CN114370918B - Vehicle load monitoring method, device and system - Google Patents
Vehicle load monitoring method, device and system Download PDFInfo
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- CN114370918B CN114370918B CN202210169935.7A CN202210169935A CN114370918B CN 114370918 B CN114370918 B CN 114370918B CN 202210169935 A CN202210169935 A CN 202210169935A CN 114370918 B CN114370918 B CN 114370918B
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- 206010052904 Musculoskeletal stiffness Diseases 0.000 description 45
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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
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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
- 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
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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
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
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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 and obtain the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the preparation quality of the vehicle. The controller may determine the actual load of the vehicle based on the suspension load, the wheel load, and the nominal minimum load. The controller may output and display the actual load. The method of the application improves the timeliness of the vehicle load test and improves the calculation precision and the algorithm reliability.
Description
Technical Field
The present application relates to the field of vehicles, and in particular, to a method, apparatus and system for monitoring a vehicle load.
Background
With the enhancement of safety awareness, users are also paying higher attention to driving safety. Overload is one of the factors that easily causes a vehicle accident during the running of the vehicle. The load test of the vehicle can detect whether the vehicle is overloaded.
Currently, a fixed load testing system may install load testing equipment at a fixed location at a preset site. The user can realize the whole vehicle weight measurement of the vehicle by driving the vehicle to the fixed position. The load test system can determine whether the vehicle is overloaded or not according to the preparation quality 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 problems that the real-time monitoring of the vehicle load cannot be realized and the timeliness is poor in the prior art.
In a first aspect, the present application provides a vehicle load monitoring method, including:
Periodically acquiring height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle;
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 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 an 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 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 includes:
according to four height information of four suspensions of the vehicle and preset parameters in the suspension information, calculating four first wheel loads of the four suspensions of the vehicle;
And calculating the suspension load of the vehicle according to the four first wheel loads and the preparation mass of the vehicle.
Optionally, the 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 includes:
according to the four tire pressure information and the preset tire pressure load coefficient of the four wheels of the vehicle, calculating four second wheel loads of the four wheels of the vehicle;
And calculating the wheel load of the vehicle according to the four second wheel loads and the preparation mass of the vehicle.
Optionally, the determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load includes:
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 greater than the preset load, sending an alarm signal, wherein the alarm signal is used for reminding a user of overload of the vehicle.
In a second aspect, the present application provides a vehicle load monitoring apparatus comprising:
The acquisition module is used for periodically acquiring the height information of the four suspensions of the vehicle and the tire pressure information of the 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 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 an 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:
according to four height information of four suspensions of the vehicle and preset parameters in the suspension information, calculating four first wheel loads of the four suspensions of the vehicle;
And calculating the suspension load of the vehicle according to the four first wheel loads and the preparation mass of the vehicle.
Optionally, the processing module is specifically configured to:
according to the four tire pressure information and the preset tire pressure load coefficient of the four wheels of the vehicle, calculating four second wheel loads of the four wheels of the vehicle;
And calculating the wheel load of the vehicle according to the four second wheel loads and the preparation mass of the vehicle.
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 of overload of the vehicle.
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 execute the vehicle load monitoring method 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 in 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 the 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, performs the vehicle load monitoring method of the first aspect and 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, performs the method of vehicle load monitoring of the first aspect and any of the possible designs of the first aspect.
According to the vehicle load monitoring method, the height information of four suspensions of the vehicle and the tire pressure information of four wheels of the vehicle are periodically acquired; 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 suspension load 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 preparation quality of the vehicle; determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load; the means for outputting and displaying the actual load can improve the timeliness of the vehicle load test and improve the calculation precision and the algorithm reliability.
Drawings
In order to more clearly illustrate the application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a vehicle load monitoring system according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating an installation of a height sensor according to an embodiment of the present application;
fig. 3 is an installation schematic diagram of a tire pressure monitor according to an embodiment of the present application;
FIG. 4 is a flow chart of a method for monitoring vehicle load according to an embodiment of the present application;
FIG. 5 is a schematic illustration of suspension stiffness according to an embodiment of the present application;
FIG. 6 is a graph showing the relationship between tire pressure and load according to an embodiment of the present application;
FIG. 7 is a diagram showing a temperature relationship of tire pressure according to an embodiment of the present application;
FIG. 8 is a flow chart of a method for monitoring vehicle load according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a vehicle load monitoring apparatus according to an embodiment of the present application;
FIG. 10 is a schematic diagram of a hardware configuration of a controller according to an embodiment of the present application;
FIG. 11 is a schematic 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
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second, third, fourth and the like in the description and in the claims and in the above drawings are used for distinguishing between similar objects 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 "at … …" or "in response to a determination" depending on the context.
Furthermore, 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" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups.
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, A is as follows; b, a step of preparing a composite material; c, performing operation; 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 in some way inherently mutually exclusive.
With the enhancement of safety awareness, users are also paying higher attention to driving safety. Overload is one of the factors that easily causes a vehicle accident during the running of the vehicle. The load test of the vehicle can detect whether the vehicle is overloaded. Currently, vehicle load testing systems are generally both stationary and on-board. Among other things, stationary load testing systems typically require stationary equipment to be located at a stationary site. The user can realize the whole vehicle weight measurement of the vehicle by driving the vehicle to the fixed position. The load test system can determine whether the vehicle is overloaded or not according to the preparation quality of the vehicle and the measured vehicle weight of the whole vehicle. The fixed load test system cannot realize real-time monitoring of the vehicle, and has the problem of poor timeliness.
The vehicle-mounted load test system can effectively solve the problem of timeliness. The vehicle-mounted load test system is usually carried on a vehicle, so that the vehicle can conveniently test the load at any time. However, the existing vehicle-mounted load testing system generally requires a user to manually complete the opening of the load test and the acquisition of the weight of the whole vehicle during the stopping of the vehicle, and has the problem of single testing scene.
In order to solve the problems, the application provides a vehicle load monitoring method. The application installs a suspension height module and a 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. 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 nominal 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. Or the display may also be a display of other terminal devices communicatively coupled to the controller. According to the application, the real-time acquisition of the load of the vehicle can be changed through the suspension height module and the tire pressure module, the actual load of the vehicle under the static and dynamic conditions can be acquired, and the timeliness of the vehicle load test is improved. Meanwhile, the controller can calculate the suspension load of the vehicle more accurately according to the rigidity of the suspension, and the calculation accuracy and the algorithm reliability are improved 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, the application can also improve the management efficiency of the vehicle load by sending the actual load to the management platform.
The technical scheme of the application is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 1 shows a schematic frame diagram 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, at least, include the altitude sensor in the suspension module. 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 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 may acquire 4 pieces of height information of the vehicle in real time/periodically. The four height sensors may send the height information they obtain to the processing module, respectively. At least one of a vehicle speed monitor, suspension stiffness calibration information, and an inertial sensor (Inertial Measurement Unit, IMU) may also be included in the suspension module. 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 suspension stiffness type preset before delivery of the vehicle. The suspension stiffness types may include a combination of linear and nonlinear stiffness, a linear secondary stiffness, and the like. When the processing module accesses the suspension stiffness calibration information, the processing module may obtain the stiffness type of the vehicle suspension. The IMU may detect inertial information of the current vehicle in real time/periodically. The IMU can also generate parameter information such as acceleration information and steering information of the vehicle according to the inertia information, and send the parameter information such as the acceleration information and the steering information to the processing module.
The wheel module may include a tire pressure monitor (tire pressure monitoring system, TPMS), among other things. As shown in fig. 3, the TPMS is mounted at a valve core of a hub of each wheel. There may be 4 TPMS installed in each vehicle. The 4 TPMS are installed in 4 wheels of the vehicle, respectively. The TPMS may detect tire pressure information of the wheel in real time/periodically and transmit the tire pressure information to a 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 may 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, among other things, an in-vehicle communication device (Vehicular Communication Unit, VCU), a controller (Microcontroller Unit, MCU). When the processing module receives information sent by other components, the controller in the processing module specifically receives and processes the information to obtain processing results such as actual load of the vehicle, alarm signals and the like. The MCU may send the processing results to the VCM. The VCM may send these processing results to a display module. The VCM may also send the processing results to the management background for unified management of the vehicles by the management platform.
The display module may include an interactive interface (Human MACHINE INTERFACE, HMI) and an alarm. When the display module obtains the actual load sent by the processing module, the display module can display the actual load of the vehicle in the interactive interface. When the display module obtains the alarm signal sent by the processing module, the alarm in the display module can give an alarm. The alarm may include a buzzer beep, an alarm lamp lighting, an alarm lamp 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 vehicle load monitoring method of the following embodiment is executed with the controller as the execution subject. In particular, the execution body may be a hardware device of the controller, or a software application implementing the embodiments described below in the controller, or a computer-readable storage medium on which a software application implementing the embodiments described below is installed, or code of a software application implementing the embodiments described below.
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 execution body, the method of this embodiment may include the following steps:
And S101, periodically acquiring the height information of four suspensions of the vehicle and the tire pressure information of four wheels of the vehicle.
In this embodiment, the controller may be connected to 4 height sensors on 4 suspensions. The controller may periodically acquire altitude information of the current time of the vehicle from the 4 altitude sensors. The height information is used to indicate a height variation value of the suspension of the vehicle. The height information of the front and rear axle left and right suspensions acquired by the 4 height sensors may be denoted as h fl,hfr,hrl,hrr, respectively. 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 weight force experienced by the suspension of the vehicle becomes greater, which will cause the height information of the vehicle to be higher than the initial suspension height at that time. When the vehicle is on an uneven road section, jolting causes the force borne by the suspension of the vehicle to change under the action of inertia, and the change of the force causes the height information of the vehicle to change. The controller may also be connected to 4 tire pressure sensors provided in 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 the 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.
S102, 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.
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 can be determined according to suspension information of the vehicle. After the controller calculates 4 first wheel loads of the 4 suspensions, the controller can calculate the suspension load of the vehicle according to the values of the four first wheel loads and the servicing quality of the vehicle. Wherein the quality of service is used to indicate the factory weight of the vehicle without any cargo.
In one example, the specific process of calculating the suspension load by the controller may include the steps of:
And step 1, calculating four first wheel loads of the four suspensions of the vehicle according to the 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 obtained by requesting the controller from suspension rigidity 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 combination of linear and nonlinear stiffness, a linear secondary stiffness.
When the suspension stiffness of the suspension is a combination of linear and nonlinear stiffness, a stiffness diagram of the suspension stiffness of the suspension may be as shown in fig. 5 (a). The suspensions having such a combined linear and nonlinear stiffness are often suspensions provided to a front axle. When the suspension stiffness is a combination of linear and nonlinear stiffness, the preset calculation model used to calculate the first wheel load may include the following formula:
Wherein G fr is the first wheel load of the right front wheel, and the unit is N. G fl is the first wheel load of the left front wheel, in N. L 1、L2、L3 is a nonlinear coefficient. The nonlinear coefficient L 1,L2,L3 is a coefficient in the fit equation of the curve in fig. 5 (a). h fr is the height information of the right front suspension, and the height information is used for indicating the height variation of the suspension, and the unit is mm. h fl is height information of the left front suspension, and the height information is used for indicating the height variation of the suspension, and the unit is mm.
When the suspension stiffness of the suspension is a linear stiffness, a stiffness diagram of the suspension stiffness of the suspension may be as shown in fig. 5 (b). When the suspension stiffness is a linear stiffness, the preset calculation model used to calculate the first wheel load may include the following formula:
Gfr＝hfr×kfr
Gfl＝hfl×kfl
Grl＝hrl×krl
Grr＝hrr×krr
Where k fr is 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 fr is the right front wheel load coefficient, and the unit is N/mm. k fl is the left front wheel load coefficient, and the unit is N/mm. k rr is the right rear wheel load coefficient, and the unit is N/mm. k rl is the left rear wheel load coefficient, and the unit is N/mm. h rr is height information of the right rear suspension, and the height information is used for indicating the height variation of the suspension, and the unit is mm. h rl is height information of the left rear suspension, and the height information is used for indicating the height variation of the suspension, and the unit is mm. G rr is the first wheel load of the right rear wheel, in N. G rl is the 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 may be as shown in fig. 5 (c). The suspensions having the linear secondary stiffness are mostly leaf spring rear axles. When the suspension stiffness is a linear secondary stiffness, the preset calculation model used to calculate the first wheel load may include the following formula:
Wherein k rl1 is the first-level rigidity coefficient of the left rear suspension, and the unit is N/mm. k rl2 is the secondary stiffness coefficient of the left rear suspension, and the unit is N/mm. For example, in the suspension stiffness schematic 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 second-order stiffness coefficient. k rr1 is the first-order stiffness coefficient of the right rear suspension, and the unit is N/mm. k rr2 is the second-level rigidity coefficient of the right rear suspension, and the unit is N/mm. G 1 is the load at the secondary stiffness contact in N. The secondary stiffness contact point is the inflection point in the suspension stiffness schematic shown in fig. 5 (c).
The controller may input the height information of each suspension into a preset calculation model corresponding to the suspension. And calculating to obtain the corresponding first wheel load of 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 by the following calculation formula of the suspension load:
G Suspension frame ＝(Gfl+Gfr+Grr+Grl)-G0
Wherein G 0 is the basis weight of the vehicle. The standby weight is the initial weight of the vehicle under the condition that the vehicle is not loaded with goods or people, and the unit is N. G Suspension frame is the suspension load in N.
And 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 preparation quality of the vehicle.
In this embodiment, the controller may acquire tire pressure information of 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 the wheel load of the vehicle based on the second wheel load of the 4 wheels and the ride quality of the vehicle.
In one example, the specific process of calculating the wheel load by the controller may include the steps of:
And step 1, calculating four second wheel loads of 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.
In this step, the correspondence relationship between the tire pressure of the wheel and the load of the wheel may be a linear relationship between the tire pressure of the wheel and the load of the wheel as shown in fig. 6. The tire pressures of different wheels may have different slopes with respect to their loads. The slope is the preset tire pressure load coefficient of the tire. Therefore, after 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 as follows:
Gfl＝β×pfl
Gfr＝β×pfr
Grl＝β×prl
Grr＝β×prr
Wherein beta is the tire pressure load coefficient. G fl is the second load of the left front wheel in N. G fr is the second load of the right front wheel in N. G rl is the second load of the left rear wheel in N. G rr is the second load of the left rear wheel in N. p fl is the second load of the left front wheel in N. p fr is the second load of the right front wheel in N. p rl is the second load of the left rear wheel in N. p rr is the second load of the left rear wheel in N.
And 2, calculating the wheel load of the vehicle according to the four second wheel loads and the preparation quality of the vehicle.
In this step, the controller may calculate the wheel load of the vehicle by the following calculation formula of the wheel load:
G Tire with a tire body ＝(Gfl+Gfr+Grr+Grl)-G0
Wherein G 0 is the basis weight of the vehicle. The standby weight is the initial weight of the vehicle under the condition that the vehicle is not loaded with goods or people, and the unit is N. G Suspension frame is the suspension load in N.
In one example, the controller may also obtain temperature information and determine the tire pressure for 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 isovolumetric change in common temperature change, and accords with an ideal gas state equation. The controller may calculate the tire pressure of each wheel based on the temperature information of each wheel. The formula can be as follows:
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 as 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
S104, determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load.
In this embodiment, the suspension load can more accurately represent the actual load of the vehicle in normal cases. However, when the vehicle is overweight, the suspension of the vehicle is subjected to a pressure exceeding its allowable value. Thus, when the 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 step of the controller determining the actual planting of the vehicle may include:
and 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:
G Suspension frame -G Tire with a tire body ≤Gmin
wherein G min is the minimum load 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:
G Suspension frame -G Tire with a tire body >Gmin
s105, outputting and displaying the actual load.
In this embodiment, the controller may send the actual load to a display for display. The display may be a display on the vehicle. Or the display may be a display on other terminal devices.
According to the vehicle load monitoring method provided by the application, the controller can periodically acquire the height information of the four suspensions of the vehicle and the tire pressure information of the 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 and obtain the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the preparation quality of the vehicle. The controller may determine the actual load of the vehicle based on the suspension load, the wheel load, and the nominal minimum load. The controller may output and display the actual load. According to the application, the calculation of the suspension load and the wheel load is realized by periodically acquiring the sensor information, so that the timeliness of the vehicle load test is improved. Meanwhile, the application calculates the actual load of the vehicle through the load of the suspension and the load of the wheels, thereby improving the calculation precision and the algorithm reliability.
Fig. 8 shows a flowchart of a vehicle load monitoring method according to an embodiment of the present application. On the basis of the embodiment shown in fig. 1 to 7, as shown in fig. 8, with the controller as the execution body, the method of this embodiment may include the following steps:
and S201, periodically acquiring the height information of four suspensions of the vehicle and the tire pressure information of four wheels of the vehicle.
Step S201 is similar to the implementation of step S101 in the embodiment of fig. 4, and is not described herein.
S202, judging whether the current situation can calculate the vehicle load information.
In this embodiment, the controller may first determine whether the current environment of the vehicle is suitable for calculating the load information of the vehicle. For example, when the vehicle is in a bumpy state, road bumpiness may cause the load of the vehicle to change continuously under the action of inertia, and even if load information is measured, the load information has an inaccurate problem and cannot be used as the actual load of the vehicle. Therefore, the controller needs to 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
Where V i represents the current speed of the vehicle. i denotes the current time. When the current speed of the vehicle is 0, the vehicle is in a stopped state. t i denotes a time period during which the current time distance enters this state. temp is a time threshold, which may be a set value. That is, when the length of time 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 load of the vehicle 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, IMU i represents the inertial parameters of the vehicle at the current time as monitored by the inertial sensors. And when the inertia parameter is smaller than a preset value epsilon, the vehicle is in a stable running state. h 0 is the initial height of the height sensor. h i is 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. the difference between the height of the suspension at the current moment and the initial height is smaller than a, the vehicle can be considered to be in a stationary state. Therefore, when the vehicle is in a running state, the control is performed such that the load information of the vehicle can be started to be calculated 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 holding time period reaches the preset time period.
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.
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 preparation quality of the vehicle.
S205, determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load.
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 repeated here.
And S207, when the actual load is greater than the preset load, sending an alarm signal, wherein the alarm signal is used for reminding a user of overload of the vehicle.
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 an alarm signal when the vehicle is in an overload condition. The controller may send the alarm signal to an alarm. The alarm can remind the user through modes such as buzzer ringing, alarm lamp lighting, alarm lamp flashing and the like. In order to ensure driving safety, a user can manually close the alarm after receiving the alarm information.
The controller may also send the alarm signal to the HMI for display. Since the controller is the actual load that is 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 for a certain period, the HMI will not display the overload information anymore.
The controller can also send the alarm signal to the management platform so that a user can manage a plurality of vehicles on the management platform in a unified way.
According to the vehicle load monitoring method provided by the application, the controller can periodically acquire the height information of the four suspensions of the vehicle and the tire pressure information of the four wheels of the vehicle. The controller may first determine whether the environment in which the vehicle is currently located 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 and obtain the wheel load of the vehicle according to the tire pressure information of the wheel, the preset tire pressure load coefficient and the preparation quality of the vehicle. The controller may determine the actual load of the vehicle based on the suspension load, the wheel load, and the nominal minimum load. The controller may output and display the actual load. When the actual load is greater than the preset load, the controller can send an alarm signal, and the alarm signal is used for reminding a user of overload of the vehicle. According to the application, the accuracy of calculating the load of the vehicle is improved by judging whether the vehicle is in a proper state or not. The application can also improve interactivity by sending the alarm information when the vehicle is in an overload state, thereby being convenient for users to control the load of the vehicle.
Fig. 9 is a schematic structural diagram of a vehicle load monitoring apparatus according to an embodiment of the present application, and as shown in fig. 9, the vehicle load monitoring apparatus 10 according to the present embodiment is configured to implement operations corresponding to a controller in any of the above method embodiments, and the vehicle load monitoring apparatus 10 according to the present embodiment includes:
An acquisition module 11 for periodically acquiring height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle.
The processing module 12 is configured to calculate a 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 preparation quality of the vehicle. The actual load of the vehicle is determined based on the suspension load, the wheel load and the nominal 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 the 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 preparation 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 the wheel load of the vehicle according to the four second wheel loads and the preparation quality of the vehicle.
In one example, the processing module 12 is specifically configured to:
When the difference between the suspension load and the wheel load is less than the nominal minimum load, the actual load is the suspension load.
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 comprising:
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 of overload of the vehicle.
The vehicle load monitoring apparatus 10 provided in the embodiment of the present application may execute the above-mentioned method embodiment, and the specific implementation principle and technical effects thereof may be referred to the above-mentioned method embodiment, and this embodiment is not repeated herein.
Fig. 10 shows a schematic hardware structure of a controller according to an embodiment of the present application. As shown in fig. 10, the controller 20, configured to implement operations corresponding to the controller in any of the above method embodiments, the controller 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 24.
A memory 21 for storing a computer program. The memory 21 may include a high-speed random access memory (Random Access Memory, RAM), and may further include a non-volatile memory (NVM), such as at least one magnetic disk memory, and may also be a U-disk, a removable hard disk, a read-only memory, a magnetic disk, or an optical disk.
A processor 22 for executing a computer program stored in the memory to implement the vehicle load monitoring method in the above-described embodiment. Reference may be made in particular to the relevant description of the embodiments of the method described above. The processor 22 may be a central processing unit (Central Processing Unit, CPU), or may be other general purpose processor, digital signal processor (DIGITAL SIGNAL processor, DSP), 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 for execution, or in a combination of hardware and software modules in a processor for execution.
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 (Industry Standard Architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to 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 a height sensor, tire pressure detector, or the like. The communication interface 24 may also be used to output signals to a display or to upload to a network monitoring platform.
The controller provided in this embodiment may be used to execute the above-mentioned vehicle load monitoring method, and its implementation manner and technical effects are similar, and this embodiment will not be described here again.
Fig. 11 shows a schematic structural diagram of a vehicle load monitoring system according to 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 for four suspensions of the vehicle are respectively connected to the processing module. Each height sensor may send the height information it detects 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 send information of the tire pressure it detects to the processing module. When 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 can send the actual load to a display of the vehicle. The processing module may also send the alert information to a display of the vehicle when the vehicle is overloaded and generates the alert information. The user can close the alarm reminding through a man-machine interaction mode.
The vehicle load monitoring system provided in this embodiment may be used to execute the vehicle load monitoring method described above, and its implementation manner and technical effects are similar, and this embodiment will not be described here again.
The present application also provides a computer-readable storage medium having a computer program stored therein, which when executed by a processor is adapted to carry out the methods provided by the various embodiments described above.
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 can 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. In the alternative, the computer-readable storage medium may be integral to the processor. The processor and the computer readable storage medium may reside in an Application SPECIFIC INTEGRATED Circuits (ASIC). In addition, the ASIC may reside in a user device. 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 or combination of volatile or non-volatile memory devices, such as static random-access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, EPROM), programmable read-only memory (Programmable read-only memory, PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic 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 may be read from a computer-readable storage medium by at least one processor of the apparatus, and executed by the at least one processor, causes the apparatus to implement the methods provided by the various embodiments described above.
The embodiment of the application also provides a chip, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for calling and running the computer program from the memory, so that the device provided with the chip executes the method in the various possible implementation modes.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
Wherein the individual modules may be physically separated, e.g. mounted in different locations of one device, or mounted on different devices, or distributed over a plurality of network elements, or distributed over a plurality of processors. The modules may also be integrated together, e.g. mounted in the same device, or integrated in a set of codes. The modules may exist in hardware, or may also exist in software, or may also be implemented in software plus hardware. The application can select part or all of the modules according to actual needs to realize the purpose of the scheme of the embodiment.
When the individual modules are implemented as software functional modules, the integrated modules may be stored in a computer readable storage medium. The software functional modules described above are stored in a storage medium and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform some of the steps of the methods of the various embodiments of the application.
It should be understood that, although the steps in the flowcharts in the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited in order 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 stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
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 application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments may be modified or some or all of the technical features may be replaced with equivalents. Such modifications and substitutions do not depart from the spirit of the application.
Claims (7)
1. A method of vehicle load monitoring, the method comprising:
Periodically acquiring height information of four suspensions of the vehicle and tire pressure information of four wheels of the vehicle;
According to four height information of four suspensions of the vehicle and preset parameters in suspension information of the suspensions, calculating four first wheel loads of the four suspensions of the vehicle; according to the four first wheel loads of the vehicle and the servicing quality of the vehicle, calculating to obtain the suspension load of the vehicle;
According to the four tire pressure information and the preset tire pressure load coefficient of the four wheels of the vehicle, calculating four second wheel loads of the four wheels of the vehicle; calculating the wheel load of the vehicle according to the four second wheel loads and the preparation mass of the vehicle;
determining an actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load;
outputting and displaying the actual load;
The determining the actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load comprises the following steps: 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.
2. The method according to claim 1, characterized in that the method further comprises:
And when the actual load is greater than the preset load, sending an alarm signal, wherein the alarm signal is used for reminding a user of overload of the vehicle.
3. A vehicle load monitoring apparatus, characterized in that the apparatus comprises:
The acquisition module is used for periodically acquiring the height information of the four suspensions of the vehicle and the tire pressure information of the 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 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 an actual load of the vehicle according to the suspension load, the wheel load and the calibrated minimum load;
the display module is used for outputting and displaying the actual load;
The processing module is specifically configured to:
according to four height information of four suspensions of the vehicle and preset parameters in the suspension information, calculating four first wheel loads of the four suspensions of the vehicle;
according to the four first wheel loads and the preparation mass of the vehicle, calculating to obtain the suspension load of the vehicle;
the processing module is specifically further configured to:
according to the four tire pressure information and the preset tire pressure load coefficient of the four wheels of the vehicle, calculating four second wheel loads of the four wheels of the vehicle;
Calculating the wheel load of the vehicle according to the four second wheel loads and the preparation mass of the vehicle;
the processing module is specifically further 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.
4. A controller, the controller comprising: 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 claim 1 or 2 according to the computer program stored in the memory.
5. A vehicle load monitoring system, the system comprising: a height sensor, a tire pressure monitor and a controller as in claim 4;
Four height sensors are respectively arranged on four suspensions of the vehicle; one end of the height sensor is arranged on the control arm of the suspension, and the other end of the height sensor is arranged at a fixed point of the vehicle body.
6. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program/instruction which, when executed by a processor, is adapted to carry out the vehicle load monitoring method according to claim 1 or 2.
7. A computer program product, characterized in that the computer program product comprises computer program instructions, characterized in that the computer program/instructions, when executed by a processor, implement the vehicle load monitoring method of claim 1 or 2.
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