CN114701508A - Vehicle mass estimation method, apparatus, device, storage medium, and program product - Google Patents
Vehicle mass estimation method, apparatus, device, storage medium, and program product Download PDFInfo
- Publication number
- CN114701508A CN114701508A CN202210409454.9A CN202210409454A CN114701508A CN 114701508 A CN114701508 A CN 114701508A CN 202210409454 A CN202210409454 A CN 202210409454A CN 114701508 A CN114701508 A CN 114701508A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- estimated
- speed
- mass
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present application relates to a vehicle mass estimation method, apparatus, device, storage medium, and program product. The method comprises the following steps: acquiring vehicle running information of a first time period and vehicle running information of a second time period; determining a target state of the vehicle according to the vehicle running information of the first time period; when the target state is a first preset state, calculating to obtain the estimated mass of the vehicle according to the vehicle running information in the first time period; calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information in the second time period; and when the speed difference value between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, determining the vehicle mass according to the estimated mass. By adopting the method, the quality of the electric automobile can be quickly and accurately estimated.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a method, an apparatus, a device, a storage medium, and a program product for estimating a vehicle mass.
Background
Compared with the traditional automobile, the electric automobile has small influence on the environment, and the prospect of the electric automobile is widely seen. During the use of the electric vehicle, the quality of the electric vehicle affects the lateral control and longitudinal control of the vehicle. Therefore, a method for rapidly and accurately estimating the mass of the electric vehicle is needed to enhance the vehicle control and further improve the safety of the vehicle running.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle mass estimation method, a device, a computer readable storage medium and a computer program product, which can quickly and accurately estimate the mass of an electric vehicle.
In a first aspect, the present application provides a vehicle mass estimation method, the method comprising: acquiring vehicle running information of a first time period and vehicle running information of a second time period; determining a target state of the vehicle according to the vehicle running information of the first time period; when the target state is a first preset state, calculating to obtain the estimated mass of the vehicle according to the vehicle running information in the first time period; calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information in the second time period; and when the speed difference value between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, determining the vehicle mass according to the estimated mass.
In one embodiment, the determining the target state of the vehicle according to the vehicle travel information of the first period of time includes: and determining the target state of the vehicle according to at least one of vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information and wiper information.
In one embodiment, the calculating the estimated mass of the vehicle based on the vehicle travel information for the first time period includes: and calculating the estimated mass of the vehicle according to the vehicle running information of the first time interval by using a kinetic energy theorem.
In one embodiment, said calculating an estimated speed of said vehicle based on said estimated mass and said vehicle travel information for said second period of time comprises: calculating the estimated speed according to the vehicle running information of the second time interval and the estimated mass by the kinetic energy theorem:
m is the estimated mass, TiTorque, v, of an electric machine of the vehicle at time iiThe vehicle speed at the moment i, n is the total calculation step length, i0Is the speed ratio of the main speed reducer of the vehicle, eta is the transmission efficiency of the main speed reducer, CdIs the coefficient of air resistance, A is the frontal area, SiIs the distance traveled by the vehicle in step length at time i, r is the tire rolling radius of the vehicle, g is the gravitational acceleration, f is the rolling resistance coefficient, vnFor said estimated speed, v1The vehicle speed is the starting time.
In one embodiment, the determining the mass of the vehicle according to the estimated mass when the speed difference between the estimated speed and the true speed in the vehicle travel information for the second period of time satisfies a first preset relationship includes: if the speed difference between the estimated speed and the real speed in the vehicle running information in the second time interval meets the first preset relation, calculating to obtain a quality difference according to the estimated quality and the historical estimated quality; if the quality difference value meets a second preset relation, storing the estimated quality obtained by the calculation; and determining the mass of the vehicle according to the stored historical estimated mass and the calculation result of the estimated mass obtained by the calculation at this time.
In one embodiment, further comprising: and if the speed difference value between the estimated speed and the actual speed does not meet the first preset relation, using the vehicle mass obtained by the last calculation as the vehicle mass of the corresponding time period.
In one embodiment, further comprising: if the mass difference does not satisfy a second preset relationship, determining a second vehicle state of the vehicle before the estimation starting moment; and if the second vehicle state is a second preset state, taking the estimated mass as the vehicle mass.
In a second aspect, the present application also provides a vehicle mass estimation device, the device comprising:
the acquisition module is used for acquiring vehicle running information of a first time period and vehicle running information of a second time period;
the state determination module is used for determining the target state of the vehicle according to the vehicle running information of the first time interval;
the estimated mass module is used for calculating the estimated mass of the vehicle according to the vehicle running information in the first time period when the target state is a first preset state;
the estimated speed module is used for calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information of the second time period;
and the quality determining module is used for determining the vehicle quality according to the estimated quality when the speed difference value between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the steps of the method described above when the processor executes the computer program.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method described above.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the vehicle mass estimation method, the vehicle mass estimation device, the vehicle mass estimation equipment, the storage medium and the program product, the vehicle mass is estimated through the vehicle running information, no additional sensor is required to be installed, the convergence speed is high, and the application range is wide. The effectiveness of the estimated mass of the vehicle is judged by using the difference between the estimated speed and the true speed obtained by the estimated mass to reduce the influence of the road gradient on the accuracy of the estimated mass. When the difference value between the estimated speed and the real speed does not meet the first preset relation, the electric automobile is indicated to run on a slope, and the vehicle mass of the automobile is not determined according to the estimated mass; if the difference value between the estimated speed and the real speed meets the first preset relation, the electric automobile is indicated to run on a straight road, and the vehicle mass of the automobile is determined according to the estimated mass so as to quickly and accurately estimate the vehicle mass of the electric automobile.
Drawings
FIG. 1 is a diagram of an exemplary vehicle mass estimation method;
FIG. 2 is a schematic flow chart diagram of a vehicle mass estimation method in one embodiment;
FIG. 3 is a schematic flow chart diagram of a vehicle mass estimation method in another embodiment;
FIG. 4 is a block diagram showing the construction of a vehicle mass estimating apparatus according to one embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
The quality estimation method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. The control end of the vehicle is communicated with each sensor on the vehicle to acquire vehicle running information, and then the target state of the vehicle is determined according to the vehicle running information in the first time period; when the target state is a first preset state, calculating to obtain the estimated mass of the vehicle according to the vehicle running information of a first period; calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information in the second time period; and when the speed difference value between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, determining the vehicle mass according to the estimated mass.
In one embodiment, as shown in fig. 2, a vehicle mass estimation method is provided, which is described by taking the method as an example applied to a control end of the vehicle in fig. 1, and comprises the following steps:
in step 202, vehicle travel information for a first time period and vehicle travel information for a second time period are obtained.
Wherein the first period is a duration of time to estimate the estimated mass of the vehicle, the second period is subsequent to the first period, and the duration of the second period is equal to the first period. The vehicle driving information includes, but is not limited to, vehicle speed information, gear information, accelerator pedal information, brake information, tire pressure information, wiper information, motor torque, total calculation step (n), and final drive speed ratio (i)0) Transmission efficiency, coefficient of air resistance (C)d) At least one of the windward area (A), the tire rolling radius (r), the gravitational acceleration (g), and the rolling resistance coefficient (f). Wherein the step length is the software running period.
Specifically, during the running process of the vehicle, the control end of the vehicle acquires the vehicle running information in a first time interval and the vehicle running information in a second time interval in real time. Alternatively, the control terminal of the vehicle may also acquire the historical vehicle travel information for a specified period of time from the data storage system as the vehicle travel information for the first period of time and the vehicle travel information for the second period of time to calculate the vehicle mass for any historical period of time.
In step 204, a target state of the vehicle is determined based on the vehicle travel information for the first time period.
The target state is determined according to the vehicle running information, wherein the target state may include a first preset state and a non-first preset state, and the target state is one of the first preset state and the non-first preset state. The first preset state is that the vehicle speed in the vehicle speed information is in a vehicle speed target range, the vehicle gear in the gear information is in a forward gear, the tread depth in the accelerator pedal information is in a tread target range, the brake information does not contain a brake instruction, the tire pressure in the tire pressure information is in a normal range, and the wiper in the wiper information is in a non-working state. The non-first preset state is that the vehicle speed in the vehicle speed information is out of a vehicle speed target range, or the vehicle gear in the gear information is in a non-forward gear, or the tread depth in the accelerator pedal information is out of a tread target range, or the brake information comprises a brake instruction, or the tire pressure in the tire pressure information is out of a normal range, or the wiper in the wiper information is in a working state. Alternatively, the target range of the vehicle speed is 40km/h-50km/h, and the target range of the stepping is 30% -40%.
Specifically, the control end of the vehicle determines the target state of the vehicle according to the vehicle speed, gear information, accelerator pedal information, brake information, tire pressure information and wiper information in the vehicle running information in the first time period.
And step 206, when the target state is a first preset state, calculating the estimated mass of the vehicle according to the vehicle running information in the first period.
Specifically, the control end of the vehicle compares the target state of the vehicle with a first preset state, and when the target state is the first preset state, the control end of the vehicle compares the target state of the vehicle with the first preset state according to the speed information, the motor torque, the total calculation step length (n) and the speed ratio (i) of the main speed reducer in the vehicle running information of the first time period0) Transmission efficiency (eta), air resistance coefficient (C)d) And calculating at least one of the windward area (A), the rolling radius (r) of the tire, the gravity acceleration (g) and the rolling resistance coefficient (f) to obtain the estimated mass of the vehicle. When the target state is not the first preset state, step 202 is entered.
In a specific embodiment, the control end of the vehicle calculates the estimated mass of the vehicle according to the vehicle running information of the first time period by the kinetic energy theorem, namely formula (1).
Wherein the calculation data in the formula (1) are vehicle travel information of the first period, respectively. Wherein m is an estimated mass of the vehicle; t isiIs the torque of the motor at time i; v. ofiVehicle speed at time i; n is the total calculation step; i.e. i0Is the main reducer speed ratio; eta is the transmission efficiency; cdIs the air resistance coefficient; a is the frontal area; siIs the distance traveled by the step length at the time i, which is obtained by multiplying the vehicle speed at the time i by the step lengthCan be obtained; r is the tire rolling radius; g is the acceleration of gravity; f is the rolling resistance coefficient; v. ofnIs the vehicle speed at the estimated end time; v. of1Is the estimated start time vehicle speed. Alternatively, the estimation time period is 4 seconds, that is, the time period from the estimation start time to the estimation end time is 4 seconds.
In the embodiment, the vehicle mass is estimated through the kinetic energy theorem, the convergence rate is high, the effect of no need of adding an additional sensor is achieved, the method is suitable for calculating the vehicle mass of any electric vehicle, and the transportability is high.
And step 208, calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information in the second time period.
Wherein the kind of the vehicle travel information of the second period is the same as that of the vehicle travel information of the first period. The estimated speed is the estimated vehicle speed at the estimated end time of the second period calculated by the formula (1).
Specifically, the control end of the vehicle brings the estimated mass calculated according to the vehicle running information of the first time period and the vehicle running information of the second time period into the formula (1) for reverse calculation, and obtains the estimated vehicle speed of the estimated end time of the second time period.
And step 210, when the speed difference value between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, determining the vehicle mass according to the estimated mass.
Wherein, the first preset relationship is a preset speed difference range between the estimated speed and the real speed. Optionally, the first predetermined relationship is that the speed difference is less than 5%. Wherein the speed difference is calculated by equation (2).
Wherein, Vn1To estimate the speed, Vn2Is the true speed.
Specifically, when the difference between the estimated speed and the actual speed in the vehicle travel information in the second time period, which is obtained by the formula (2), satisfies a first preset relationship, it is considered that the vehicle travels on a straight good road surface without a slope, and the vehicle mass is determined according to the estimated mass. When the speed difference does not meet the first preset relation, the vehicle is indicated to run on the road surface with the slope, and the vehicle mass cannot be determined according to the estimated mass.
According to the vehicle mass estimation method, the vehicle mass is estimated through the vehicle running information, an additional sensor is not required to be installed, the convergence speed is high, and the application range is wide. The effectiveness of the estimated mass of the vehicle is judged by using the difference between the estimated speed and the true speed obtained by the estimated mass to reduce the influence of the road gradient on the accuracy of the estimated mass. When the difference value between the estimated speed and the real speed does not meet the first preset relation, the electric automobile is indicated to run on a slope, and the vehicle mass of the automobile is not determined according to the estimated mass; if the difference value between the estimated speed and the real speed meets the first preset relation, the electric automobile is indicated to run on a straight road, and the vehicle mass of the automobile is determined according to the estimated mass so as to quickly and accurately estimate the vehicle mass of the electric automobile.
In one embodiment, determining the target state of the vehicle based on the vehicle travel information for the first period of time includes: and determining the target state of the vehicle according to at least one of the vehicle speed information, the gear information, the accelerator pedal information, the braking information, the tire pressure information and the windscreen wiper information. Specifically, the control end of the vehicle determines whether the target state of the vehicle is a first preset state or a non-first preset state according to the vehicle speed in the vehicle speed information of the first time period, the vehicle gear in the gear information, the tread depth in the accelerator pedal information, the instruction in the braking information, the tire pressure value in the tire pressure information and the working state of the wiper in the wiper information.
In the above embodiment, the control end of the vehicle determines the target state of the vehicle according to the vehicle running information in the first time period, so as to determine whether to estimate the vehicle mass according to the vehicle running information, so as to screen the vehicle running information generated in the vehicle running process, and filter out data unsuitable for the vehicle mass estimation method by the method, so as to ensure the accuracy of the calculated vehicle mass.
In one embodiment, calculating the estimated speed of the vehicle based on the estimated mass and the vehicle travel information for the second time period comprises: calculating an estimated speed according to the vehicle running information and the estimated mass in the second time period by using a kinetic energy theorem:
m is the estimated mass, TiTorque, v, at time i for the motor of the vehicleiThe vehicle speed at the time i, n is the total calculation step length, i0Speed ratio of main speed reducer of vehicle, eta transmission efficiency of main speed reducer, CdIs the coefficient of air resistance, A is the frontal area, SiIs the distance traveled by the vehicle in steps at time i, r is the rolling radius of the vehicle's tires, g is the gravitational acceleration, f is the rolling resistance coefficient, vnTo estimate the speed, v1The vehicle speed is the starting time.
Specifically, the vehicle travel information and the estimated mass for the second period are taken into equation (1) to obtain an estimated speed corresponding to the estimated speed end time for the second period. It should be noted that the estimated speed value is calculated as the vehicle travel information of the second time period, and m is substituted into the estimated mass calculated from the vehicle travel information of the first time period, TiTorque of the motor of the vehicle at the moment i corresponding to the second time interval, SiThe distance traveled by the vehicle in the step length of the time i corresponding to the second time interval v1The speed of the vehicle corresponding to the starting time of the second time interval. Total calculation step length n and speed ratio i of main speed reducer of vehicle0Transmission efficiency eta of main speed reducer and air resistance coefficient CdThe windward area a, the tire rolling radius r of the vehicle, the gravitational acceleration g, and the rolling resistance coefficient f are also vehicle travel information for the second period.
In the above-described embodiment, the estimated speed corresponding to the estimated speed end time of the second period is calculated by the kinetic energy theorem, and the estimated speed is a theoretical speed of the electric vehicle at the estimated speed end time of the second period, which is a speed without considering the gradient, that is, the theoretical speed is equivalent to the speed of the electric vehicle at the estimated speed end time of the second period when the electric vehicle travels on a good flat road.
In one embodiment, when a speed difference between the estimated speed and the true speed in the vehicle travel information for the second period of time satisfies a first preset relationship, determining the mass of the vehicle based on the estimated mass includes: if the speed difference between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, calculating to obtain a quality difference according to the estimated quality and the historical estimated quality; if the quality difference value meets a second preset relation, storing the estimated quality obtained by the calculation; and determining the mass of the vehicle according to the stored historical estimated mass and the calculation result of the estimated mass obtained by the calculation.
Wherein the historical estimated mass is an estimated mass of the host vehicle calculated in a time period before the first time period. Alternatively, the historical estimated mass is an estimated mass of the host vehicle calculated in a time period immediately preceding the first time period. The second predetermined relationship is a predetermined range of estimated masses. Optionally, the second preset range is that the mass difference is less than 5%, wherein the mass difference is calculated by formula (3).
Where m is the estimated mass, mLIs an estimated mass of the host vehicle calculated in a time period prior to the first time period.
Specifically, the control end of the vehicle calculates a speed difference value between the estimated speed and the real speed according to a formula (2), calculates a mass difference value between the estimated mass and the historical estimated mass according to a formula (3) if the speed difference value satisfies a first preset relation, and stores the estimated mass obtained by the calculation if the mass difference value satisfies a second preset relation. It can be understood that the estimated speed and the actual speed are both speeds corresponding to the estimated speed ending time of the second time period, wherein the estimated speed is obtained by calculation according to formula (1), and the estimated speed is almost the same as the actual speed of the electric vehicle on a straight good road surface and is a theoretical speed without considering the road gradient. And the actual speed is the actual speed of the vehicle in the real world, which is the actual speed taking into account the gradient-affecting factor. Therefore, when the speed difference between the estimated speed and the actual speed satisfies the first preset relationship, it can be considered that the electric vehicle is driven on a straight and good road surface in the first time period and the second time period, and the calculated estimated mass is an effective value.
Optionally, the control end of the vehicle obtains the stored latest three-time history estimated mass and the estimated mass calculated this time, calculates an average value of the three-time history estimated mass and the estimated mass calculated this time, and takes the calculated average value as the mass of the vehicle. When the second preset relationship is satisfied, the control end of the vehicle obtains the stored latest three historical estimated masses and the estimated mass obtained by the calculation, and the second preset relationship is sequentially satisfied according to the time sequence.
In the embodiment, the control end of the vehicle determines the mass of the vehicle through the current estimated mass and the historical estimated mass together, so that the accuracy of the calculated vehicle is higher.
In one embodiment, further comprising: and if the speed difference value between the estimated speed and the real speed does not meet the first preset relation, using the vehicle mass obtained by the last calculation as the vehicle mass of the corresponding time period.
Specifically, the control end of the vehicle calculates a speed difference value between the estimated speed and the real speed according to formula (2), and if the speed difference value does not satisfy the first preset relationship, the calculation is stopped and step 202 is executed, and the vehicle mass calculated last time is taken as the vehicle mass of the corresponding time period.
In the above embodiment, if the speed difference between the estimated speed and the actual speed calculated according to the formula (2) does not satisfy the first preset relationship, it indicates that the electric vehicle does not run on a straight and good road surface in the first time period or the second time period, and the calculated data of the estimated mass is inaccurate.
In one embodiment, further comprising: if the mass difference does not satisfy the second preset relationship, determining a second vehicle state of the vehicle before the estimation starting moment; and if the second vehicle state is a second preset state, taking the estimated mass as the vehicle mass.
The second preset state is that the speed of the vehicle is 0 and the time length of the speed being 0 is a preset time length. Optionally, the preset time period for the speed of 0 is at least 3 min.
Specifically, the control end of the vehicle calculates a mass difference between the estimated mass and the historical estimated mass according to formula (3), and if the mass difference does not satisfy a second preset relationship, determines a second vehicle state of the vehicle before the estimation start time according to the vehicle running speed between the estimation end time corresponding to the current estimation start time and the latest historical estimated mass and the time length corresponding to the running speed. And if the vehicle running speed between the current estimation starting moment and the estimation ending moment corresponding to the latest historical estimation mass is 0 and the duration of the running speed being 0 is more than 3min, taking the current estimation mass as the vehicle mass.
In the above embodiment, the change of the mass of the vehicle is determined by estimating the second vehicle state of the vehicle before the starting time, and if the second vehicle state of the vehicle is the second preset state, it indicates that the mass of the vehicle may be changed, for example, the cargo is added or the cargo is reduced, so that the estimated mass calculated this time is more loaded as the mass of the vehicle.
It should be noted that the estimated mass and the mass of the vehicle may be the mass of the vehicle when the vehicle is empty, or may be the total mass of the vehicle plus the cargo.
It can be understood that if the control end of the vehicle collects the real-time vehicle running information in the first time period and the real-time vehicle running information in the second time period, the current mass of the vehicle is calculated. If the control end of the vehicle collects the vehicle running information of the first time period specified by the history and the vehicle running information of the second time period specified by the history, the mass of the vehicle in the specified time period is calculated.
Alternatively, the estimated duration is 4 seconds and the step size is 0.01 seconds.
In a specific embodiment, as shown in fig. 3, the control end of the vehicle acquires vehicle running information of a first time period, wherein the vehicle running information of the first time period comprises vehicle speed information, gear information, accelerator pedal information, brake information, tire pressure information and wiper information of the first time period. And the control end of the vehicle judges whether the state of the vehicle in the first time interval meets the estimation condition or not according to the vehicle form information, wherein the state of the vehicle in the first time interval can be understood as the target state in other embodiments, and the condition that the vehicle meets the estimation condition can be understood as the target state in other embodiments as the first preset state. And if the speed of the vehicle in the first period is greater than the set lower limit value and less than the set upper limit value, the gear is in a forward gear, the stepping depth of the accelerator is in the set range, the braking information does not contain a braking instruction, the tire pressure is normal, and the windscreen wiper is in a non-working state, the vehicle is considered to meet the estimation condition. Optionally, the set lower limit value of the vehicle speed is 40 km/h; the set upper limit value of the vehicle speed is 50 km/h; the set range of the stepping depth of the accelerator is 30-40%.
When the state of the vehicle during the first period does not satisfy the estimation condition, the last valid estimated mass is used as the mass of the vehicle. When the state of the vehicle in the first period satisfies the estimation condition, the motor torque (T) of the vehicle at each moment in the first period is continuously obtainedi) Total calculated step length (n), main reducer speed ratio (i)0) Transmission efficiency (eta), air resistance coefficient (C)d) The windward area (A), the rolling radius (r) of the tire, the gravity acceleration (g), the rolling resistance coefficient (f) and the vehicle speed V corresponding to the starting time of the first time period1The vehicle speed V corresponding to the end time of the first periodnAnd substitutes the above data into formula (1) to calculate the estimated mass of the vehicle. Where one run cycle of the software, i.e. the offset, is 0.01 seconds, it will be appreciated that the step size may be varied using different vehicle control terminals. Optionally, and the estimation period is set to 4 seconds, so that the total step size is equal to the estimation period/software running period.
The control end of the vehicle continuously acquires the motor torque (T) at each moment of the second time period of the vehiclei2) Total calculation step (n)2) Main and main reductionSpeed ratio (i)02) Transmission efficiency (eta)2) Air resistance coefficient (C)d2) Frontal area (A)2) Tire rolling radius (r)2) Acceleration of gravity (g)2) Rolling resistance coefficient (f)2) Vehicle speed V corresponding to the second time period starting time12Substituting the data and the estimation into the formula (1) to calculate the theoretical vehicle speed V corresponding to the end time of the second time intervaln2。
The control end of the vehicle acquires the actual vehicle speed V corresponding to the end moment of the second time periodn2’And calculating the theoretical vehicle speed V according to the formula (2)n2And Vn2’Whether the speed difference value of (a) is within a set range, i.e., whether it is less than 5%. If the theoretical vehicle speed and the actual vehicle speed are greater than 5%, the last effective estimated mass is used as the mass of the vehicle. If the theoretical vehicle speed and the actual vehicle speed are less than 5%, calculating the mass difference value between the current estimated mass and the last estimated mass according to the formula (3), and if the mass difference value is less than 5%, calculating the average value of the current estimated mass and the last estimated mass, and taking the average value as the actual mass of the vehicle. Wherein, the difference value of the mass calculated by the estimated mass of the time and the estimated mass of the last three times is less than 5 percent according to the time sequence.
Alternatively, when the difference between the current estimated mass and the last estimated mass is less than 5%, an average value of the current estimated mass and the last estimated mass is calculated and taken as the actual mass of the vehicle.
And if the difference between the current estimated mass and the last estimated mass is more than 5%, acquiring the vehicle running speed and time before the first period. And if the running speed is 0km/h and the time length of the speed is 0 is more than 3min, taking the estimated mass at this time as the actual mass of the vehicle, otherwise, adjusting the weight of the estimated mass at this time, calculating a weighted average value according to the estimated mass at this time after the weight is adjusted and the estimated masses at the last time, and taking the weighted average value as the actual mass of the vehicle. It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the present application also provides a vehicle mass estimation device for implementing the vehicle mass estimation method related to the above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the vehicle mass estimation device provided below can be referred to the limitations on the vehicle mass estimation method in the above, and details are not repeated here.
In one embodiment, as shown in fig. 4, there is provided a vehicle mass estimation device including: an acquisition module 100, a state determination module 200, an estimated mass module 300, an estimated velocity module 400, a determined mass module 500, wherein:
the acquiring module 100 is configured to acquire vehicle driving information of a first time period and vehicle driving information of a second time period.
The state determination module 200 is configured to determine a target state of the vehicle according to the vehicle driving information of the first time period.
And the estimated mass module 300 is used for calculating the estimated mass of the vehicle according to the vehicle running information in the first period when the target state is a first preset state.
An estimated speed module 400 is configured to calculate an estimated speed of the vehicle based on the estimated mass and the vehicle travel information for the second time period.
The mass determination module 500 is configured to determine a mass of the vehicle according to the estimated mass when a speed difference between the estimated speed and a true speed in the vehicle travel information of the second time period satisfies a first preset relationship.
In one embodiment, the status determination module includes: and determining the target state of the vehicle according to at least one of the vehicle speed information, the gear information, the accelerator pedal information, the braking information, the tire pressure information and the windscreen wiper information.
In one embodiment, the estimate quality module includes: and calculating the estimated mass of the vehicle according to the vehicle running information of the first time period by using the kinetic energy theorem.
In one embodiment, the estimated velocity module includes: calculating an estimated speed according to the vehicle running information and the estimated mass in the second time period by using a kinetic energy theorem:
m is the estimated mass, TiTorque, v, at time i for the motor of the vehicleiThe vehicle speed at the time i, n is the total calculation step length, i0Speed ratio of main speed reducer of vehicle, transmission efficiency of main speed reducer, and speed ratio of etadIs the coefficient of air resistance, A is the frontal area, SiIs the distance traveled by the vehicle in steps at time i, r is the rolling radius of the vehicle's tires, g is the gravitational acceleration, f is the rolling resistance coefficient, vnTo estimate the speed, v1The vehicle speed is the starting time.
In one embodiment, the determine quality module further comprises:
the calculation quality difference value module is used for calculating a quality difference value according to the estimation quality and the historical estimation quality if the speed difference value between the estimation speed and the real speed in the vehicle running information in the second time interval meets a first preset relation;
the storage module is used for storing the estimated mass obtained by the calculation if the mass difference value meets a second preset relation;
and the first vehicle mass determining submodule is used for determining the mass of the vehicle according to the stored historical estimated mass and the calculation result of the estimated mass obtained by the calculation at this time.
In one embodiment, further comprising: and the second vehicle mass determining submodule is used for using the vehicle mass obtained by the last calculation as the vehicle mass of the corresponding time period if the speed difference value between the estimated speed and the real speed does not meet the first preset relation.
In one embodiment, further comprising: the second state determining module is used for determining a second vehicle state of the vehicle before the estimation starting moment if the mass difference value does not meet a second preset relation;
and a third vehicle mass determination submodule for taking the estimated mass as the vehicle mass if the second vehicle state is the second preset state.
The respective modules in the above vehicle mass estimation device may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a vehicle controller, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data such as vehicle running information. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle mass estimation method.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring vehicle running information of a first time period and vehicle running information of a second time period; determining a target state of the vehicle according to the vehicle running information of the first time period; when the target state is a first preset state, calculating to obtain the estimated mass of the vehicle according to the vehicle running information of a first period; calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information in the second time period; and when the speed difference between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, determining the vehicle mass according to the estimated mass.
In one embodiment, determining the target state of the vehicle from the vehicle travel information for the first time period, as implemented by the processor when executing the computer program, comprises: and determining the target state of the vehicle according to at least one of the vehicle speed information, the gear information, the accelerator pedal information, the braking information, the tire pressure information and the windscreen wiper information.
In one embodiment, the calculating an estimated mass of the vehicle based on the vehicle travel information for the first time period implemented when the processor executes the computer program comprises: and calculating the estimated mass of the vehicle according to the vehicle running information of the first time period by using the kinetic energy theorem.
In one embodiment, the calculating of the estimated speed of the vehicle based on the estimated mass and the vehicle travel information for the second time period, as implemented by the processor when executing the computer program, comprises: calculating an estimated speed according to the vehicle running information and the estimated mass in the second time period by using a kinetic energy theorem:
m is the estimated mass, TiTorque v at time i for the motor of the vehicleiThe vehicle speed at the time i, n is the total calculation step length, i0Speed ratio of main speed reducer of vehicle, transmission efficiency of main speed reducer, and speed ratio of etadIs the air resistance coefficient, A is the windward area, SiIs the distance traveled by the vehicle in steps at time i, r is the rolling radius of the vehicle's tires, g is the gravitational acceleration, f is the rolling resistance coefficient, vnTo estimate the speed, v1The vehicle speed is the starting time.
In one embodiment, the processor, when executing the computer program, determines the mass of the vehicle based on the estimated mass when a speed difference between the estimated speed and the true speed in the vehicle travel information for the second period of time satisfies a first preset relationship, includes: if the speed difference between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, calculating to obtain a quality difference according to the estimated quality and the historical estimated quality; if the quality difference value meets a second preset relation, storing the estimated quality obtained by the calculation; and determining the mass of the vehicle according to the stored historical estimated mass and the calculated result of the estimated mass obtained by the calculation.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and if the speed difference value between the estimated speed and the real speed does not meet the first preset relation, using the vehicle mass obtained by the last calculation as the vehicle mass of the corresponding time period.
In one embodiment, the processor, when executing the computer program, further performs the steps of: if the mass difference does not satisfy the second preset relationship, determining a second vehicle state of the vehicle before the estimation starting moment; and if the second vehicle state is a second preset state, taking the estimated mass as the vehicle mass.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring vehicle running information of a first time period and vehicle running information of a second time period; determining a target state of the vehicle according to the vehicle running information of the first time period; when the target state is a first preset state, calculating to obtain the estimated mass of the vehicle according to the vehicle running information of a first period; calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information in the second time period; and when the speed difference between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, determining the vehicle mass according to the estimated mass.
In one embodiment, determining a target state of a vehicle from vehicle travel information for a first time period, as implemented by a computer program when executed by a processor, comprises: and determining the target state of the vehicle according to at least one of the vehicle speed information, the gear information, the accelerator pedal information, the braking information, the tire pressure information and the windscreen wiper information.
In one embodiment, the computer program when executed by the processor to calculate an estimated mass of the vehicle based on vehicle travel information for a first time period comprises: and calculating the estimated mass of the vehicle according to the vehicle running information of the first time period by using the kinetic energy theorem.
In one embodiment, the computer program when executed by the processor to calculate an estimated speed of the vehicle based on the estimated mass and the vehicle travel information for the second time period comprises: calculating an estimated speed according to the vehicle running information and the estimated mass in the second time period by using a kinetic energy theorem:
m is the estimated mass, TiTorque, v, at time i for the motor of the vehicleiThe vehicle speed at the time i, n is the total calculation step length, i0Speed ratio of main speed reducer of vehicle, transmission efficiency of main speed reducer, and speed ratio of etadIs the coefficient of air resistance, A is the frontal area, SiIs the distance traveled by the vehicle in steps at time i, r is the rolling radius of the vehicle's tires, g is the gravitational acceleration, f is the rolling resistance coefficient, vnTo estimate the speed, v1Vehicle speed at the start time.
In one embodiment, the computer program when executed by the processor for determining the mass of the vehicle based on the estimated mass when a speed difference between the estimated speed and the true speed in the vehicle travel information for the second period of time satisfies a first preset relationship includes: if the speed difference between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset bar relation, calculating to obtain a quality difference according to the estimated quality and the historical estimated quality; if the quality difference value meets a second preset relation, storing the estimated quality obtained by the calculation; and determining the mass of the vehicle according to the stored historical estimated mass and the calculation result of the estimated mass obtained by the calculation.
In one embodiment, the computer program when executed by the processor further performs the steps of: and if the speed difference value between the estimated speed and the real speed does not meet the first preset relation, using the vehicle mass obtained by the last calculation as the vehicle mass of the corresponding time period.
In one embodiment, the computer program when executed by the processor further performs the steps of: if the mass difference does not satisfy the second preset relationship, determining a second vehicle state of the vehicle before the estimation starting moment; and if the second vehicle state is a second preset state, taking the estimated mass as the vehicle mass.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of: acquiring vehicle running information of a first time period and vehicle running information of a second time period; determining a target state of the vehicle according to the vehicle running information of the first time period; when the target state is a first preset state, calculating to obtain the estimated mass of the vehicle according to the vehicle running information of a first period; calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information in the second time period; and when the speed difference value between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, determining the vehicle mass according to the estimated mass.
In one embodiment, determining a target state of a vehicle from vehicle travel information for a first time period, as implemented by a computer program when executed by a processor, comprises: and determining the target state of the vehicle according to at least one of the vehicle speed information, the gear information, the accelerator pedal information, the braking information, the tire pressure information and the windscreen wiper information.
In one embodiment, the computer program when executed by the processor for calculating an estimated mass of the vehicle based on the vehicle travel information for the first time period comprises: and calculating the estimated mass of the vehicle according to the vehicle running information in the first time period by using the kinetic energy theorem.
In one embodiment, the computer program when executed by the processor to perform calculating an estimated speed of the vehicle based on the estimated mass and the vehicle travel information for the second time period comprises: calculating an estimated speed according to the vehicle running information and the estimated mass in the second time period by using a kinetic energy theorem:
m is the estimated mass, TiTorque, v, at time i for the motor of the vehicleiThe vehicle speed at the time i, n is the total calculation step length, i0Is the final drive ratio of the vehicle, eta is the transmission efficiency of … … of the vehicle, CdIs the coefficient of air resistance, A is the frontal area, SiIs the distance traveled by the vehicle in steps at time i, r is the rolling radius of the vehicle's tires, g is the gravitational acceleration, f is the rolling resistance coefficient, vnTo estimate the speed, v1The vehicle speed is the starting time.
In one embodiment, the computer program when executed by the processor for determining the mass of the vehicle based on the estimated mass when a speed difference between the estimated speed and the true speed in the vehicle travel information for the second period of time satisfies a first preset relationship includes: if the speed difference between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, calculating to obtain a quality difference according to the estimated quality and the historical estimated quality; if the quality difference value meets a second preset relation, storing the estimated quality obtained by the calculation; and determining the mass of the vehicle according to the stored historical estimated mass and the calculation result of the estimated mass obtained by the calculation.
In one embodiment, the computer program when executed by the processor further performs the steps of: and if the speed difference value between the estimated speed and the real speed does not meet the first preset relation, using the vehicle mass obtained by the last calculation as the vehicle mass of the corresponding time period.
In one embodiment, the computer program when executed by the processor further performs the steps of: if the mass difference does not satisfy the second preset relationship, determining a second vehicle state of the vehicle before the estimation starting moment; and if the second vehicle state is a second preset state, taking the estimated mass as the vehicle mass. It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.
Claims (10)
1. A vehicle mass estimation method, characterized by comprising:
acquiring vehicle running information of a first time period and vehicle running information of a second time period;
determining a target state of the vehicle according to the vehicle running information of the first time period;
when the target state is a first preset state, calculating to obtain the estimated mass of the vehicle according to the vehicle running information in the first time period;
calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information in the second time period;
and when the speed difference value between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation, determining the vehicle mass according to the estimated mass.
2. The method of claim 1, wherein determining the target state of the vehicle based on the vehicle travel information for the first time period comprises:
and determining the target state of the vehicle according to at least one of vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information and wiper information.
3. The method of claim 2, wherein calculating the estimated mass of the vehicle based on the vehicle travel information for the first time period comprises:
and calculating the estimated mass of the vehicle according to the vehicle running information of the first time period by a kinetic energy theorem.
4. The method of claim 3, wherein said calculating an estimated speed of the vehicle based on the estimated mass and the vehicle travel information for the second period of time comprises:
calculating the estimated speed according to the vehicle running information of the second time interval and the estimated mass by the kinetic energy theorem:
m is the estimated mass, TiTorque, v, of an electric machine of the vehicle at time iiThe vehicle speed at the moment i, n is the total calculation step length, i0Is the speed ratio of the main speed reducer of the vehicle, eta is the transmission efficiency of the main speed reducer, CdIs the coefficient of air resistance, A is the frontal area, SiThe distance traveled by the step length of the vehicle at the time i, r, g, f, a rolling resistance coefficient, v, the tire rolling radius of the vehicle, and the rolling resistance coefficient of the vehiclenFor said estimated speed, v1The vehicle speed is the starting time.
5. The method according to claim 4, wherein the determining the mass of the vehicle according to the estimated mass when the speed difference between the estimated speed and the true speed in the vehicle travel information for the second period of time satisfies a first preset relationship includes:
if the speed difference between the estimated speed and the real speed in the vehicle running information in the second time interval meets the first preset relation, calculating to obtain a quality difference according to the estimated quality and the historical estimated quality;
if the quality difference value meets a second preset relation, storing the estimated quality obtained by the calculation;
and determining the mass of the vehicle according to the stored historical estimated mass and the calculated result of the estimated mass obtained by the calculation.
6. The method of claim 5, further comprising:
and if the speed difference value between the estimated speed and the real speed does not meet the first preset relation, using the vehicle mass obtained by the last calculation as the vehicle mass of the corresponding time period.
7. The method of claim 6, further comprising:
if the mass difference does not satisfy a second preset relationship, determining a second vehicle state of the vehicle before the estimation starting moment;
and if the second vehicle state is a second preset state, taking the estimated mass as the vehicle mass.
8. A vehicle mass estimation device, characterized by comprising:
the acquisition module is used for acquiring vehicle running information of a first time period and vehicle running information of a second time period;
the state determining module is used for determining a target state of the vehicle according to the vehicle running information in the first time period;
the estimated mass module is used for calculating the estimated mass of the vehicle according to the vehicle running information in the first time period when the target state is a first preset state;
the estimated speed module is used for calculating the estimated speed of the vehicle according to the estimated mass and the vehicle running information of the second time period;
and the quality determining module is used for determining the vehicle quality according to the estimated quality when the speed difference value between the estimated speed and the real speed in the vehicle running information in the second time interval meets a first preset relation.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210409454.9A CN114701508A (en) | 2022-04-19 | 2022-04-19 | Vehicle mass estimation method, apparatus, device, storage medium, and program product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210409454.9A CN114701508A (en) | 2022-04-19 | 2022-04-19 | Vehicle mass estimation method, apparatus, device, storage medium, and program product |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114701508A true CN114701508A (en) | 2022-07-05 |
Family
ID=82174469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210409454.9A Pending CN114701508A (en) | 2022-04-19 | 2022-04-19 | Vehicle mass estimation method, apparatus, device, storage medium, and program product |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114701508A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115009288A (en) * | 2022-07-19 | 2022-09-06 | 潍柴动力股份有限公司 | Method and device for determining vehicle weight |
-
2022
- 2022-04-19 CN CN202210409454.9A patent/CN114701508A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115009288A (en) * | 2022-07-19 | 2022-09-06 | 潍柴动力股份有限公司 | Method and device for determining vehicle weight |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111717214B (en) | Vehicle mass estimation method and device, electronic equipment and storage medium | |
| CN110091751B (en) | Electric automobile endurance mileage prediction method, device and medium based on deep learning | |
| CN103402847B (en) | Method for determining the driving resistance of a vehicle | |
| CN103150677B (en) | Radical driving condition recognition methods and system | |
| CN108515960A (en) | Slide energy reclaiming method, apparatus and system | |
| CN104973067A (en) | Apparatus and method for estimating vehicle velocity | |
| JP6263771B2 (en) | Vehicle drive battery deterioration determination device | |
| US20040002795A1 (en) | Apparatus and method for estimating a turning characteristic of a vehicle | |
| US20200055525A1 (en) | Fuel consumption-based driving behavior scoring | |
| CN109808699B (en) | Method and system for estimating vehicle load | |
| US9574886B2 (en) | Method and computer program product for estimating a travel time for a vehicle | |
| CN114701508A (en) | Vehicle mass estimation method, apparatus, device, storage medium, and program product | |
| CN111143940A (en) | Triggering method and device for vehicle sliding energy recovery, electronic equipment and storage medium | |
| CN114148300A (en) | Automatic parking method | |
| CN110481344B (en) | Method and system for controlling acceleration of double-motor automobile | |
| CN113119986A (en) | Vehicle mass estimation method and device, electronic equipment and storage medium | |
| WO2024036838A1 (en) | Intelligent maintenance method and apparatus for range-extended vehicle, electronic device, and storage medium | |
| WO2020193860A1 (en) | Modelling dynamics of a vehicle | |
| US11536364B2 (en) | Gear stage choosing apparatus, gear stage choosing method, and simulation apparatus | |
| CN115655431A (en) | Method, system, computer and storage medium for estimating automobile load | |
| CN114248774A (en) | Vehicle curve control method and device, computer equipment and storage medium | |
| CN115489340A (en) | Multi-motor torque distribution method and device, computer equipment and storage medium | |
| CN112202890A (en) | Early warning method and device for vehicle driving risk and computer equipment | |
| CN114132299B (en) | Hydraulic retarder liquid level judgment method and device, computer equipment and storage medium | |
| CN118062024A (en) | Vehicle gear determination method, device, electronic controller and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |