CN117885749A - Vehicle axle load determining method, device, equipment and medium - Google Patents
Vehicle axle load determining method, device, equipment and medium Download PDFInfo
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Abstract
The embodiment of the application provides a vehicle axle load determining method, device, equipment and medium, wherein the method comprises the following steps: acquiring axle load determination information of a first vehicle in response to a vehicle braking instruction, the first vehicle including a plurality of first axles and a balanced suspension for connecting two adjacent first axles among the plurality of first axles; the axle load determination information is processed through an axle load determination model to determine an axle load of each of a plurality of first axles of the first vehicle, the axle load determination model including a force balance model and a moment balance model, the force balance model and the moment balance model each being determined based on a first anti-braking nod amount of the balanced suspension. According to the embodiment of the application, the axle load can be accurately calculated.
Description
Technical Field
The application belongs to the technical field of vehicles, and particularly relates to a vehicle axle load determining method, device, equipment and medium.
Background
In real life, when a vehicle is traveling on an uneven road, in order to ensure safety during traveling of the vehicle as much as possible, it is necessary to make all wheels of the vehicle contact the ground.
For a multi-axle vehicle, in order to ensure that all wheels of the vehicle can contact the ground, it is common to mount a balanced suspension on two adjacent vehicles among a plurality of vehicles of the multi-axle vehicle, for example, assuming that the multi-axle vehicle is a four-axle vehicle, the balanced suspension may be mounted on first and second axles, and third and fourth axles of the four-axle vehicle, respectively. In this way, the axle loads of two adjacent axles connected by the balance suspension can be kept the same, so that the condition that the wheels are suspended can not be generated.
However, during braking of the vehicle, an axle load transfer occurs between two adjacent axles to which the counter-balanced suspension is connected due to the anti-roll head. In addition, since the axle load of each axle plays a vital role in subsequent moment distribution, if the axle load transfer condition generated in the vehicle braking process is not considered, the axle load between two adjacent axles is still halved, and dangerous working conditions such as locking of the rear axle before the front axle may be caused in the subsequent moment distribution process. Therefore, the problem of how to accurately calculate axle loads in the case of vehicle braking is a highly desirable one.
Disclosure of Invention
The embodiment of the application provides a vehicle axle load determining method, device, equipment and medium, which can accurately calculate axle load.
In a first aspect, an embodiment of the present application provides a vehicle axle load determining method, including:
acquiring axle load determination information of a first vehicle in response to a vehicle brake command, the first vehicle including a plurality of first axles and a balanced suspension for connecting two adjacent first axles among the plurality of first axles;
And processing the axle load determining information through an axle load determining model to determine the axle load of each first axle in the plurality of first axles of the first vehicle, wherein the axle load determining model comprises a force balance model and a moment balance model, and the force balance model and the moment balance model are determined based on the first anti-braking point head quantity of the balanced suspension.
In an alternative implementation of the first aspect, the axle load determination information includes a vehicle mass, an actual anti-brake nodding coefficient of the balanced suspension, and a brake deceleration;
The processing the axle load determination information by an axle load determination model to determine an axle load of each of a plurality of first axles of the first vehicle includes:
processing the axle load determining information through the axle load determining model to obtain first acting force of each first axle, wherein the first acting force represents vertical force which is born by the first axle and is generated by deformation of a corresponding balanced suspension of the first axle;
and determining the product of the vehicle mass, the braking deceleration and the actual anti-braking nodding coefficient and the sum of the first acting force as the axle load of the target axle corresponding to the balanced suspension.
In an optional implementation manner of the first aspect, before the processing the axle load determination information by an axle load determination model to determine an axle load of each axle of the plurality of axles of the target vehicle, the method further includes:
Acquiring a load variable of each second axle in a plurality of second axles of a second vehicle, wherein the load variable comprises a vertical load variation and a second acting force, the vertical load variation is determined based on a first anti-braking point head quantity, and the second acting force represents a vertical force applied to the second axle and generated by corresponding balanced suspension deformation of the second axle;
The force balance model and the moment balance model are constructed based on a vehicle dynamics model and a load variable of each of a plurality of second axles of a second vehicle.
In an alternative implementation of the first aspect, the force balance model satisfies the following formula:
Wherein n is the number of axles, is the vertical force generated by the deformation of the balance suspension on the nth-1 axle, pat n-1 is the anti-braking nodding coefficient of the balance suspension corresponding to the nth-1 axle, M is the mass of the target vehicle, a x is the vehicle braking deceleration, and g is the gravity acceleration.
In an alternative implementation of the first aspect, the moment balance model satisfies the following formula:
Wherein n is the number of axles of the first axles, is the vertical force generated by the deformation of the balanced suspension on the nth-1 first axle, pat n-1 is the actual anti-brake nodding coefficient of the balanced suspension corresponding to the nth-1 first axle, M is the mass of the target vehicle, a x is the vehicle braking deceleration, g is the gravitational acceleration, l n is the horizontal distance from the nth first axle to the 1 st first axle, l c is the horizontal distance from the mass center to the 1 st first axle, and h g is the mass center height.
In an optional implementation manner of the first aspect, the axle load determining information includes an axle number of the first axle; the method further comprises the steps of:
And under the condition that the number of the axles is larger than a preset value, processing the axle load determining information through an axle load determining model and a preset constraint condition, and determining the axle load of each axle in a plurality of axles of the target vehicle.
In an optional implementation manner of the first aspect, the preset constraint condition satisfies the following formula:
(l3-l1)(Δzi-Δz1)＝(li-l1)(Δz3-Δz1)
Where i=5, 7, …, n-1., Δz n is the vertical displacement of each axle suspension relative to the equilibrium position, and l n is the horizontal distance of the nth axle from the first axle.
In a second aspect, an embodiment of the present application provides a vehicle axle load determining apparatus, including:
An acquisition module for acquiring axle load determination information of a first vehicle in response to a vehicle braking instruction, the first vehicle including a plurality of first axles, and a balanced suspension for connecting two adjacent first axles of the plurality of first axles;
And the processing module is used for processing the axle load determining information through an axle load determining model to determine the axle load of each first axle in the plurality of first axles of the first vehicle, the axle load determining model comprises a force balance model and a moment balance model, and the force balance model and the moment balance model are determined based on the first anti-braking point head quantity of the balanced suspension.
In a third aspect, an electronic device is provided that includes a memory for storing computer program instructions; a processor for reading and executing computer program instructions stored in a memory to perform the vehicle axle load determination method provided by any optional implementation manner of the first aspect.
In a fourth aspect, there is provided a computer storage medium having stored thereon computer program instructions which, when executed by a processor, implement the vehicle axle load determination method provided by any of the alternative embodiments of the first aspect.
In a fifth aspect, a computer program product is provided, the computer program product comprising a computer program for execution by a processor to implement a vehicle axle load determination method as provided by an embodiment of the application.
In the embodiment of the application, the axle load determining information of the first vehicle can be obtained by responding to the vehicle braking command, and the axle load determining information can be processed through an axle load determining model so as to determine the axle load of each first axle in the plurality of first axles of the first vehicle because the first vehicle comprises a plurality of first axles and the balance suspension for connecting two adjacent first axles in the plurality of first axles, and the axle load determining model comprises a force balance model and a moment balance model, wherein the force balance model and the moment balance model are determined based on the first anti-braking point head quantity of the balance suspension. Therefore, in the vehicle braking process, the situation of axle load transfer caused by the anti-braking nodding effect of the vehicle is considered, and the calculation accuracy of the axle load of the vehicle is improved to a certain extent.
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In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are needed to be used in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a vehicle axle load determining method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a scenario of a vehicle axle load determining method according to an embodiment of the present application;
FIG. 3 is a second schematic view of a vehicle axle load determining method according to an embodiment of the present application;
FIG. 4 is a third schematic view of a vehicle axle load determining method according to an embodiment of the present application;
fig. 5 is a schematic structural view of a vehicle axle load determining device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the particular embodiments described herein are meant to be illustrative of the application only and not limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the application by showing examples of the application.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.
In order to solve the problem that in the prior art, under the condition of vehicle braking, axle load calculation accuracy is low, the embodiment of the application provides a vehicle axle load determining method, device, equipment and medium, axle load determining information of a first vehicle can be obtained by responding to a vehicle braking instruction, the first vehicle comprises a plurality of first axles and balanced suspensions used for connecting two adjacent first axles in the plurality of first axles, the axle load determining information can be processed through an axle load determining model to determine the axle load of each first axle in the plurality of first axles of the first vehicle, and because the axle load determining model comprises a force balance model and a moment balance model, the force balance model and the moment balance model are determined based on first anti-braking point head amounts of the balanced suspensions. Therefore, in the vehicle braking process, the situation of axle load transfer caused by the anti-braking nodding effect of the vehicle is considered, and the calculation accuracy of the axle load of the vehicle is improved to a certain extent.
According to the vehicle axle load determining method provided by the embodiment of the application, the execution main body can be a vehicle axle load determining device or a control module for executing the information processing method in the vehicle axle load determining device. In the embodiment of the application, a vehicle axle load determining method executed by the vehicle axle load determining device is taken as an example, and the vehicle axle load determining method provided by the embodiment of the application is described in detail.
The vehicle axle load determining method provided by the embodiment of the application is described in detail below by means of specific embodiments with reference to the accompanying drawings.
Fig. 1 is a flow chart of a vehicle axle load determining method according to an embodiment of the present application.
As shown in fig. 1, the method may be performed by a vehicle axle load determining device, and the method may specifically include the steps of:
S110, acquiring axle load determination information of a first vehicle in response to a vehicle braking instruction.
In some embodiments, the first vehicle referred to above includes a plurality of first axles, and a balanced suspension for connecting two adjacent first axles of the plurality of first axles. The counter-balanced suspension may be a trailing arm counter-balanced suspension, and is not limited thereto. It should be noted that the specific number of the balanced suspensions may depend on the number of the first axles, which is not specifically limited herein.
In addition, the vehicle braking command referred to above characterizes the first vehicle starting braking. The above-mentioned axle load determination information may be used to calculate information about the axle load of each first axle in the first vehicle, and is not limited thereto.
Specifically, during the start of the first vehicle brake, the vehicle axle load determining device may be capable of receiving a vehicle brake command and acquiring axle load determining information of the first vehicle in response to the vehicle brake command.
And S120, processing the axle load determining information through an axle load determining model to determine the axle load of each first axle in the plurality of first axles of the first vehicle.
In some embodiments, the axle load determination model includes a force balance model and a moment balance model, both of which are determined based on a first anti-brake nodding amount of the balanced suspension. The first anti-roll-off amount may be an unknown amount and is not excessively limited herein.
Specifically, the vehicle axle load determining device, after acquiring the axle load determining information of the first vehicle, can process the axle load determining information based on an axle load determining model constructed in advance to determine an axle load of each of a plurality of first axles of the first vehicle.
In the embodiment of the application, the axle load determining information of the first vehicle can be obtained by responding to the vehicle braking command, and the axle load determining information can be processed through an axle load determining model so as to determine the axle load of each first axle in the plurality of first axles of the first vehicle because the first vehicle comprises a plurality of first axles and the balance suspension for connecting two adjacent first axles in the plurality of first axles, and the axle load determining model comprises a force balance model and a moment balance model, wherein the force balance model and the moment balance model are determined based on the first anti-braking point head quantity of the balance suspension. Therefore, in the vehicle braking process, the situation of axle load transfer caused by the anti-braking nodding effect of the vehicle is considered, and the calculation accuracy of the axle load of the vehicle is improved to a certain extent.
In one embodiment, the axle load determination information referred to above includes vehicle mass, actual anti-brake nodding coefficient of the balanced suspension, and brake deceleration; based on this, the above-mentioned step S120 may specifically include the following steps:
The processing the axle load determination information by an axle load determination model to determine an axle load of each of a plurality of first axles of the first vehicle includes:
processing the axle load determining information through the axle load determining model to obtain first acting force of each first axle;
and determining the product of the vehicle mass, the braking deceleration and the actual anti-braking nodding coefficient and the sum of the first acting force as the axle load of the target axle corresponding to the balanced suspension.
The first acting force characterizes a vertical force applied to the first axle and generated by the deformation of the balanced suspension corresponding to the first axle. In addition, the target axle mentioned above may be two adjacent first axles connected by the balanced suspension, and is not limited herein.
Specifically, the vehicle axle load determining device can process the axle load determining information through the axle load determining model to obtain a first acting force of each first axle, and after the first acting force of each first axle is obtained, a product among the vehicle mass, the braking deceleration and the actual anti-braking nodding coefficient can be determined first, and then the sum of the product and the first acting force is determined to be the axle load of the target axle corresponding to the balanced suspension.
In one example, the above-described process of determining the product of the vehicle mass, the braking deceleration, and the actual anti-roll coefficient, and the sum of the first acting forces, as the axle load of the target axle corresponding to the balanced suspension, satisfies the following formula (1):
Wherein n is the number of axles, is the vertical force generated by the deformation of the balance suspension when the nth axle receives, and Pat n is the anti-braking nodding coefficient of the balance suspension corresponding to the nth axle. In the embodiment of the application, the detailed braking process of the vehicle is not considered, and the calculation of the vertical load variation quantity generated by the anti-braking nodding action of each shaft is participated in the calculation by the braking force (i.e. Ma x) required by the whole vehicle. The actual vehicle calculation is carried out according to the specific braking force proportion distributed by each axle of the vehicle.
In this embodiment, the axle load determination information is processed by the axle load determination model to obtain a first acting force of each first axle, and a product of the vehicle mass, the braking deceleration and the actual anti-braking nodding coefficient and a sum of the first acting forces are determined to be the axle load of the target axle corresponding to the balanced suspension, so that the calculation accuracy of the axle load of the vehicle is improved to a certain extent.
As shown in fig. 2, the vertical load of each axle of the vehicle during braking is composed of two parts, one part is derived from the vertical force generated by suspension deformation and the other part is derived from the vertical load variation/> generated by suspension anti-nodding performance, based on which, in one embodiment, before the axle load determination information is processed by an axle load determination model to determine the axle load of each axle of the plurality of axles of the target vehicle, the method further includes:
acquiring a load variable of each of a plurality of second axles of the second vehicle;
The force balance model and the moment balance model are constructed based on a vehicle dynamics model and a load variable of each of a plurality of second axles of a second vehicle.
Classical vehicle dynamics relates to a two-axle vehicle, only a force balance equation and a moment balance equation are needed to be considered, suspension deformation coordination and the anti-braking nodding effect of the vehicle are not considered, and the vertical load of each axle of the vehicle is calculated. However, for a multi-axis vehicle, the vertical load of each axis is calculated, which belongs to the static and unstable problem, namely, only a force balance equation and a moment balance equation are considered, the number of equations is smaller than the number of unknowns required to be solved, and an analytic solution cannot be obtained. And the anti-braking nodding effect of the vehicle is considered, the vertical load can be calculated to be closer to the actual vehicle condition, and compared with the situation that the anti-braking nodding condition is not considered, the result is more accurate.
In some embodiments, the load variables may include a vertical load variation determined based on a first anti-brake nodding amount and a second force characterizing a vertical force experienced by the second axle resulting from a corresponding balanced suspension deformation of the second axle.
In addition, the vehicle dynamics model is an existing model, and will not be described in detail herein.
Specifically, the vehicle axle load determining device is capable of acquiring a load variable of each of a plurality of second axles of the second vehicle, and since the load variable includes a vertical load variation determined based on the first anti-braking point head amount and a second acting force representing a vertical force applied to the second axle by a balanced suspension deformation corresponding to the second axle. Based on this, the vehicle axle load determination device can construct the force balance model and the moment balance model based on the vehicle dynamics model and the load variable of each of the plurality of second axles of the second vehicle.
In this embodiment, the force balance model and the moment balance model can be constructed based on the vehicle dynamics model and the load variable of each of the plurality of second axles of the second vehicle. Because the vertical load variation included in each load variable is determined based on the first anti-braking nodding amount, the situation of axle load transfer caused by the anti-braking nodding effect of the vehicle can be considered in the vehicle braking process, and the calculation accuracy of the axle load of the vehicle is improved to a certain extent.
In some embodiments, the force balance model referred to above satisfies the following equation (2):
Wherein n is the number of axles, is the vertical force generated by the deformation of the balance suspension on the nth-1 axle, pat n-1 is the anti-braking nodding coefficient of the balance suspension corresponding to the nth-1 axle, M is the mass of the target vehicle, a x is the vehicle braking deceleration, and g is the gravity acceleration.
In some embodiments, the torque balance model referred to above satisfies the following equation (3):
Wherein n is the number of axles of the first axles, is the vertical force generated by the deformation of the balanced suspension on the n-1 th first axle, pat n-1 is the actual anti-brake nodding coefficient of the balanced suspension corresponding to the n-1 th first axle, M is the mass of the target vehicle, a x is the vehicle braking deceleration, g is the gravitational acceleration, l n is the horizontal distance from the n first axle to the 1 st first axle, l c is the horizontal distance from the mass center to the 1 st first axle, and h g is the mass center.
Based on this, in one example, the specific construction process of the force balance model and the moment balance model is as follows:
first, considering a multi-axle trailing arm type balanced suspension vehicle, the two adjacent axles are equally spaced from the arms of their balanced suspension axles, the schematic construction of which is shown in fig. 2. And designing hard point arrangement of the trailing arm of the suspension according to the smoothness requirement of the vehicle. The structural design determines the vertical load variation generated by the anti-braking nodding action of each shaft, and the first anti-braking nodding amount Pat provided by the embodiment of the application is defined as the ratio of the vertical load variation delta F z of each shaft to the target braking force of the whole vehicle, and the specific definition is shown in a formula (4):
wherein M is the vehicle mass, a x is the vehicle braking deceleration, or the vehicle longitudinal braking deceleration, and n is the number of axles.
The anti-roll coefficient reflects the degree of roll of the vehicle body, and in practice, the suspension is not deformed at all during braking to increase the vibration impact of the vehicle, so that the rest of the moment of inertia generated by braking is overcome by the deformation of the suspension, and the load is equally distributed to two axles based on the characteristics of the balanced suspension.
The multiaxial vehicle axle load is calculated based on the classical vehicle dynamics theory method, and model constraint is insufficient due to excessive simplification, so that suspension deformation constraint is reserved, and a mechanical model of suspension deformation coordination is shown in fig. 3. Since deformation of a frame, a vehicle body, and the like is negligible compared to suspension deformation, they are regarded as rigid bodies. The suspension system is simplified into a spring vibrator model, a multiaxial vehicle dynamics model considering suspension deformation coordination is shown in fig. 4, the mechanical spring stiffness is equivalent stiffness of the suspension and the wheels, and the connection points of the suspension and the frame are always kept in the same straight line.
The sum of the vertical forces to which each shaft is subjected has the following relationship, specifically shown in equation (5):
Wherein n is the number of axles, is the vertical force generated by suspension deformation, M is the mass of the whole vehicle, and a x is the longitudinal deceleration of the vehicle. Considering the effect of the balanced suspension, the vertical forces generated by deformation of adjacent front and rear axles connected by the same suspension are equal. Namely, the following formula (6) shows:
Based on this, a vertical force balance equation can be obtained by combining the above formula and the classical vehicle dynamics model, and a moment balance equation is obtained by centering the 1 st first axle in the multi-axle vehicle, as shown in the above formula (3) and formula (4).
In one embodiment, the axle load determination information includes an axle number of the first axle; the method further comprises the steps of:
And under the condition that the number of the axles is larger than a preset value, processing the axle load determining information through an axle load determining model and a preset constraint condition, and determining the axle load of each axle in a plurality of axles of the target vehicle.
The preset value may be preset based on actual experience or situation, for example, may be set to 6, which is not particularly limited herein. In addition, the preset constraint conditions mentioned above may be preset based on actual experience, and are not limited herein.
Specifically, since the axle load determination information referred to above may include the number of axles of the first axle, based on this, the vehicle load determination device is able to determine the axle load of each of the plurality of axles of the target vehicle by processing the axle load determination information through an axle load determination model and a preset constraint condition, if the number of axles is greater than a preset value.
In this embodiment, the number of axles of the actual vehicle can be considered, and the constraint condition can be increased based on the specific number of axles, thereby improving the calculation accuracy of the axle load of the vehicle to some extent.
In some embodiments, the above-mentioned preset constraint conditions satisfy the following formula (7):
(l3-l1)(Δzi-Δz1)＝(li-l1)(Δz3-Δz1) (7)
where i=5, 7, …, n-1, Δz n is the vertical displacement of each axle suspension relative to the equilibrium position, and l n is the horizontal distance of the nth axle from the 1 st first axle.
In one example, from the suspension coordination mechanical model and the multi-axis vehicle dynamics model shown in fig. 3 and 4, a set of equivalent suspension stress equations can be obtained, specifically as shown in equation (8):
Where K n is the equivalent stiffness of each axle suspension and Δz n is the vertical displacement of each axle suspension relative to the equilibrium position.
Since the front and rear axles to which the balanced suspension is connected are subjected to the same vertical forces, only the front axle to which the balanced suspension is connected is analyzed and calculated below. According to the linearization constraint condition shown in the above formula (8), the balanced suspension can be obtained to satisfy the following geometric relationship, specifically as shown in the formula (7).
Based on this, for ease of calculation, the force and moment balance equations described by equations (2) and 3) may be organized into the following matrix equation form, as specifically shown in equation (9).
AFsz＝M (9)
Wherein,
Considering the balanced suspension constraint as described in equation (6), equation (8) can be further formulated as the following matrix equation, as shown in equation (10):
Fsz＝KΔZ (10)
Wherein, deltaZ= [ DeltaZ 1 ΔZ3 … ΔZn-1]T,
K＝diag(k1 k3 … kn-1)。
Using mathematical induction, the suspension coordination equation described by equation (7) can be written as bΔz=0, specifically as shown in equation (11):
The simultaneous equations (10) and (11) and matrix operation can be obtained, specifically as shown in equation (12):
BK-1Fsz＝0 (12)
by combining the formulas (9) and (12), it can be obtained as shown in the formula (13):
in summary, under braking action, the total vertical load of each axle can be expressed as the following matrix relationship, specifically as shown in equation (14):
Wherein, pat= (Pat 1 pat2 … patn)-1.
From the above deduction process, the dynamic analysis is performed on the basis of the assumption of the suspension deformation, but the magnitude of the load is not related to the vertical displacement variation of the suspension, so that the accuracy of calculation of each axle load is ensured.
Taking a six-axis trailing arm type balanced suspension vehicle as an example, the vehicle overall structure and the dynamics model are similar to those of the multi-axis vehicle model shown in fig. 3, and the n-axis vehicle is replaced by six axes, namely n=6. The detailed calculation process and result of the vertical load of each shaft are as follows:
As can be seen from the constraint of the balanced suspension, the vertical forces generated by the deformation of the suspension of the adjacent two shafts are equal (hereinafter, the vertical forces generated by the deformation part of the suspension are only calculated by carrying out stress analysis on the front shaft connected with the balanced suspension), namely
The vehicle vertical force balance equation can be obtained from equation (4) as:
the vehicle vertical moment balance equation can be obtained from equation (5) as:
the suspension deformation force equation according to equation (6) has the following matrix form:
from the linearization constraint of equation (7), it can be obtained that the balanced suspension satisfies the following geometric relationship:
according to the matrix calculation process of formulas (9) to (11), simultaneous formulas (17) and (18) can be obtained
Wherein,
The simultaneous equations (15), (16) and (19) are matrix-operated to obtain the following matrix equation:
wherein the following equivalent substitutions are made due to the longer expression:
l12＝l1+l2,l34＝l3+l4,l56＝l5+l6 (21)
pat16＝pat1+pat2+pat3+pat4+pat5+pat6 (23)
pl16＝pat1l1+pat2l2+pat3l3+pat4l4+pat5l5+pat6l6 (24)
the vertical force of each axis can be obtained by the formula (13):
Wherein,
Therefore, the vehicle axle load determining method provided by the embodiment of the application can consider the condition of axle load transfer caused by the anti-braking nodding effect of the vehicle in the vehicle braking process, and further improve the calculation accuracy of the vehicle axle load to a certain extent.
Based on the same inventive concept, the embodiment of the application further provides a vehicle axle load determining device, and the vehicle axle load determining method provided by the embodiment of the application is specifically described in detail with reference to fig. 5.
Fig. 5 is a schematic structural diagram of a vehicle axle load determining device according to an embodiment of the present application.
As shown in fig. 5, the vehicle axle load determining apparatus may include: an acquisition module 510 and a processing module 520.
An acquisition module 510 for acquiring axle load determination information of a first vehicle including a plurality of first axles and a balanced suspension for connecting two adjacent first axles among the plurality of first axles in response to a vehicle braking instruction;
The processing module 520 is configured to process the axle load determination information through an axle load determination model to determine an axle load of each of a plurality of first axles of the first vehicle, where the axle load determination model includes a force balance model and a moment balance model, and the force balance model and the moment balance model are both determined based on a first anti-braking point head amount of the balanced suspension.
In one embodiment, the axle load determination information includes vehicle mass, actual anti-brake nodding coefficient of the balanced suspension, and brake deceleration;
The above-mentioned processing module is specifically configured to:
processing the axle load determining information through the axle load determining model to obtain first acting force of each first axle, wherein the first acting force represents vertical force which is born by the first axle and is generated by deformation of a corresponding balanced suspension of the first axle;
and determining the product of the vehicle mass, the braking deceleration and the actual anti-braking nodding coefficient and the sum of the first acting force as the axle load of the target axle corresponding to the balanced suspension.
In one embodiment, the obtaining module is further configured to obtain, before processing the axle load determination information by an axle load determination model to determine an axle load of each of a plurality of axles of the target vehicle, a load variable of each of a plurality of second axles of a second vehicle, where the load variable includes a vertical load variation and a second acting force, where the vertical load variation is determined based on a first anti-braking nodding amount, and the second acting force characterizes a vertical force applied by the second axle and generated by a corresponding balanced suspension deformation of the second axle;
A building module for building the force balance model and the moment balance model based on a vehicle dynamics model and a load variable of each of a plurality of second axles of a second vehicle.
In one embodiment, the force balance model satisfies the following formula:
Wherein n is the number of axles, is the vertical force generated by the deformation of the balance suspension on the nth-1 axle, pat n-1 is the anti-braking nodding coefficient of the balance suspension corresponding to the nth-1 axle, M is the mass of the target vehicle, a x is the vehicle braking deceleration, and g is the gravity acceleration.
In one embodiment, the torque balance model satisfies the following formula:
Wherein n is the number of axles of the first axles, is the vertical force generated by the deformation of the balanced suspension on the nth-1 first axle, pat n-1 is the actual anti-brake nodding coefficient of the balanced suspension corresponding to the nth-1 first axle, M is the mass of the target vehicle, a x is the vehicle braking deceleration, g is the gravitational acceleration, l n is the horizontal distance from the nth first axle to the 1 st first axle, l c is the horizontal distance from the mass center to the 1 st first axle, and h g is the mass center height.
In one embodiment, the axle load determination information includes an axle number of the first axle; and the processing module is also used for processing the axle load determining information through an axle load determining model and a preset constraint condition under the condition that the number of the axles is larger than a preset value, and determining the axle load of each axle in a plurality of axles of the target vehicle.
In one embodiment, the preset constraint satisfies the following formula:
(l3-l1)(Δzi-Δz1)＝(li-l1)(Δz3-Δz1).
Where i=5, 7, …, n-1., Δz n is the vertical displacement of each axle suspension relative to the equilibrium position, and l n is the horizontal distance of the nth axle from the first axle.
In the embodiment of the application, the axle load determining information of the first vehicle can be obtained by responding to the vehicle braking command, and the axle load determining information can be processed through an axle load determining model so as to determine the axle load of each first axle in the plurality of first axles of the first vehicle because the first vehicle comprises a plurality of first axles and the balance suspension for connecting two adjacent first axles in the plurality of first axles, and the axle load determining model comprises a force balance model and a moment balance model, wherein the force balance model and the moment balance model are determined based on the first anti-braking point head quantity of the balance suspension. Therefore, in the vehicle braking process, the situation of axle load transfer caused by the anti-braking nodding effect of the vehicle is considered, and the calculation accuracy of the axle load of the vehicle is improved to a certain extent.
The modules in the vehicle axle load determining device provided by the embodiment of the present application can implement the method steps of the embodiment shown in fig. 1, and achieve the technical effects corresponding to the method steps, and for brevity, description is omitted herein.
Fig. 6 shows a schematic hardware structure of an electronic device according to an embodiment of the present application.
A processor 601 may be included in an electronic device and a memory 602 storing computer program instructions.
In particular, the processor 601 may include a Central Processing Unit (CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present application.
Memory 602 may include mass storage for data or instructions. By way of example, and not limitation, memory 602 may include a hard disk drive (HARD DISK DRIVE, HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a universal serial bus (Universal Serial Bus, USB) drive, or a combination of two or more of these. The memory 602 may include removable or non-removable (or fixed) media, where appropriate. Memory 602 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 602 is a non-volatile solid state memory.
The memory may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to methods in accordance with aspects of the present disclosure.
The processor 601 implements any of the vehicle axle load determination methods of the above embodiments by reading and executing computer program instructions stored in the memory 602.
In one example, the electronic device may also include a communication interface 603 and a bus 610. As shown in fig. 6, the processor 601, the memory 602, and the communication interface 603 are connected to each other through a bus 610 and perform communication with each other.
The communication interface 603 is mainly used for implementing communication between each module, apparatus, unit and/or device in the embodiment of the present application.
Bus 610 includes hardware, software, or both, coupling components of the online data flow billing device to each other. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 610 may include one or more buses, where appropriate. Although embodiments of the application have been described and illustrated with respect to a particular bus, the application contemplates any suitable bus or interconnect.
In addition, in combination with the vehicle axle load determining method in the above embodiment, the embodiment of the present application may be implemented by providing a computer storage medium. The computer storage medium has stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement the vehicle axle load determination method provided by the embodiments of the present application.
The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to realize the vehicle axle load determining method provided by the embodiment of the application.
It should be understood that the application is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. The method processes of the present application are not limited to the specific steps described and shown, but various changes, modifications and additions, or the order between steps may be made by those skilled in the art after appreciating the spirit of the present application.
The functional blocks shown in the above block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. The present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable vehicle axle load determination apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable vehicle axle load determination apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present application, and they should be included in the scope of the present application.
Claims (10)
1. A vehicle axle load determination method, the method comprising:
acquiring axle load determination information of a first vehicle in response to a vehicle brake command, the first vehicle including a plurality of first axles and a balanced suspension for connecting two adjacent first axles among the plurality of first axles;
And processing the axle load determining information through an axle load determining model to determine the axle load of each first axle in the plurality of first axles of the first vehicle, wherein the axle load determining model comprises a force balance model and a moment balance model, and the force balance model and the moment balance model are determined based on the first anti-braking point head quantity of the balanced suspension.
2. The method of claim 1, wherein the axle load determination information includes vehicle mass, actual anti-brake nodding coefficient of the balanced suspension, and brake deceleration;
The processing the axle load determination information by an axle load determination model to determine an axle load of each of a plurality of first axles of the first vehicle includes:
processing the axle load determining information through the axle load determining model to obtain first acting force of each first axle, wherein the first acting force represents vertical force which is born by the first axle and is generated by deformation of a corresponding balanced suspension of the first axle;
and determining the product of the vehicle mass, the braking deceleration and the actual anti-braking nodding coefficient and the sum of the first acting force as the axle load of the target axle corresponding to the balanced suspension.
3. The method according to claim 1, wherein before processing the axle load determination information by an axle load determination model to determine an axle load of each of a plurality of axles of the target vehicle, the method further comprises:
Acquiring a load variable of each second axle in a plurality of second axles of a second vehicle, wherein the load variable comprises a vertical load variation and a second acting force, the vertical load variation is determined based on a first anti-braking point head quantity, and the second acting force represents a vertical force applied to the second axle and generated by corresponding balanced suspension deformation of the second axle;
The force balance model and the moment balance model are constructed based on a vehicle dynamics model and a load variable of each of a plurality of second axles of a second vehicle.
4. A method according to claim 1 or 3, wherein the force balance model satisfies the following formula:
wherein n is the number of axles, is the vertical force generated by the deformation of the balance suspension on the nth-1 axle, pat n-1 is the anti-braking nodding coefficient of the balance suspension corresponding to the nth-1 axle, M is the mass of the target vehicle, a x is the vehicle braking deceleration, and g is the gravity acceleration.
5. A method according to claim 1 or 3, wherein the moment balance model satisfies the following formula:
Wherein n is the number of axles of the first axles, is the vertical force from the n-1 th first axle to the balance suspension due to the deformation of the balance suspension, pat n-1 is the actual anti-brake nodding coefficient of the balance suspension corresponding to the n-1 th first axle, M is the mass of the target vehicle, a x is the vehicle braking deceleration, g is the gravitational acceleration, l n is the horizontal distance from the n first axle to the 1 st first axle, l c is the horizontal distance from the mass center to the 1 st first axle, and h g is the mass center height.
6. The method of claim 1, wherein the axle load determination information includes an axle number of the first axle; the method further comprises the steps of:
And under the condition that the number of the axles is larger than a preset value, processing the axle load determining information through an axle load determining model and a preset constraint condition, and determining the axle load of each axle in a plurality of axles of the target vehicle.
7. The method of claim 6, wherein the preset constraint satisfies the following formula:
(l3-l1)(Δzi-Δz1)＝(li-l1)(Δz3-Δz1)
Where i=5, 7, …, n-1, Δz n is the vertical displacement of each axle suspension relative to the equilibrium position, and l n is the horizontal distance of the nth axle from the first axle.
8. A vehicle axle load determining apparatus, characterized by comprising:
An acquisition module for acquiring axle load determination information of a first vehicle in response to a vehicle braking instruction, the first vehicle including a plurality of first axles, and a balanced suspension for connecting two adjacent first axles of the plurality of first axles;
And the processing module is used for processing the axle load determining information through an axle load determining model to determine the axle load of each first axle in the plurality of first axles of the first vehicle, the axle load determining model comprises a force balance model and a moment balance model, and the force balance model and the moment balance model are determined based on the first anti-braking point head quantity of the balanced suspension.
9. An electronic device comprising a processor and a memory storing computer program instructions;
The processor reads and executes the computer program instructions to implement the vehicle axle load determination method according to any one of claims 1 to 7.
10. A computer storage medium having stored thereon computer program instructions which, when executed by a processor, implement the vehicle axle load determination method of any one of claims 1-7.
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| CN202410231416.8A CN117885749A (en) | 2024-02-29 | 2024-02-29 | Vehicle axle load determining method, device, equipment and medium |
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