CN114407906A - Vehicle load measuring method and device, storage medium and equipment - Google Patents

Vehicle load measuring method and device, storage medium and equipment Download PDF

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Publication number
CN114407906A
CN114407906A CN202210086415.XA CN202210086415A CN114407906A CN 114407906 A CN114407906 A CN 114407906A CN 202210086415 A CN202210086415 A CN 202210086415A CN 114407906 A CN114407906 A CN 114407906A
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vehicle
weight
load
acceleration
preset time
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CN114407906B (en
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李勇滔
田云立
李育芳
陈子邮
申国栋
许方雷
欧炫峰
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Dongfeng Liuzhou Motor Co Ltd
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Dongfeng Liuzhou Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0657—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention discloses a vehicle load measuring method, a vehicle load measuring device, a storage medium and equipment, wherein vehicle motion data is acquired to judge whether the vehicle motion time is within the preset time; when the movement time of the vehicle is determined to exceed the preset time, judging the driving state of the vehicle according to the acceleration of the vehicle, when the driving state of the vehicle is determined to be constant-speed driving, calculating according to the movement data of the vehicle to obtain the weight of the first vehicle, and performing median filtering processing on the weight of the first vehicle to obtain the load of the vehicle; and when the movement time of the vehicle is determined to be within the preset time or the driving state of the vehicle is accelerated driving, calculating according to the variation of the resultant force and the variation of the acceleration of the vehicle to obtain the weight of the second vehicle, and performing median filtering processing on the weight of the second vehicle to obtain the load of the vehicle. The invention can facilitate the measurement of the vehicle load and improve the precision of the vehicle load measurement data.

Description

Vehicle load measuring method and device, storage medium and equipment
Technical Field
The invention relates to the field of vehicle load measurement, in particular to a vehicle load measurement method, a vehicle load measurement device, a storage medium and equipment.
Background
With the continuous development of scientific technology, automobiles are more and more ubiquitous in the society, almost every family can be used for the automobile belonging to the family, and a series of problems can occur along with the family, wherein the problem of how to quickly, conveniently and accurately measure the load of the automobile is paid much attention to by people.
At present, the following two methods are mainly used for the existing automobile load measurement technology: the wagon balance measuring method commonly used in the high-speed toll station has the advantages that wagon balance laying needs to be planned in advance, the construction period is long, too many factors need to be considered in the laying process, the wagon balance cannot be changed basically after being shaped, the wagon balance measuring method is very difficult to maintain once problems occur in the later use process, and the wagon balance measuring method needs to be carried out by stopping a wagon at a specified position; the sensor is adopted to sense the deformation of the bearing point of the truck body, the deformation quantity of the truck body is converted into an electric signal through the sensor, and the load of the truck can be calculated according to different voltage signals. However, the method is closely related to the performance of the automobile body, the performance of the automobile body is changed along with the increase of the service life of the automobile, and the calculation result is inaccurate. Due to the fact that the service environment of the commercial vehicle is poor, the accuracy of the sensor is inaccurate or the sensor is damaged, the calculated load result is large in error, and even the load result cannot be measured.
Therefore, there is a need for a method for measuring a vehicle load, so as to solve the problems of inconvenient measurement and inaccurate data in the existing load measurement technology.
Disclosure of Invention
The invention provides a vehicle load measuring method, a vehicle load measuring device, a storage medium and equipment, which can facilitate vehicle load measurement and improve the accuracy of vehicle load measurement data.
The embodiment of the invention provides a vehicle load measuring method, which comprises the following steps:
acquiring vehicle motion data, wherein the vehicle motion data comprises vehicle motion time and vehicle acceleration;
judging whether the vehicle movement time is within a preset time or not;
when the vehicle movement time is determined to exceed the preset time, judging the driving state of the vehicle according to the vehicle acceleration, when the driving state of the vehicle is determined to be constant-speed driving, calculating according to the vehicle movement data to obtain a first vehicle weight, and performing median filtering processing on the first vehicle weight to obtain the vehicle load;
and when the movement time of the vehicle is determined to be within the preset time or the driving state of the vehicle is accelerated driving, calculating according to the variation of the resultant force and the variation of the acceleration of the vehicle to obtain the weight of a second vehicle, and performing median filtering processing on the weight of the second vehicle to obtain the load of the vehicle.
Preferably, the vehicle motion data further includes: the system comprises an engine, a transmission ratio of a gearbox, a transmission ratio of a main speed reducer, mechanical transmission efficiency, wheel radius, gravity acceleration, a rolling resistance coefficient of wheels, a road slope angle, a windward area of a vehicle running direction, a vehicle speed and an air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure BDA0003488112790000021
wherein, TtqFor the torque delivered by the engine, igIs the gear ratio of the gearbox, i0Is the transmission ratio of the main reducer, etaTFor mechanical transmission efficiency, r is the radius of the wheel, m is the first vehicle weight, g is the gravitational acceleration, f is the rolling resistance coefficient of the wheel, α is the road slope angle, A is the windward area in the direction of travel of the vehicle, u is the road slope angleaAs the vehicle speed, CdIs the air resistance coefficient.
Preferably, the formula for calculating the weight of the second vehicle is as follows:
Figure BDA0003488112790000022
where Δ F is a resultant force variation, Δ a is an acceleration variation, and m is a second vehicle weight.
Preferably, the formula for performing median filtering processing is as follows:
Figure BDA0003488112790000023
wherein m isiFor the ith vehicle weight, x is the selected length of the vehicle weight.
Preferably, after the step of acquiring vehicle motion data, the method further includes: and carrying out filtering processing on the vehicle motion data.
Preferably, the preset time is 10 minutes.
Correspondingly, another embodiment of the present invention further provides a vehicle load measuring device, including: the device comprises a data acquisition module, a judgment module, a first calculation module and a second calculation module;
the data acquisition module is used for acquiring vehicle motion data, wherein the vehicle motion data comprises vehicle motion time and vehicle acceleration;
the judging module is used for judging whether the vehicle movement time is within a preset time;
the first calculation module is used for judging the running state of the vehicle according to the acceleration of the vehicle when the movement time of the vehicle is determined to exceed the preset time, calculating according to the movement data of the vehicle when the running state of the vehicle is determined to be constant-speed running to obtain the weight of the first vehicle, and performing median filtering processing on the weight of the first vehicle to obtain the load of the vehicle;
the second calculation module is used for calculating according to the resultant force variation and the acceleration variation of the vehicle to obtain a second vehicle weight when the vehicle movement time is determined to be within the preset time or the driving state of the vehicle is accelerated driving, and performing median filtering processing on the second vehicle weight to obtain the vehicle load.
Preferably, the vehicle motion data further includes: the system comprises an engine, a transmission ratio of a gearbox, a transmission ratio of a main speed reducer, mechanical transmission efficiency, wheel radius, gravity acceleration, a rolling resistance coefficient of wheels, a road slope angle, a windward area of a vehicle running direction, a vehicle speed and an air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure BDA0003488112790000031
wherein, TtqFor the torque delivered by the engine, igIs the gear ratio of the gearbox, i0Is the transmission ratio of the main reducer, etaTFor mechanical transmission efficiency, r is the radius of the wheel, m is the first vehicle weight, g is the gravitational acceleration, f is the rolling resistance coefficient of the wheel, α is the road slope angle, A is the windward area in the direction of travel of the vehicle, u is the road slope angleaAs the vehicle speed, CdIs the air resistance coefficient.
Preferably, the formula for calculating the weight of the second vehicle is as follows:
Figure BDA0003488112790000041
where Δ F is a resultant force variation, Δ a is an acceleration variation, and m is a second vehicle weight.
Preferably, the formula for performing median filtering processing is as follows:
Figure BDA0003488112790000042
wherein m isiFor the ith vehicle weight, x is the selected length of the vehicle weight.
Preferably, the data obtaining module is further configured to: and carrying out filtering processing on the vehicle motion data.
Preferably, the preset time is 10 minutes.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; wherein the computer program, when executed, controls an apparatus in which the computer readable storage medium is located to perform a vehicle load measuring method as defined in any one of the above.
An embodiment of the present invention further provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor, when executing the computer program, implements a vehicle load measuring method according to any one of the above items.
Compared with the prior art, the vehicle load measuring method, the vehicle load measuring device, the storage medium and the vehicle load measuring equipment provided by the embodiment of the invention have the following beneficial effects: by acquiring the motion data of the vehicle, corresponding data can be provided for subsequently judging whether the motion time of the vehicle is within the preset time, calculating the weight of the first vehicle and calculating the weight of the second vehicle; judging whether the movement time of the vehicle is within the preset time, dividing the movement time into two conditions, and performing corresponding calculation aiming at two different conditions under the movement time of the vehicle in the following process to accurately calculate the vehicle load under the two different conditions; the weight of the vehicle in a constant-speed running state beyond the preset time range can be accurately calculated by calculating the mass of the vehicle when the movement time of the vehicle exceeds the preset time range, so that the load of the vehicle is obtained, the measurement of the load of the vehicle is convenient, and the precision of load data is improved; the vehicle weight in the preset time or in the accelerated running state can be accurately calculated by calculating the mass of the vehicle in the preset time or in the condition that the moving time exceeds the preset time range and the running state is accelerated, so that the obtained load is obtained, the measurement of the vehicle load is convenient, and the precision of the load data is improved. By the vehicle load measuring method, the vehicle load measuring device, the storage medium and the equipment, vehicle load measurement can be convenient and fast, and the accuracy of vehicle load measurement data can be improved.
Drawings
FIG. 1: the invention discloses a flow diagram of a vehicle load measuring method;
FIG. 2: the invention discloses a structural schematic diagram of a vehicle load measuring device.
Wherein the reference numbers of the drawings in the specification are as follows: the device comprises a data acquisition module 21, a judgment module 22, a first calculation module 23 and a second calculation module 24.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, a method for measuring a vehicle load according to an embodiment of the present invention includes the steps of:
and step S11, vehicle motion data are acquired, wherein the vehicle motion data comprise vehicle motion time and vehicle acceleration.
Specifically, from the start of the vehicle, a plurality of motion data of the vehicle, such as the speed of the vehicle, the acceleration of the vehicle, the motion time of the vehicle, etc., are generated, and by acquiring the motion data of the vehicle, corresponding data can be provided for subsequently judging whether the motion time of the vehicle is within the preset time, calculating the first vehicle weight and calculating the second vehicle weight.
And step S12, judging whether the vehicle movement time is within the preset time.
Specifically, after the movement time of the vehicle is obtained, whether the movement time of the vehicle is within the preset time is judged according to the preset time, the movement time is divided into two conditions, corresponding calculation can be performed on two different conditions of the movement time of the vehicle in the following process, and the vehicle load of the two different conditions can be accurately calculated.
And step S13, when the vehicle movement time is determined to exceed the preset time, judging the driving state of the vehicle according to the vehicle acceleration, when the driving state of the vehicle is determined to be constant-speed driving, calculating according to the vehicle movement data to obtain a first vehicle weight, and performing median filtering processing on the first vehicle weight to obtain the vehicle load.
Specifically, when the movement time of the vehicle exceeds a preset time range, the running state of the vehicle is judged, and the running state of the vehicle is judged to be constant-speed running or accelerated running according to the acceleration data of the vehicle; in the first case, when the movement time of the vehicle exceeds the preset time range and the driving state of the vehicle is constant-speed driving, the obtained vehicle movement data is used for calculating to obtain the weight of the vehicle, namely the weight of the first vehicle, and then the weight of the vehicle is subjected to median filtering to obtain the load of the vehicle. Through calculating the mass of the vehicle under the first condition, the weight of the vehicle in a constant-speed running state exceeding a preset time range can be accurately calculated, and further the load of the vehicle is obtained, so that the measurement of the load of the vehicle is convenient, and the precision of load data is improved.
And step S14, when the motion time of the vehicle is determined to be within the preset time or the running state of the vehicle is accelerated, calculating according to the variation of the resultant force and the variation of the acceleration of the vehicle to obtain the weight of a second vehicle, and performing median filtering processing on the weight of the second vehicle to obtain the load of the vehicle.
Specifically, in the second case, when the moving time of the vehicle is within a preset time range, or when the moving time of the vehicle is beyond the preset time range and the driving state of the vehicle is acceleration driving, the weight of the vehicle, that is, the weight of the second vehicle is calculated by the variation of the acceleration of the vehicle and the variation of the resultant force, and then the weight of the vehicle is subjected to median filtering processing, so as to obtain the load of the vehicle. Through calculating the mass of the vehicle under the second condition, the vehicle weight of the vehicle in a preset time or in an accelerated driving state can be accurately calculated, and further the obtained load is obtained, so that the measurement of the vehicle load is convenient, and the precision of the load data is improved.
In this embodiment, the present invention provides a method for measuring a vehicle load, which has the following beneficial effects: by acquiring the motion data of the vehicle, corresponding data can be provided for subsequently judging whether the motion time of the vehicle is within the preset time, calculating the weight of the first vehicle and calculating the weight of the second vehicle; judging whether the movement time of the vehicle is within the preset time, dividing the movement time into two conditions, and performing corresponding calculation aiming at two different conditions under the movement time of the vehicle in the following process to accurately calculate the vehicle load under the two different conditions; the weight of the vehicle in a constant-speed running state beyond the preset time range can be accurately calculated by calculating the mass of the vehicle when the movement time of the vehicle exceeds the preset time range, so that the load of the vehicle is obtained, the measurement of the load of the vehicle is convenient, and the precision of load data is improved; the vehicle weight in the preset time or in the accelerated running state can be accurately calculated by calculating the mass of the vehicle in the preset time or in the condition that the moving time exceeds the preset time range and the running state is accelerated, so that the obtained load is obtained, the measurement of the vehicle load is convenient, and the precision of the load data is improved. By the vehicle load measuring method provided by the embodiment of the invention, the vehicle load can be measured conveniently and the accuracy of the vehicle load measuring data can be improved.
In another embodiment of the present invention, in a vehicle load measuring method, the vehicle motion data further includes: the system comprises an engine, a transmission ratio of a gearbox, a transmission ratio of a main speed reducer, mechanical transmission efficiency, wheel radius, gravity acceleration, a rolling resistance coefficient of wheels, a road slope angle, a windward area of a vehicle running direction, a vehicle speed and an air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure BDA0003488112790000071
wherein, TtqFor the torque delivered by the engine, igIs the gear ratio of the gearbox, i0Is the transmission ratio of the main reducer, etaTFor mechanical transmission efficiency, r is the radius of the wheel, m is the first vehicle weight, g is the gravitational acceleration, f is the rolling resistance coefficient of the wheel, α is the road slope angle, A is the windward area in the direction of travel of the vehicle, u is the road slope angleaAs the vehicle speed, CdIs the air resistance coefficient.
Specifically, under the condition that the movement time of the vehicle exceeds the preset time range, the mass of the vehicle is calculated through the specific formula by using data generated during the movement of the vehicle, so that the precision of the obtained vehicle mass can be improved, the measurement precision of the vehicle load is further improved, and the practicability of the scheme is improved.
In a method for measuring a vehicle load according to another embodiment of the present invention, a formula for calculating the second vehicle weight is:
Figure BDA0003488112790000081
where Δ F is a resultant force variation, Δ a is an acceleration variation, and m is a second vehicle weight.
Specifically, when the movement time of the vehicle exceeds the preset time range and the driving state is the acceleration driving state, the mass of the vehicle can be calculated through the specific formula by utilizing the acceleration variation and the resultant force variation generated when the vehicle moves, wherein the resultant force variation can be the variation of the driving force of the vehicle, the precision of the obtained vehicle mass can be improved, the measurement precision of the vehicle load can be improved, and the practicability of the scheme is improved.
In another embodiment of the present invention, in a vehicle load measuring method, the formula for performing median filtering processing is:
Figure BDA0003488112790000082
wherein m isiFor the ith vehicle weight, x is the selected length of the vehicle weight.
Specifically, the calculated vehicle weights are a one-dimensional sequence { m }1，m2，m3……mnTaking one section of the image, and setting the length of the section as x (x is an odd number); the x numbers are sorted by size and then the number at its center point is taken as the filtered output. For example, the calculated vehicle weight is 9 groups of data, such as { (0.9058, 1), (0.6324, 2), (0.5469, 3), (0.1270, 4), (0.0975, 5), (0.09575, 6), (0.9134, 7), (0.2785, 8), (0.9649) }, x is 3, the sorting by size outputs 0.6324, 2-4 groups of outputs 0.5469, 3-5 groups of outputs 0.5469, 4-6 groups of outputs 0.9575, …, and the output data is plotted to obtain an intuitive weight curve, and when the weight curve tends to be smooth, the load is output. By carrying out median filtering processing, a stable output value of the vehicle load can be obtained, so that the measurement precision of the vehicle load is improved, and the practicability of the scheme is enhanced.
In another embodiment of the present invention, a vehicle load measuring method further includes, after the step of acquiring vehicle motion data: and carrying out filtering processing on the vehicle motion data.
Specifically, because the sensor is the signal of telecommunication propagation, can receive external electromagnetic wave interference at data acquisition's in-process, perhaps voltage sudden change for the signal of telecommunication changes, thereby leads to the data that acquire to appear the burr problem when drawing into the curve, leads to the computational result to produce the error, through carrying out filtering process to vehicle data, can make the curve become level and smooth, reduces calculation error, improves calculation accuracy, with the practicality of reinforcing this scheme.
In addition, in a vehicle load measuring method according to another embodiment of the present invention, the preset time is 10 minutes.
Specifically, obtain through a large amount of experimental data analysis, because road conditions and driver's action of going custom, just accomplish the acceleration phase in 10 minutes, through judging whether vehicle movement time is in 10 minutes, and then accomplish the load under the different situation and calculate, can be so that the vehicle load measurement becomes convenient to the practicality of reinforcing this scheme.
Example two
Accordingly, referring to fig. 2, a vehicle load measuring device provided in an embodiment of the present invention includes: the device comprises a data acquisition module 21, a judgment module 22, a first calculation module 23 and a second calculation module 24;
the data acquisition module 21 is configured to acquire vehicle motion data, where the vehicle motion data includes vehicle motion time and vehicle acceleration;
the judging module 22 is configured to judge whether the vehicle movement time is within a preset time;
the first calculating module 23 is configured to determine a driving state of the vehicle according to the vehicle acceleration when it is determined that the vehicle movement time exceeds the preset time, calculate according to the vehicle movement data when it is determined that the driving state of the vehicle is constant-speed driving, to obtain a first vehicle weight, and perform median filtering on the first vehicle weight, to obtain a vehicle load;
the second calculating module 24 is configured to calculate according to a resultant force variation and an acceleration variation of the vehicle to obtain a second vehicle weight when it is determined that the vehicle movement time is within the preset time or the driving state of the vehicle is acceleration driving, and perform median filtering on the second vehicle weight to obtain a vehicle load.
By implementing the embodiment of the invention, the motion data of the vehicle is acquired, so that corresponding data can be provided for subsequently judging whether the motion time of the vehicle is within the preset time, calculating the weight of the first vehicle and calculating the weight of the second vehicle; judging whether the movement time of the vehicle is within the preset time, dividing the movement time into two conditions, and performing corresponding calculation aiming at two different conditions under the movement time of the vehicle in the following process to accurately calculate the vehicle load under the two different conditions; the weight of the vehicle in a constant-speed running state beyond the preset time range can be accurately calculated by calculating the mass of the vehicle when the movement time of the vehicle exceeds the preset time range, so that the load of the vehicle is obtained, the measurement of the load of the vehicle is convenient, and the precision of load data is improved; the vehicle weight in the preset time or in the accelerated running state can be accurately calculated by calculating the mass of the vehicle in the preset time or in the condition that the moving time exceeds the preset time range and the running state is accelerated, so that the obtained load is obtained, the measurement of the vehicle load is convenient, and the precision of the load data is improved.
In another embodiment of the present invention, there is provided a vehicle load measuring apparatus, wherein the vehicle motion data further includes: the system comprises an engine, a transmission ratio of a gearbox, a transmission ratio of a main speed reducer, mechanical transmission efficiency, wheel radius, gravity acceleration, a rolling resistance coefficient of wheels, a road slope angle, a windward area of a vehicle running direction, a vehicle speed and an air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure BDA0003488112790000101
wherein, TtqFor the torque delivered by the engine, igIs the gear ratio of the gearbox, i0Is the transmission ratio of the main reducer, etaTFor mechanical transmission efficiency, r is the radius of the wheel, m is the first vehicle weight, g is the gravitational acceleration, f is the rolling resistance coefficient of the wheel, α is the road slope angle, A is the windward area in the direction of travel of the vehicle, u is the road slope angleaAs the vehicle speed, CdIs the air resistance coefficient.
By implementing the embodiment of the invention, the mass of the vehicle is obtained through the specific formula, so that the precision of the obtained vehicle mass can be improved, the measurement precision of the vehicle load is further improved, and the practicability of the scheme is improved.
In a vehicle load measuring device according to another embodiment of the present invention, a calculation formula of the second vehicle weight is:
Figure BDA0003488112790000102
where Δ F is a resultant force variation, Δ a is an acceleration variation, and m is a second vehicle weight.
By implementing the embodiment of the invention, the mass of the vehicle is obtained through the specific formula, the precision of the obtained vehicle mass can be improved, the measurement precision of the vehicle load is improved, and the practicability of the scheme is improved.
In another embodiment of the present invention, in a vehicle load measuring apparatus, the formula for performing median filtering processing is:
Figure BDA0003488112790000111
wherein m isiFor the ith vehicle weight, x is the selected length of the vehicle weight.
By implementing the embodiment of the invention, the stable output value of the vehicle load can be obtained by carrying out median filtering processing, so that the measurement precision of the vehicle load is improved, and the practicability of the scheme is enhanced.
In another embodiment of the present invention, the data obtaining module 21 is further configured to: and carrying out filtering processing on the vehicle motion data.
By implementing the embodiment of the invention, the vehicle data is filtered, so that the curve can be flattened, the calculation error is reduced, the calculation precision is improved, and the practicability of the scheme is enhanced.
Further, in a vehicle load measuring device according to another embodiment of the present invention, the preset time is 10 minutes.
By implementing the embodiment of the invention, the vehicle load can be conveniently measured, so that the practicability of the scheme is enhanced.
EXAMPLE III
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; wherein the computer program, when executed, controls an apparatus in which the computer readable storage medium is located to perform a vehicle load carrying vehicle method as described in any of the above embodiments.
Example four
The embodiment of the present invention further provides a terminal device, where the terminal device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor, when executing the computer program, implements a vehicle load measuring method according to any of the above embodiments.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program) that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., the general purpose Processor may be a microprocessor, or the Processor may be any conventional Processor, the Processor is a control center of the terminal device, and various interfaces and lines are used to connect various parts of the terminal device.
The memory mainly includes a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like, and the data storage area may store related data and the like. In addition, the memory may be a high speed random access memory, may also be a non-volatile memory, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, or may also be other volatile solid state memory devices.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the terminal device is only an example and does not constitute a limitation of the terminal device, and may include more or less components, or combine some components, or different components.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.

Claims (10)

1. A vehicle load measuring method, comprising:
acquiring vehicle motion data, wherein the vehicle motion data comprises vehicle motion time and vehicle acceleration;
judging whether the vehicle movement time is within a preset time or not;
when the vehicle movement time is determined to exceed the preset time, judging the driving state of the vehicle according to the vehicle acceleration, when the driving state of the vehicle is determined to be constant-speed driving, calculating according to the vehicle movement data to obtain a first vehicle weight, and performing median filtering processing on the first vehicle weight to obtain the vehicle load;
and when the movement time of the vehicle is determined to be within the preset time or the driving state of the vehicle is accelerated driving, calculating according to the variation of the resultant force and the variation of the acceleration of the vehicle to obtain the weight of a second vehicle, and performing median filtering processing on the weight of the second vehicle to obtain the load of the vehicle.
2. A vehicle load measuring method as claimed in claim 1, wherein said vehicle motion data further comprises: the system comprises an engine, a transmission ratio of a gearbox, a transmission ratio of a main speed reducer, mechanical transmission efficiency, wheel radius, gravity acceleration, a rolling resistance coefficient of wheels, a road slope angle, a windward area of a vehicle running direction, a vehicle speed and an air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure FDA0003488112780000011
wherein, TtqFor the torque delivered by the engine, igIs the gear ratio of the gearbox, i0Is the transmission ratio of the main reducer, etaTFor mechanical transmission efficiency, r is the radius of the wheel, m is the first vehicle weight, g is the gravitational acceleration, f is the rolling resistance coefficient of the wheel, α is the road slope angle, A is the windward area in the direction of travel of the vehicle, u is the road slope angleaAs the vehicle speed, CdIs the air resistance coefficient.
3. A vehicle load measuring method according to claim 1, wherein said second vehicle weight is calculated by the formula:
Figure FDA0003488112780000021
where Δ F is a resultant force variation, Δ a is an acceleration variation, and m is a second vehicle weight.
4. A vehicle load measuring method according to claim 1, wherein said median filtering process is performed by the formula:
Figure FDA0003488112780000022
wherein m isiFor the ith vehicle weight, x is the selected length of the vehicle weight.
5. A vehicle load measuring method as claimed in claim 1, wherein said step of obtaining vehicle motion data is followed by the step of: and carrying out filtering processing on the vehicle motion data.
6. A method as claimed in claim 1, wherein the predetermined time is 10 minutes.
7. A vehicle load measuring device, comprising: the device comprises a data acquisition module, a judgment module, a first calculation module and a second calculation module;
the data acquisition module is used for acquiring vehicle motion data, wherein the vehicle motion data comprises vehicle motion time and vehicle acceleration;
the judging module is used for judging whether the vehicle movement time is within a preset time;
the first calculation module is used for judging the running state of the vehicle according to the acceleration of the vehicle when the movement time of the vehicle is determined to exceed the preset time, calculating according to the movement data of the vehicle when the running state of the vehicle is determined to be constant-speed running to obtain the weight of the first vehicle, and performing median filtering processing on the weight of the first vehicle to obtain the load of the vehicle;
the second calculation module is used for calculating according to the resultant force variation and the acceleration variation of the vehicle to obtain a second vehicle weight when the vehicle movement time is determined to be within the preset time or the driving state of the vehicle is accelerated driving, and performing median filtering processing on the second vehicle weight to obtain the vehicle load.
8. A vehicle load measuring device according to claim 7, wherein said median filtering process is performed by the formula:
Figure FDA0003488112780000031
wherein m isiFor the ith vehicle weight, x is the selected length of the vehicle weight.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program; wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform a vehicle load measuring method as claimed in any one of claims 1-6.
10. A terminal device, comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a vehicle load measuring method as claimed in any one of claims 1-6 when executing the computer program.
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