CN114407906B - Vehicle load measuring method, device, storage medium and equipment - Google Patents

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

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Publication number
CN114407906B
CN114407906B CN202210086415.XA CN202210086415A CN114407906B CN 114407906 B CN114407906 B CN 114407906B CN 202210086415 A CN202210086415 A CN 202210086415A CN 114407906 B CN114407906 B CN 114407906B
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vehicle
weight
acceleration
load
preset time
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CN114407906A (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 device, a storage medium and equipment, wherein whether the vehicle movement time is within a preset time is judged by acquiring vehicle movement data; when the movement time of the vehicle is determined to exceed the preset time, judging the running state of the vehicle according to the acceleration of the vehicle, and when the running state of the vehicle is determined to be uniform running, 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; when the movement time of the vehicle is determined to be within the preset time or the running state of the vehicle is acceleration running, calculating according to the resultant force variation and the acceleration variation 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. According to the invention, the vehicle load measurement is convenient and fast, and the accuracy of the vehicle load measurement data is improved.

Description

Vehicle load measuring method, device, storage medium and equipment
Technical Field
The present invention relates to the field of vehicle load measurement, and in particular, to a vehicle load measurement method, device, storage medium and apparatus.
Background
With the continuous development of science and technology, automobiles are more and more commonly in society, almost every household can be used for the automobiles, and a series of problems also occur along with the continuous development, wherein, the problem of how to measure the load of the automobiles quickly, conveniently and accurately is attracting attention.
At present, the existing technology for measuring the load of the automobile mainly comprises the following two modes: the wagon balance measurement mode commonly used in the high-speed toll station has the advantages that the wagon balance is paved in advance, the construction period is long, the paving process is complex, excessive factors are required to be considered, the wagon balance cannot be changed basically after the paving process is shaped, the wagon balance is difficult to maintain once a problem occurs in the later use process, and the wagon is required to be parked above a designated position for measurement; the sensor is used for sensing the deformation of the bearing points of the vehicle body, the deformation of the vehicle body is converted into an electric signal through the sensor, and the load of the cargo vehicle 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 changes along with the increase of the service life of the automobile, and the calculation result is inaccurate. Because the service environment of the commercial vehicle is poor, the precision of the sensor is inaccurate or damaged, and the calculated load result has larger error and can not be measured even.
Therefore, a method for measuring the load of a vehicle is needed at present so as to solve the problems of inconvenient measurement, inaccurate data and the like in the existing load measuring technology.
Disclosure of Invention
The invention provides a vehicle load measuring method, a 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 running state of the vehicle according to the vehicle acceleration, and when the running state of the vehicle is determined to be uniform running, 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 a vehicle load;
and when the movement time of the vehicle is determined to be within the preset time or the running state of the vehicle is acceleration running, calculating according to the resultant force variation and the acceleration variation 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.
Preferably, the vehicle motion data further includes: torque from the engine, gear ratio of the gearbox, gear ratio of the final drive, mechanical transmission efficiency, radius of the wheels, gravitational acceleration, rolling resistance coefficient of the wheels, gradient angle of the road, windward area of the running direction of the vehicle, vehicle speed and air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure BDA0003488112790000021
wherein T is tq For the torque emitted by the engine, i g I is the transmission ratio of the gearbox 0 Is the transmission ratio of the main speed reducer, eta T For 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 gradient angle of the road, A is the windward area in the vehicle running direction, u a For vehicle speed, C d Is the air resistance coefficient.
Preferably, the calculation formula of the second vehicle weight is:
Figure BDA0003488112790000022
where Δf is the resultant force variation, Δa is the acceleration variation, and m is the second vehicle weight.
Preferably, the formula for performing median filtering is as follows:
Figure BDA0003488112790000023
wherein m is i For the ith vehicle weight, x is the selected length of the vehicle weight.
Preferably, after the step of acquiring the vehicle motion data, the method further includes: and filtering the vehicle motion data.
Preferably, the preset time is 10 minutes.
Correspondingly, another embodiment of the present invention also provides a vehicle load measuring device, including: the device comprises a data acquisition module, a judging module, a first calculating module and a second calculating 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 vehicle acceleration when the vehicle movement time exceeds the preset time, calculating according to the vehicle movement data to obtain a first vehicle weight when the running state of the vehicle is determined to be uniform running, and carrying out median filtering on the first vehicle weight to obtain a vehicle load;
and 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 movement time of the vehicle is determined to be within the preset time or the running state of the vehicle is acceleration running, and performing median filtering processing on the second vehicle weight to obtain the vehicle load.
Preferably, the vehicle motion data further includes: torque from the engine, gear ratio of the gearbox, gear ratio of the final drive, mechanical transmission efficiency, radius of the wheels, gravitational acceleration, rolling resistance coefficient of the wheels, gradient angle of the road, windward area of the running direction of the vehicle, vehicle speed and air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure BDA0003488112790000031
wherein T is tq For the torque emitted by the engine, i g I is the transmission ratio of the gearbox 0 Is the transmission ratio of the main speed reducer, eta T For 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 gradient angle of the road, A is the windward area in the vehicle running direction, u a For vehicle speed, C d Is the air resistance coefficient.
Preferably, the calculation formula of the second vehicle weight is:
Figure BDA0003488112790000041
where Δf is the resultant force variation, Δa is the acceleration variation, and m is the second vehicle weight.
Preferably, the formula for performing median filtering is as follows:
Figure BDA0003488112790000042
wherein m is i For the ith vehicle weight, x is the selected length of the vehicle weight.
Preferably, the data acquisition module is further configured to: and filtering the vehicle motion data.
Preferably, the preset time is 10 minutes.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program; wherein the computer program, when run, 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 the preceding claims.
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the vehicle load measuring method according to any one of the above when executing the computer program.
Compared with the prior art, the vehicle load measuring method, device, storage medium and equipment provided by the embodiment of the invention have the following beneficial effects: by acquiring the movement data of the vehicle, corresponding data can be provided for subsequently judging whether the movement 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 cases, and carrying out corresponding calculation aiming at two different cases under the movement time of the vehicle for the follow-up, so as to accurately calculate the load of the vehicle under the two different cases; the weight of the vehicle in a constant-speed running state exceeding the preset time range can be accurately calculated by calculating the vehicle mass under the condition that 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 fast, and the accuracy of load data is improved; the vehicle weight in the preset time or the acceleration running state can be accurately calculated by calculating the vehicle weight in the preset time or the acceleration running state under the condition that the vehicle movement time exceeds the preset time range or the running state is the acceleration running state, so that the obtained load is measured conveniently, and the accuracy of the load data is improved. By the vehicle load measuring method, the device, the storage medium and the equipment provided by the embodiment of the invention, the vehicle load measurement can be facilitated and the accuracy of the vehicle load measurement data can be improved.
Drawings
Fig. 1: a flow diagram of a vehicle load measuring method according to an embodiment of the invention;
fig. 2: the embodiment of the invention provides a structural schematic diagram of a vehicle load measuring device.
Wherein, the reference numerals of the specification drawings 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 following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, a method for measuring a load of a vehicle according to an embodiment of the present invention includes the steps of:
step S11, acquiring vehicle motion data, wherein the vehicle motion data comprise vehicle motion time and vehicle acceleration.
Specifically, from the start of the vehicle, a plurality of movement data of the vehicle, such as the speed of the vehicle, the acceleration of the vehicle, the movement time of the vehicle, etc., are generated, and by acquiring the movement data of the vehicle, corresponding data can be provided for subsequently judging whether the movement time of the vehicle is within a preset time, calculating the weight of the first vehicle, and calculating the weight of the second vehicle.
And step S12, judging whether the vehicle movement time is within a 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 cases, corresponding calculation can be carried out for the two different cases under the movement time of the vehicle, and the vehicle loads of the two different cases can be accurately calculated.
And S13, judging the running state of the vehicle according to the vehicle acceleration when the vehicle movement time exceeds the preset time, calculating according to the vehicle movement data to obtain a first vehicle weight when the running state of the vehicle is determined to be uniform running, and performing median filtering processing on the first vehicle weight to obtain a vehicle load.
Specifically, when the movement time of the vehicle exceeds a preset time range, judging the running state of the vehicle, and judging the running state of the vehicle to be uniform running or acceleration running according to the acceleration data of the vehicle; in the first case, when the movement time of the vehicle exceeds a preset time range and the running state of the vehicle is uniform running, calculating by acquiring the obtained vehicle movement data to obtain the weight of the vehicle, namely the first vehicle weight, and then carrying out median filtering processing on the weight of the vehicle to obtain the load of the vehicle. By calculating the mass of the vehicle under the first condition, the weight of the vehicle in a state of uniform running beyond a preset time range can be accurately calculated, and then the load of the vehicle is obtained, so that the measurement of the load of the vehicle is convenient and fast, and the accuracy of load data is improved.
And step S14, when the movement time of the vehicle is determined to be within the preset time or the running state of the vehicle is acceleration running, calculating according to the resultant force variation and the acceleration variation of the vehicle to obtain a second vehicle weight, and performing median filtering processing on the second vehicle weight to obtain a vehicle load.
Specifically, in the second case, when the movement time of the vehicle is within a preset time range, or when the movement time of the vehicle exceeds the preset time range and the running state of the vehicle is acceleration running, the weight of the vehicle, that is, the second vehicle weight is obtained by calculating the change amount of the acceleration of the vehicle and the change amount of the resultant force, and then the load of the vehicle is obtained by performing median filtering processing on the weight of the vehicle. By calculating the mass of the vehicle under the second condition, the weight of the vehicle in the preset time or in the acceleration running state can be accurately calculated, and the obtained load is further obtained, so that the measurement of the load of the vehicle is convenient and fast, and the accuracy of the load data is improved.
In this embodiment, the invention provides a vehicle load measuring method, which has the following beneficial effects: by acquiring the movement data of the vehicle, corresponding data can be provided for subsequently judging whether the movement 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 cases, and carrying out corresponding calculation aiming at two different cases under the movement time of the vehicle for the follow-up, so as to accurately calculate the load of the vehicle under the two different cases; the weight of the vehicle in a constant-speed running state exceeding the preset time range can be accurately calculated by calculating the vehicle mass under the condition that 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 fast, and the accuracy of load data is improved; the vehicle weight in the preset time or the acceleration running state can be accurately calculated by calculating the vehicle weight in the preset time or the acceleration running state under the condition that the vehicle movement time exceeds the preset time range or the running state is the acceleration running state, so that the obtained load is measured conveniently, and the accuracy of the load data is improved. The vehicle load measuring method provided by the embodiment of the invention can facilitate vehicle load measurement and improve the accuracy of vehicle load measuring data.
In another embodiment of the present invention, the vehicle load measuring method further includes: torque from the engine, gear ratio of the gearbox, gear ratio of the final drive, mechanical transmission efficiency, radius of the wheels, gravitational acceleration, rolling resistance coefficient of the wheels, gradient angle of the road, windward area of the running direction of the vehicle, vehicle speed and air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure BDA0003488112790000071
wherein T is tq For the torque emitted by the engine, i g I is the transmission ratio of the gearbox 0 Is the transmission ratio of the main speed reducer, eta T For 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 gradient angle of the road, A is the windward area in the vehicle running direction, u a For vehicle speed, C d Is the air resistance coefficient.
Specifically, when the movement time of the vehicle exceeds the preset time range, the mass of the vehicle is calculated by using the data generated when the vehicle moves according to the specific formula, so that the accuracy of the obtained mass of the vehicle can be improved, and the measurement accuracy of the load of the vehicle is further improved, so that the practicability of the scheme is improved.
In the method for measuring the load of the vehicle according to another embodiment of the present invention, the calculation formula of the second vehicle weight is:
Figure BDA0003488112790000081
where Δf is the resultant force variation, Δa is the acceleration variation, and m is the second vehicle weight.
Specifically, when the movement time of the vehicle exceeds the preset time range and the running state is the acceleration running state, the acceleration variation and the resultant variation generated when the vehicle moves are utilized, the resultant variation can be the variation of the driving force of the vehicle, the mass of the vehicle is obtained through the specific formula, the accuracy of the obtained mass of the vehicle can be improved, and the measurement accuracy of the load of the vehicle is improved, so that the practicability of the scheme is improved.
In the vehicle load measuring method according to another embodiment of the present invention, the formula for performing median filtering processing is as follows:
Figure BDA0003488112790000082
wherein m is i For the ith vehicle weight, x is the selected length of the vehicle weight.
Specifically, the calculated vehicle weight is a one-dimensional sequence { m } 1 ，m 2 ，m 3 ……m n One section is taken, and the length of the section is set as x (x is an odd number); the x numbers are sized and then the number of center points is taken as the filtering output. For example, a calculated vehicle weight of 9 sets 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) }, a ranking of size with x=3 output 0.6324, 2-4 sets of output 0.5469,3-5 sets of output 0.5469,4-6 sets of output 0.9575, …, and plotting the output data yields an intuitive weight curve, and when the weight curve tends to be stationary, the load is output. Through carrying out median filtering processing, the stable output value of the vehicle load can be obtained, so that the measurement accuracy of the vehicle load is improved, and the practicability of the scheme is enhanced.
In another embodiment of the present invention, after the step of obtaining the vehicle motion data, the method further includes: and filtering the vehicle motion data.
Specifically, because the sensor is electric signal propagation, can receive external electromagnetic wave interference or voltage mutation at data acquisition's in-process for the electric signal changes, thereby leads to the data that obtains to appear the burr problem when drawing into the curve, carries out and leads to calculation result to produce the error, through carrying out filter processing to vehicle data, can make the curve become level and smooth, reduces calculation error, improves calculation accuracy, in order to strengthen the practicality of this scheme.
In addition, in the vehicle load measuring method according to another embodiment of the present invention, the preset time is 10 minutes.
Specifically, the vehicle load measurement can be made convenient and fast by analyzing a large amount of experimental data, and the acceleration stage is completed in 10 minutes due to road conditions and driving behavior habits of drivers, and by judging whether the vehicle movement time is within 10 minutes or not, further completing load calculation under different conditions, so that the practicability of the scheme is enhanced.
Example two
Accordingly, referring to fig. 2, a vehicle load measuring device according to an embodiment of the present invention includes: 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 a vehicle motion time and a 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 running state of the vehicle according to the vehicle acceleration when the vehicle movement time is determined to exceed the preset time, calculate according to the vehicle movement data when the running state of the vehicle is determined to be uniform running, obtain a first vehicle weight, and perform median filtering processing on the first vehicle weight to obtain a vehicle load;
the second calculating module 24 is configured to calculate, when it is determined that the vehicle movement time is within the preset time or the running state of the vehicle is acceleration running, a second vehicle weight according to a resultant force variation and an acceleration variation of the vehicle, and perform median filtering processing on the second vehicle weight to obtain a vehicle load.
By implementing the embodiment of the invention, by acquiring the movement data of the vehicle, corresponding data can be provided for subsequently judging whether the movement 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 cases, and carrying out corresponding calculation aiming at two different cases under the movement time of the vehicle for the follow-up, so as to accurately calculate the load of the vehicle under the two different cases; the weight of the vehicle in a constant-speed running state exceeding the preset time range can be accurately calculated by calculating the vehicle mass under the condition that 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 fast, and the accuracy of load data is improved; the vehicle weight in the preset time or the acceleration running state can be accurately calculated by calculating the vehicle weight in the preset time or the acceleration running state under the condition that the vehicle movement time exceeds the preset time range or the running state is the acceleration running state, so that the obtained load is measured conveniently, and the accuracy of the load data is improved.
In another embodiment of the present invention, a vehicle load measuring device is provided, wherein the vehicle motion data further includes: torque from the engine, gear ratio of the gearbox, gear ratio of the final drive, mechanical transmission efficiency, radius of the wheels, gravitational acceleration, rolling resistance coefficient of the wheels, gradient angle of the road, windward area of the running direction of the vehicle, vehicle speed and air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure BDA0003488112790000101
wherein T is tq For the torque emitted by the engine, i g I is the transmission ratio of the gearbox 0 Is the transmission ratio of the main speed reducer, eta T For 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 gradient angle of the road, A is the windward area in the vehicle running direction, u a For vehicle speed, C d Is 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 accuracy of the obtained vehicle mass can be improved, and the measuring accuracy of the vehicle load is further improved, so that the practicability of the scheme is improved.
In another embodiment of the present invention, a calculation formula of the second vehicle weight is:
Figure BDA0003488112790000102
where Δf is the resultant force variation, Δa is the acceleration variation, and m is the second vehicle weight.
By implementing the embodiment of the invention, the mass of the vehicle is obtained through the specific formula, the accuracy of the obtained vehicle mass can be improved, and the measurement accuracy of the vehicle load can be improved, so that the practicability of the scheme is improved.
In the vehicle load measuring device according to another embodiment of the present invention, the formula for performing median filtering processing is as follows:
Figure BDA0003488112790000111
wherein m is i For 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 treatment, so that the measurement accuracy of the vehicle load is improved, and the practicability of the scheme is enhanced.
In another embodiment of the present invention, the data acquisition module 21 is further configured to: and filtering the vehicle motion data.
By implementing the embodiment of the invention, the curve can be flattened by filtering the vehicle data, so that the calculation error is reduced, the calculation precision is improved, and the practicability of the scheme is enhanced.
In addition, in the vehicle load measuring device provided in another embodiment of the present invention, the preset time is 10 minutes.
By implementing the embodiment of the invention, the vehicle load measurement can be convenient and fast, so that the practicability of the scheme is enhanced.
Example III
The embodiment of the invention also provides a computer readable storage medium, which 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 method for loading a vehicle according to any one of the above embodiments.
Example IV
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the vehicle load measuring method according to any embodiment when executing the computer program.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program) stored in the memory and executed by the processor to perform the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the terminal device.
The processor 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 (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc., or the general purpose processor may be a microprocessor, or any conventional processor, which is the control center of the terminal device, that connects the various parts of the terminal device using various interfaces and lines.
The memory mainly includes a program storage area, which may store an operating system, an application program required for at least one function, and the like, and a data storage area, which may store related data and the like. In addition, the memory may be a high-speed random access memory, a nonvolatile memory such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), or the like, or may be other volatile solid-state memory devices.
It should be noted that the above-mentioned terminal device may include, but is not limited to, a processor, a memory, and those skilled in the art will understand that the above-mentioned terminal device is merely an example, and does not constitute limitation of the terminal device, and may include more or fewer components, or may combine some components, or different components.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. A vehicle load measuring method, characterized by 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 running state of the vehicle according to the vehicle acceleration, and when the running state of the vehicle is determined to be uniform running, 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 a vehicle load;
and when the movement time of the vehicle is determined to be within the preset time or the running state of the vehicle is acceleration running, calculating according to the resultant force variation and the acceleration variation 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.
2. The vehicle load measuring method according to claim 1, wherein the vehicle motion data further includes: torque from the engine, gear ratio of the gearbox, gear ratio of the final drive, mechanical transmission efficiency, radius of the wheels, gravitational acceleration, rolling resistance coefficient of the wheels, gradient angle of the road, windward area of the running direction of the vehicle, vehicle speed and air resistance coefficient;
the calculation formula of the first vehicle weight is as follows:
Figure FDA0003488112780000011
wherein T is tq For the torque emitted by the engine, i g I is the transmission ratio of the gearbox 0 Is the transmission ratio of the main speed reducer, eta T For 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 gradient angle of the road, A is the windward area in the vehicle running direction, u a For vehicle speed, C d Is the air resistance coefficient.
3. The vehicle load measuring method according to claim 1, wherein the calculation formula of the second vehicle weight is:
Figure FDA0003488112780000021
where Δf is the resultant force variation, Δa is the acceleration variation, and m is the second vehicle weight.
4. The vehicle load measuring method according to claim 1, wherein the formula for performing the median filtering process is:
Figure FDA0003488112780000022
wherein m is i For the ith vehicle weight, x is the selected length of the vehicle weight.
5. The vehicle load measuring method according to claim 1, wherein after the step of acquiring vehicle motion data, further comprising: and filtering the vehicle motion data.
6. A vehicle load measuring method according to claim 1, wherein the preset time is 10 minutes.
7. A vehicle load measuring device, characterized by comprising: the device comprises a data acquisition module, a judging module, a first calculating module and a second calculating 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 vehicle acceleration when the vehicle movement time exceeds the preset time, calculating according to the vehicle movement data to obtain a first vehicle weight when the running state of the vehicle is determined to be uniform running, and carrying out median filtering on the first vehicle weight to obtain a vehicle load;
and 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 movement time of the vehicle is determined to be within the preset time or the running state of the vehicle is acceleration running, and performing median filtering processing on the second vehicle weight to obtain the vehicle load.
8. The vehicle load measuring device according to claim 7, wherein the formula for performing the median filtering process is:
Figure FDA0003488112780000031
wherein m is i For the ith vehicle weight, x is the selected length of the vehicle weight.
9. A computer readable storage medium, wherein the computer readable storage medium comprises a stored computer program; wherein the computer program, when run, controls an apparatus in which the computer readable storage medium is located to perform a vehicle load measuring method according to 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 measurement method according to any one of claims 1-6 when the computer program is executed.
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