CN117022300A - Dynamic measuring and calculating method for load of internet-connected truck based on gradient disturbance identification and elimination - Google Patents
Dynamic measuring and calculating method for load of internet-connected truck based on gradient disturbance identification and elimination Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0666—Engine power
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2552/00—Input parameters relating to infrastructure
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Abstract
The invention discloses a dynamic measuring and calculating method for a truck load of a net truck based on gradient disturbance identification and elimination, which comprises the following specific steps: s1, acquiring attribute data and running state data of a target vehicle; s2, identifying the road gradient of the truck position; s3, measuring the acceleration of the truck; s4, synchronously processing signals of the trucks; s5, identifying and calculating the weight of the truck, the method can accurately identify and calculate the road gradient of the truck through the torque information of the truck in the lifting gear in the transmission in the ramp process, and accurately calculate the load capacity of the truck according to the calculated road gradient information, so that the accuracy of the weight identification of the truck is greatly improved, and the safety of the truck in running is improved.
Description
Technical Field
The invention belongs to the technical field of truck load calculation, and particularly relates to a dynamic net truck load measuring and calculating method based on gradient disturbance identification and elimination.
Background
Road transportation is always an important component of cargo transportation in China, and heavy trucks are taken as transportation tools for road transportation and bear heavy cargo transportation tasks. However, under the drive of maximizing the benefit of a cargo owner, the phenomenon of overload overrun is quite common, and a standard heavy truck with a full load of 30 tons can be overloaded to 120 tons after being modified. The overload overrun vehicle changes the design and use conditions of the vehicle, especially when the vehicle runs at high speed or overspeed, the public traffic safety is seriously endangered, and meanwhile, the safety of roads and bridges of the country is also a great threat.
The invention discloses a dynamic measuring and calculating method for the load of a networked truck based on gradient disturbance identification and elimination, which is disclosed by the invention with an authorized bulletin number of CN111831960B, and obtains attribute data, running state data and gradient values of the running position of a target vehicle; determining an initial load of the target vehicle and virtual mass equivalent of the target vehicle when the target vehicle runs on a road surface with the gradient value according to the acquired attribute data, running state data and gradient value of the running position of the target vehicle; and correcting the initial load of the target vehicle according to the virtual mass equivalent to obtain the load of the target vehicle. By implementing the method, the road gradient in the running process of the vehicle is converted into the virtual mass equivalent of the vehicle, the virtual mass equivalent correction is carried out on the initial load result of the target vehicle, and the accuracy of the load determining result of the vehicle is improved.
Disclosure of Invention
The invention aims to provide a dynamic measurement and calculation method for the load of a networked truck based on gradient disturbance identification and elimination, so as to solve the problems that in the method provided in the background art, certain errors exist in the calculation of the ramp, the errors exist in the calculation of the ramp, larger errors exist in the calculation of the actual load of the vehicle, the risk of overload of the truck is increased, and the road safety is affected.
In order to achieve the above purpose, the present invention provides the following technical solutions: the dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination comprises the following specific steps:
s1, acquiring attribute data and running state data of a target vehicle;
s2, identifying the road gradient of the truck position;
s3, measuring the acceleration of the truck;
s4, synchronously processing signals of the trucks;
s5, identifying and calculating the weight of the truck.
Preferably, the attribute data includes: the method comprises the steps of acquiring and obtaining the uploaded data through sensors of all parts of the vehicle, wherein the sensors are used for acquiring the mass of the target vehicle, the cross-sectional area of the running direction of the target vehicle, the model of the engine, the displacement of the engine, the maximum output power, the full-load mass of the target vehicle and the wheel rotation resistance coefficient.
Preferably, the running state data comprise the speed, acceleration, angular speed, power, engine rotation speed and driving force of the target vehicle, and the running state data are acquired by a vehicle-mounted fault diagnosis system, a vehicle-mounted intelligent terminal and a geographic information system.
Preferably, the identifying the road gradient of the truck position is specifically as follows:
the monitoring result of the CAN signal data of the vehicle in the shifting process is that a small section of acceleration movement is needed before shifting, and the power interruption of a shifting gap is a deceleration movement process, so that a small peak exists before shifting and in the shifting process, the front and rear acceleration is different, and the shifting process is relatively easy to distinguish;
through detailed analysis, the gear shift time is relatively short, the running resistance before and after gear shift is considered to be free from abrupt change, the driving force is reduced to 0 in the gear shift clearance due to power interruption, and the automobile driving force-running resistance balance relation is expressed as in the gear shift clearance:
wherein: g is the gravity of the vehicle; f is the road resistance coefficient; i is the ramp resistance coefficient; c (C) D Is the air resistance coefficient of the vehicle; a is the windward area; u (u) a Is the vehicle travel speed (km/h); delta is a conversion coefficient of the rotating mass; m is the mass of the vehicle；Vehicle acceleration at shift intervals;
and optimizing the function to obtain the following formula:
wherein: t (T) tq Is engine torque; i.e g The transmission speed ratio before gear shifting; i.e 0 Is the speed ratio of the main speed reducer; η (eta) T Is the mechanical efficiency of the drive train; r is the radius of the wheel;acceleration of the vehicle before gear shifting;
during calculation, the actual output torque T of the engine can be calculated by reading related data from the engine messages EEC1, EEC3 and EC1 tq . Acceleration before and during shifting can be calculated by using a vehicle speed differential method, common parameters in the formula can be selected from empirical values, and then the gradient can be calculated by substituting the vehicle weight into the formula.
Preferably, the truck acceleration measurement is specifically: the vehicle acceleration is the basis of gradient calculation and load calculation, and the acceleration is calculated by researching an ABS vehicle speed difference method through differential calculation of the actual vehicle speed, and the output rotation speed signal is used for redundancy check, wherein the calculation formula is as follows:
wherein u is n The vehicle speed value of the nth cycle, u n-k The vehicle speed value is the n-k period, T is the signal acquisition period, and the k value is determined according to the signal fluctuation condition.
Preferably, the processing of the truck signal synchronization is specifically as follows: when the truck runs, the torque of the engine is transmitted to wheels, the stress of the wheels is changed, the retarder generates a braking effect, acceleration calculation generates certain delay, the phenomenon of time asynchronism exists, and the AMT needs to perform certain period number delay synchronization processing on input signals.
Preferably, the weight of the truck is identified and calculated as follows:
the AMT gear shifting time is very short and is generally within 1.5s, so that the gradient is considered unchanged at a short moment after gear shifting is finished, and a vehicle weight calculation formula is obtained:
wherein T is f Driving torque for the engine; t (T) R Braking torque for the retarder; ηT is the transmission efficiency of the engine; eta R is the braking efficiency of the retarder, i a Is the rear axle speed ratio; mi is the rotating mass of the car.
Compared with the prior art, the invention has the beneficial effects that:
according to the method, through the torque information of the truck in the lifting gear of the transmission in the ramp process, the road gradient of the truck can be accurately identified and calculated, and the load capacity of the truck can be accurately calculated according to the calculated road gradient information, so that the accuracy of truck weight identification is greatly improved, and the safety of the truck in running is improved.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
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.
Referring to fig. 1, the present invention provides a technical solution: the dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination comprises the following specific steps:
s1, acquiring attribute data and running state data of a target vehicle;
the attribute data includes: the method comprises the steps of acquiring and acquiring the uploaded data through sensors of all parts of a vehicle, wherein the sensors comprise target vehicle mass, cross-sectional area of the target vehicle in the running direction, engine model, engine displacement, maximum output power, full-load mass of the target vehicle and wheel rotation resistance coefficient;
the running state data comprise the speed, acceleration, angular speed, power, engine rotating speed and driving force of the target vehicle, and are acquired by a vehicle-mounted fault diagnosis system, a vehicle-mounted intelligent terminal and a geographic information system;
s2, identifying the road gradient of the truck position;
the monitoring result of the CAN signal data of the vehicle in the shifting process is that a small section of acceleration movement is needed before shifting, and the power interruption of a shifting gap is a deceleration movement process, so that a small peak exists before shifting and in the shifting process, the front and rear acceleration is different, and the shifting process is relatively easy to distinguish;
through detailed analysis, the gear shift time is relatively short, the running resistance before and after gear shift is considered to be free from abrupt change, the driving force is reduced to 0 in the gear shift clearance due to power interruption, and the automobile driving force-running resistance balance relation is expressed as in the gear shift clearance:
wherein: g is the gravity of the vehicle; f is the road resistance coefficient; i is the ramp resistance coefficient; c (C) D Is the air resistance coefficient of the vehicle; a is the windward area; u (u) a Is the vehicle travel speed (km/h); delta is a conversion coefficient of the rotating mass; m is the mass of the vehicle;vehicle acceleration for gear shift intermittenceA degree;
and optimizing the function to obtain the following formula:
wherein: t (T) tq Is engine torque; i.e g The transmission speed ratio before gear shifting; i.e 0 Is the speed ratio of the main speed reducer; η (eta) T Is the mechanical efficiency of the drive train; r is the radius of the wheel;acceleration of the vehicle before gear shifting;
during calculation, the actual output torque T of the engine can be calculated by reading related data from the engine messages EEC1, EEC3 and EC1 tq . Acceleration before and during shifting can be calculated by using a vehicle speed differential method, common parameters in the formula can be selected from empirical values, and then the gradient can be calculated by substituting the vehicle weight into the formula.
S3, measuring the acceleration of the truck;
the vehicle acceleration is the basis of gradient calculation and load calculation, and the acceleration is calculated by researching an ABS vehicle speed difference method through differential calculation of the actual vehicle speed, and the output rotation speed signal is used for redundancy check, wherein the calculation formula is as follows:
wherein u is n The vehicle speed value of the nth cycle, u n-k The vehicle speed value is the vehicle speed value of the nth-k period, T is the signal acquisition period, and the k value is determined according to the signal fluctuation condition;
s4, synchronously processing signals of the trucks;
when the truck runs, the torque of the engine is transmitted to wheels, the stress of the wheels is changed, the retarder generates a braking effect, acceleration calculation generates certain delay, the phenomenon of time asynchronism exists, and the AMT needs to perform certain period number delay synchronization processing on input signals;
s5, identifying and calculating the weight of the truck;
the vehicle weight is calculated through a dynamic formula, the AMT gear shifting time is very short and is generally within 1.5s, so that the gradient is not changed at a short moment after gear shifting is finished, and a vehicle weight calculation formula is obtained:
wherein T is f Driving torque for the engine; t (T) R Braking torque for the retarder; ηT is the transmission efficiency of the engine; eta R is the braking efficiency of the retarder, i a Is the rear axle speed ratio; mi is the rotating mass of the car.
In summary, according to the method, through the torque information of the truck in the lifting gear of the transmission in the ramp process, the road gradient of the truck can be accurately identified and calculated, and the load capacity of the truck can be accurately calculated according to the calculated road gradient information, so that the accuracy of truck weight identification is greatly improved, and the safety of the truck in running is improved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination is characterized by comprising the following steps of: the method comprises the following specific steps:
s1, acquiring attribute data and running state data of a target vehicle;
s2, identifying the road gradient of the truck position;
s3, measuring the acceleration of the truck;
s4, synchronously processing signals of the trucks;
s5, identifying and calculating the weight of the truck.
2. The dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination according to claim 1, wherein the method is characterized by comprising the following steps of: the attribute data includes: the method comprises the steps of acquiring and obtaining the uploaded data through sensors of all parts of the vehicle, wherein the sensors are used for acquiring the mass of the target vehicle, the cross-sectional area of the running direction of the target vehicle, the model of the engine, the displacement of the engine, the maximum output power, the full-load mass of the target vehicle and the wheel rotation resistance coefficient.
3. The dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination according to claim 1, wherein the method is characterized by comprising the following steps of: the running state data comprise the speed, acceleration, angular speed, power, engine rotating speed and driving force of the target vehicle, and are acquired by a vehicle-mounted fault diagnosis system, a vehicle-mounted intelligent terminal and a geographic information system.
4. The dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination according to claim 1, wherein the method is characterized by comprising the following steps of: the road gradient of the truck position is identified specifically as follows:
the monitoring result of the CAN signal data of the vehicle in the shifting process is that a small section of acceleration movement is needed before shifting, and the power interruption of a shifting gap is a deceleration movement process, so that a small peak exists before shifting and in the shifting process, the front and rear acceleration is different, and the shifting process is relatively easy to distinguish;
through detailed analysis, the gear shift time is relatively short, the running resistance before and after gear shift is considered to be free from abrupt change, the driving force is reduced to 0 in the gear shift clearance due to power interruption, and the automobile driving force-running resistance balance relation is expressed as in the gear shift clearance:
wherein: g is the gravity of the vehicle; f is the road resistance coefficientThe method comprises the steps of carrying out a first treatment on the surface of the i is the ramp resistance coefficient; c (C) D Is the air resistance coefficient of the vehicle; a is the windward area; u (u) a Is the vehicle travel speed (km/h); delta is a conversion coefficient of the rotating mass; m is the mass of the vehicle;vehicle acceleration at shift intervals;
and optimizing the function to obtain the following formula:
wherein: t (T) tq Is engine torque; i.e g The transmission speed ratio before gear shifting; i.e 0 Is the speed ratio of the main speed reducer; η (eta) T Is the mechanical efficiency of the drive train; r is the radius of the wheel;is the vehicle acceleration before shifting.
5. The dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination according to claim 1, wherein the method is characterized by comprising the following steps of: the truck acceleration measurement is specifically as follows: the vehicle acceleration is the basis of gradient calculation and load calculation, and the acceleration is calculated by researching an ABS vehicle speed difference method through differential calculation of the actual vehicle speed, and the output rotation speed signal is used for redundancy check, wherein the calculation formula is as follows:
wherein u is n The vehicle speed value of the nth cycle, u n-k The vehicle speed value is the n-k period, T is the signal acquisition period, and the k value is determined according to the signal fluctuation condition.
6. The dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination according to claim 1, wherein the method is characterized by comprising the following steps of: the synchronous processing of the truck signals is specifically as follows: when the truck runs, the torque of the engine is transmitted to wheels, the stress of the wheels is changed, the retarder generates a braking effect, acceleration calculation generates certain delay, the phenomenon of time asynchronism exists, and the AMT needs to perform certain period number delay synchronization processing on input signals.
7. The dynamic measurement and calculation method for the load of the internet-connected truck based on gradient disturbance identification and elimination according to claim 1, wherein the method is characterized by comprising the following steps of: the weight recognition and calculation of the truck are specifically as follows:
the AMT gear shifting time is very short and is generally within 1.5s, so that the gradient is considered unchanged at a short moment after gear shifting is finished, and a vehicle weight calculation formula is obtained:
wherein T is f Driving torque for the engine; t (T) R Braking torque for the retarder; ηT is the transmission efficiency of the engine; eta R is the braking efficiency of the retarder, i a Is the rear axle speed ratio; mi is the rotating mass of the car.
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