CN117465464A - Method and device for calculating dynamic vehicle load - Google Patents
Method and device for calculating dynamic vehicle load Download PDFInfo
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- CN117465464A CN117465464A CN202311470240.3A CN202311470240A CN117465464A CN 117465464 A CN117465464 A CN 117465464A CN 202311470240 A CN202311470240 A CN 202311470240A CN 117465464 A CN117465464 A CN 117465464A
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- 238000011161 development Methods 0.000 description 5
- 238000005303 weighing Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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- Automation & Control Theory (AREA)
- Transportation (AREA)
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- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention relates to a method and a device for calculating dynamic vehicle load, which belong to the technical field of vehicle load, and the method comprises the following steps: receiving vehicle condition data of a target vehicle; the vehicle condition data at least comprises engine output torque, engine speed and vehicle speed; according to the output torque of the engine and the rotation speed of the engine, driving force is obtained to do work based on an energy method calculation formula; wind resistance acting is obtained according to the speed of the vehicle; acquiring vehicle condition data of 3 continuous instantaneous points of a preset timer step length, calculating an instantaneous vehicle load and storing the instantaneous vehicle load; when the number of the stored instantaneous vehicle loads reaches a preset number, carrying out average value processing on the instantaneous vehicle loads of the preset number to obtain a target vehicle load; the method is applicable to different vehicle models, the load of the target vehicle can be obtained only by accessing the vehicle condition data of the target vehicle without depending on a sensor, the portability is high, and the cost can be effectively reduced.
Description
Technical Field
The invention belongs to the technical field of logistics, and particularly relates to a method and a device for calculating a dynamic vehicle load.
Background
In recent years, the transportation industry in China is actively developing, and commercial vehicles are widely applied to various transportation industries. In the transportation of goods by commercial vehicles, people always want to know the weight change of the goods in the way in real time. Especially in the management of enterprise logistics vehicles, under the background of rapid development of the current internet of vehicles and big data technology, enterprises can effectively perform task scheduling and monitoring management of logistics vehicles by analyzing real-time dynamic vehicle load data, so that unnecessary resource loss can be avoided. For government traffic departments, vehicles can be conveniently treated with overrun by real-time dynamic high-precision load data so as to prolong the service life of highways and increase driving safety. Traditional static wagon balance measurement does not meet the current social development demands, and a real-time dynamic load measurement solution becomes an important social development demand.
The commercial vehicle load estimation application is very extensive, not only in the aspect of traffic management, but also in the vehicle technical development direction, the vehicle load is very important, and is an important calculation parameter necessary for building a vehicle transverse and longitudinal dynamics model: the automatic transmission needs load parameters to intelligently identify gear shifting time and rotating speed, and technologies such as predictive cruising/self-adaptive cruising/AEB need load parameters to calculate parameters such as acceleration and deceleration; the LKA/EPS and other load parameters are needed to calculate the important limit parameters of the vehicle such as the vehicle side-rolling boundary, the angular speed limit value and the like, but no load scheme on the market exists at present, the load scheme is mainly divided into two types of static weighing and dynamic weighing, the scheme is complex and high in cost, the earlier calibration and later maintenance work are needed, the scheme depends on a sensor, the portability is poor, and the cost is higher.
Disclosure of Invention
Therefore, the invention provides a method and a device for calculating the load of a dynamic vehicle, which are used for solving the problems of high complex cost, need of early calibration and later maintenance work, dependence on a sensor, poor portability and higher cost of the existing dynamic weighing scheme.
In order to achieve the above purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method of calculating dynamic vehicle load, comprising:
receiving vehicle condition data of a target vehicle; the vehicle condition data at least comprises engine output torque, engine speed and vehicle speed;
according to the output torque of the engine and the rotation speed of the engine, driving force is obtained to do work based on an energy method calculation formula; wind resistance acting is obtained according to the speed of the vehicle;
acquiring the vehicle condition data of 3 continuous instantaneous points of a preset timer step length, calculating and storing an instantaneous vehicle load, wherein an instantaneous vehicle load calculation formula is as follows:
wherein m is the instantaneous vehicle load, w 0 、w 1 、w 2 The driving force of 3 continuous instantaneous points acts in sequence, w wind0 、w wind1 、w wind2 Wind resistance of 3 continuous instantaneous points acts sequentially; the v is 1 、v 2 、v 3 The vehicle speed is 3 continuous instantaneous points in sequence;
when the number of the stored instantaneous vehicle loads reaches a preset number, carrying out average processing on the preset number of the instantaneous vehicle loads to obtain a target vehicle load.
Further, the acquiring the vehicle condition data of 3 consecutive instantaneous points of a preset timer step includes:
acquiring the vehicle condition data of 3 continuous instantaneous points of a preset timer step length, if the vehicle condition data meets preset conditions, calculating an instantaneous vehicle load according to the vehicle condition data, and if the vehicle condition data does not meet the preset conditions, acquiring the vehicle condition data of 3 continuous instantaneous points of the preset timer step length again after clearing to judge the preset conditions until the vehicle condition data meets the preset conditions; the preset conditions are torque response percentage data, vehicle speed data, whether braking exists or not and the change rate of the engine rotating speed in the vehicle condition data reach preset values; the preset value is obtained according to experimental statistics in actual business.
Further, the driving force acting is obtained based on an energy method calculation formula according to the output torque of the engine and the rotation speed of the engine, wherein the calculation formula of the driving force acting is as follows:
W＝((nmEngTrqF*rpmEngSpdF)/9550.0)*10
wherein W is driving force to do work, nmEngTrqF is engine output torque, rpmEngSpdF is engine speed.
Further, the vehicle condition data conforms to the J1939 protocol standard.
Further, the method further comprises:
and presetting an upper limit value and a lower limit value of a vehicle load according to a specific model of the vehicle, and if the instantaneous vehicle load is higher than the upper limit value and/or the instantaneous vehicle load is lower than the lower limit value, not performing storage operation.
Further, after the receiving the vehicle condition data of the target vehicle, the method further includes:
performing Kalman filtering processing on the engine output torque;
and performing low-pass filtering processing on the vehicle speed.
In a second aspect, the present invention provides an apparatus for calculating dynamic vehicle load, comprising:
the receiving data module is used for receiving the vehicle condition data of the target vehicle; the vehicle condition data at least comprises engine output torque, engine speed and vehicle speed; wind resistance acting is obtained according to the speed of the vehicle;
the working module is used for obtaining driving force to work based on an energy method calculation formula according to the output torque of the engine and the rotation speed of the engine;
the instantaneous vehicle load calculation module is used for acquiring the vehicle condition data of 3 continuous instantaneous points of a preset timer step length, calculating and storing the instantaneous vehicle load, and the instantaneous vehicle load calculation formula is as follows:
wherein m is the instantaneous vehicle load, w 0 、w 1 、w 2 The driving force of 3 continuous instantaneous points acts in sequence, w wind0 、w wind1 、w wind2 Wind resistance of 3 continuous instantaneous points acts sequentially; the v is 1 、v 2 、v 3 The vehicle speed is 3 continuous instantaneous points in sequence;
and the target vehicle load calculation module is used for carrying out average value processing on the preset number of the instantaneous vehicle loads to obtain the target vehicle load when the stored number of the instantaneous vehicle loads reaches the preset number.
The invention adopts the technical proposal and has at least the following beneficial effects:
the method and the device for calculating the dynamic vehicle load are provided, driving force acting is obtained through vehicle condition data of a target vehicle, then instantaneous vehicle load is calculated according to the vehicle condition data and the driving force acting and stored, and when the number of the stored instantaneous vehicle loads reaches a preset number, average processing is carried out on the instantaneous vehicle loads of the preset number to obtain the target vehicle load; the method is applicable to different vehicle models, the load of the target vehicle can be obtained only by accessing the vehicle condition data of the target vehicle without depending on a sensor, the portability is high, and the cost can be effectively reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart illustrating a method of calculating dynamic vehicle load according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic block diagram of an apparatus for calculating dynamic vehicle loads in accordance with an exemplary embodiment of the invention;
the invention is further described below with reference to the drawings and the detailed description.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
The load calculation application of the commercial vehicle is very wide, the vehicle load is very important in the aspect of traffic management and the vehicle technical development direction, and the load calculation application is an important calculation parameter necessary for building a vehicle transverse and longitudinal dynamics model; at present, no load scheme exists in the market, and the load scheme is mainly divided into two types of static weighing and dynamic weighing, is complex in scheme and high in cost, requires early calibration and later maintenance work, depends on a sensor, and is poor in portability.
The embodiment of the invention provides a method and a device for calculating dynamic vehicle load, which are applicable to different vehicle models, can obtain the target vehicle load without depending on a sensor only by accessing the vehicle condition data of the target vehicle, have high portability and can effectively reduce cost.
The method and apparatus of the present invention will now be described by way of specific examples.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method of calculating a dynamic vehicle load according to an exemplary embodiment of the present invention, and referring to fig. 1, the method includes:
step S11, receiving vehicle condition data of a target vehicle; the vehicle condition data at least comprises engine output torque, engine speed and vehicle speed;
step S12, obtaining a driving force to do work based on an energy method calculation formula according to the output torque of the engine and the rotation speed of the engine; wind resistance acting is obtained according to the speed of the vehicle;
step S13, acquiring vehicle condition data of 3 continuous instantaneous points of a preset timer step, calculating an instantaneous vehicle load and storing the instantaneous vehicle load;
and S14, when the stored number of the instantaneous vehicle loads reaches the preset number, carrying out average value processing on the instantaneous vehicle loads of the preset number to obtain the target vehicle load.
It should be noted that, in specific practice, the technical solution provided in this embodiment may be loaded in an existing system or application in the form of an applet or in the form of a plug-in, or in the form of a separate application, and implement calculation of a dynamic vehicle load by performing information interaction with an external interface. Suitable scenarios include, but are not limited to: logistics dynamic vehicle load calculation and other application scenarios requiring dynamic vehicle load calculation.
In specific practice, the instantaneous vehicle load calculation formula is:
wherein m is the instantaneous vehicle load, w 0 、w 1 、w 2 The driving force of 3 continuous instantaneous points in sequence does work, w wind0 、w wind1 、w wind2 Wind resistance acting of 3 continuous instantaneous points in sequence; v 1 、v 2 、v 3 The vehicle speed is 3 consecutive instantaneous points in sequence.
It can be understood that, in the method provided by the embodiment, the driving force is obtained through the vehicle condition data of the target vehicle to do work, then the instantaneous vehicle load is calculated according to the vehicle condition data and the driving force to do work and stored, and when the number of the stored instantaneous vehicle loads reaches the preset number, the average value processing is performed on the preset number of instantaneous vehicle loads to obtain the target vehicle load; the method is applicable to different vehicle models, the load of the target vehicle can be obtained only by accessing the vehicle condition data of the target vehicle without depending on a sensor, the portability is high, and the cost can be effectively reduced.
In specific practice, "receiving vehicle condition data of a target vehicle" in step S11 includes:
accessing a control system of the target vehicle, and acquiring vehicle condition data from the control system through a CAN bus.
It CAN be understood that the technical scheme provided by the embodiment CAN obtain the dynamic vehicle load only by accessing the control system of the vehicle through the CAN, and has strong portability.
In specific practice, in step S12, "driving force is obtained to do work based on an energy method calculation formula according to the engine output torque and the engine rotation speed; wind resistance acting 'is obtained according to the speed of a vehicle, and the wind resistance acting' comprises:
according to the output torque of the engine and the rotation speed of the engine, the driving force acting is obtained based on an energy method calculation formula, wherein the calculation formula of the driving force acting is as follows:
W＝((nmEngTrqF*rpmEngSpdF)/9550.0)*10
wherein W is driving force to do work, nmEngTrqF is engine output torque, rpmEngSpdF is engine speed.
It should be noted that, wind resistance acting is obtained from vehicle speed data, the shape of the vehicle is fixed according to specific model parameters of the vehicle, and wind resistance acting corresponding to the vehicle under different vehicle speeds is counted.
In specific practice, "acquiring vehicle condition data for 3 consecutive instantaneous points of a preset timer step" in step S13 includes:
acquiring vehicle condition data of 3 continuous instantaneous points of a preset timer step length, calculating an instantaneous vehicle load according to the vehicle condition data if the vehicle condition data meets preset conditions, and acquiring the vehicle condition data of 3 continuous instantaneous points of the preset timer step length again after clearing if the vehicle condition data does not meet the preset conditions to judge the preset conditions until the vehicle condition data meets the preset conditions; the preset conditions are that torque response percentage data, vehicle speed data, whether braking exists or not and the change rate of the engine rotating speed in the vehicle condition data all reach preset values; the preset value is obtained according to experimental statistics in actual business.
The energy of 3 consecutive transient points is calculated, and the calculation formula is:
the three formulas (1), (2) and (3) can be obtained after two-by-two subtraction:
is prepared by a formula (4):
when calculating the instantaneous dynamic vehicle load, the vehicle condition data of N continuous instantaneous points with a preset timer step length can be obtained, N is greater than or equal to 1, and is optimal when n=3, and the calculated vehicle load is the most accurate.
In particular practice, the vehicle condition data conforms to the J1939 protocol standard.
It should be noted that, the CAN bus transmits vehicle condition data by adopting J1939 protocol standard.
It can be understood that the method provided by the embodiment is more general by adopting the J1939 protocol standard, and can meet more application scenes.
In specific practice, the method further comprises:
and presetting an upper limit value and a lower limit value of the vehicle load according to the specific model of the vehicle, and if the instantaneous vehicle load is higher than the upper limit value and/or the instantaneous vehicle load is lower than the lower limit value, not performing storage operation on the instantaneous vehicle load.
It can be appreciated that the technical scheme provided by the embodiment can effectively avoid the influence of the excessive error of the instantaneous vehicle load on the calculation of the target vehicle load, and effectively increase the accuracy of the calculation of the vehicle load.
In specific practice, after receiving the vehicle condition data of the target vehicle, the method further comprises:
carrying out Kalman filtering processing on the output torque of the engine;
and performing low-pass filtering processing on the vehicle speed.
It can be understood that the technical scheme provided by the embodiment ensures that the signals are more stable by performing Kalman filtering on the engine torque and performing low-pass filtering on the vehicle speed.
Referring to fig. 2, fig. 2 is a schematic block diagram of an apparatus for calculating a dynamic vehicle load according to an exemplary embodiment of the present invention, and referring to fig. 2, an apparatus 100 for calculating a dynamic vehicle load includes:
a receiving data module 101, configured to receive vehicle condition data of a target vehicle; the vehicle condition data at least comprises engine output torque, engine speed and vehicle speed; wind resistance acting is obtained according to the speed of the vehicle;
the acquisition working module 102 is used for acquiring driving force to do work based on an energy method calculation formula according to the output torque of the engine and the rotation speed of the engine;
the instantaneous vehicle load calculation module 103 is configured to obtain vehicle condition data of 3 continuous instantaneous points of a preset timer step, calculate an instantaneous vehicle load, and store the calculated instantaneous vehicle load, where an instantaneous vehicle load calculation formula is:
wherein m is the instantaneous vehicle load, w 0 、w 1 、w 2 In turn 3 consecutiveThe driving force of the instant point acts, w wind0 、w wind1 、w wind2 Wind resistance acting of 3 continuous instantaneous points in sequence; v 1 、v 2 、v 3 The vehicle speed is 3 continuous instantaneous points in sequence;
the target vehicle load calculation module 104 is configured to perform average processing on the preset number of instantaneous vehicle loads to obtain the target vehicle load when the number of stored instantaneous vehicle loads reaches the preset number.
It should be noted that, in specific practice, the device provided in this embodiment may be loaded in an existing system or application in the form of an applet or in the form of a plug-in, or in the form of a separate application, and implement calculation of a dynamic vehicle load by performing information interaction with an external interface. Suitable scenarios include, but are not limited to: logistics dynamic vehicle load calculation and other application scenarios requiring dynamic vehicle load calculation.
It can be understood that, in the device provided in this embodiment, the driving force is obtained through the vehicle condition data of the target vehicle, and then the instantaneous vehicle load is calculated and stored according to the vehicle condition data and the driving force, and when the number of the stored instantaneous vehicle loads reaches the preset number, the average value processing is performed on the preset number of instantaneous vehicle loads to obtain the target vehicle load; the method is applicable to different vehicle models, the load of the target vehicle can be obtained only by accessing the vehicle condition data of the target vehicle without depending on a sensor, the portability is high, and the cost can be effectively reduced.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (7)
1. A method of calculating dynamic vehicle load, the method comprising:
receiving vehicle condition data of a target vehicle; the vehicle condition data at least comprises engine output torque, engine speed and vehicle speed;
according to the output torque of the engine and the rotation speed of the engine, driving force is obtained to do work based on an energy method calculation formula; wind resistance acting is obtained according to the speed of the vehicle;
acquiring the vehicle condition data of 3 continuous instantaneous points of a preset timer step length, calculating and storing an instantaneous vehicle load, wherein an instantaneous vehicle load calculation formula is as follows:
wherein m is the instantaneous vehicle load, w 0 、w 1 、w 2 The driving force of 3 continuous instantaneous points acts in sequence, w wind0 、w wind1 、w wind2 Wind resistance of 3 continuous instantaneous points acts sequentially; the v is 1 、v 2 、v 3 The vehicle speed is 3 continuous instantaneous points in sequence;
when the number of the stored instantaneous vehicle loads reaches a preset number, carrying out average processing on the preset number of the instantaneous vehicle loads to obtain a target vehicle load.
2. The method of claim 1, wherein the acquiring the vehicle condition data for 3 consecutive instantaneous points of a preset timer step comprises:
acquiring the vehicle condition data of 3 continuous instantaneous points of a preset timer step length, if the vehicle condition data meets preset conditions, calculating an instantaneous vehicle load according to the vehicle condition data, and if the vehicle condition data does not meet the preset conditions, acquiring the vehicle condition data of 3 continuous instantaneous points of the preset timer step length again after clearing to judge the preset conditions until the vehicle condition data meets the preset conditions; the preset conditions are torque response percentage data, vehicle speed data, whether braking exists or not and the change rate of the engine rotating speed in the vehicle condition data reach preset values; the preset value is obtained according to experimental statistics in actual business.
3. The method of claim 1, wherein the driving force acting is obtained based on an energy method calculation formula according to the engine output torque and the engine rotation speed, wherein the driving force acting is calculated according to the calculation formula:
W＝((nmEngTrqF*rpmEngSpdF)/9550.0)*10
wherein W is driving force to do work, nmEngTrqF is engine output torque, rpmEngSpdF is engine speed.
4. The method of claim 1, wherein the vehicle condition data conforms to the J1939 protocol standard.
5. The method according to claim 1, wherein the method further comprises:
and presetting an upper limit value and a lower limit value of a vehicle load according to a specific model of the vehicle, and if the instantaneous vehicle load is higher than the upper limit value and/or the instantaneous vehicle load is lower than the lower limit value, not performing storage operation.
6. The method of claim 2, wherein after the receiving the vehicle condition data of the target vehicle, the method further comprises:
performing Kalman filtering processing on the engine output torque;
and performing low-pass filtering processing on the vehicle speed.
7. An apparatus for calculating dynamic vehicle load, the apparatus comprising:
the receiving data module is used for receiving the vehicle condition data of the target vehicle; the vehicle condition data at least comprises engine output torque, engine speed and vehicle speed; wind resistance acting is obtained according to the speed of the vehicle;
the working module is used for obtaining driving force to work based on an energy method calculation formula according to the output torque of the engine and the rotation speed of the engine;
the instantaneous vehicle load calculation module is used for acquiring the vehicle condition data of 3 continuous instantaneous points of a preset timer step length, calculating and storing the instantaneous vehicle load, and the instantaneous vehicle load calculation formula is as follows:
wherein m is the instantaneous vehicle load, w 0 、w 1 、w 2 The driving force of 3 continuous instantaneous points acts in sequence, w wind0 、w wind1 、w wind2 Wind resistance of 3 continuous instantaneous points acts sequentially; the v is 1 、v 2 、v 3 The vehicle speed is 3 continuous instantaneous points in sequence;
and the target vehicle load calculation module is used for carrying out average value processing on the preset number of the instantaneous vehicle loads to obtain the target vehicle load when the stored number of the instantaneous vehicle loads reaches the preset number.
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