wheel load, and a calibrated minimum load comprises:
when the difference value between the suspension load and the wheel load is smaller than the calibrated minimum load, the actual load is the suspension load;
and when the difference value between the suspension load and the wheel load is greater than or equal to the calibrated minimum load, the actual load is the wheel load.
5. The method according to any one of claims 1-4, further comprising:
and when the actual load is larger than the preset load, sending an alarm signal, wherein the alarm signal is used for reminding a user that the vehicle is overloaded.
6. A vehicle load monitoring apparatus, the apparatus comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for periodically acquiring height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle;
the processing module is used for calculating the suspension load of the vehicle according to the height information of the suspension, the suspension information of the suspension and the servicing quality of the vehicle; calculating to obtain the wheel load of the vehicle according to the tire pressure information of the wheel, a preset tire pressure load coefficient and the servicing quality of the vehicle; determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load;
and the display module is used for outputting and displaying the actual load.
7. A controller, characterized in that the controller comprises: a memory, a processor;
the memory is used for storing a computer program; the processor is configured to implement the vehicle load monitoring method according to any one of claims 1 to 5, in accordance with the computer program stored in the memory.
8. A vehicle load monitoring system, the system comprising: an altitude sensor, a tire pressure monitor and a controller as claimed in claim 7;
four height sensors are respectively arranged on four suspensions of the vehicle; one end of the height sensor is arranged on a control arm of the suspension, and the other end of the height sensor is arranged at a fixed point of the vehicle body.
9. A computer-readable storage medium, in which a computer program/instructions is stored, which, when being executed by a processor, is adapted to carry out a vehicle load monitoring method according to any one of claims 1-5.
10. A computer program product, characterized in that the computer program product comprises a computer program/instructions, characterized in that the computer program/instructions, when executed by a processor, implement the vehicle load monitoring method according to any of claims 1-5.
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