KR102055159B1 - Apparatus and method for estimating weight of load in freight vehicle - Google Patents

Abstract

Disclosed are an apparatus and method for measuring a load on a freight vehicle. According to the method of the present invention, the estimated speed for each vehicle weight is calculated using the vehicle's driving information and a constant, and the weight having the smallest error between the estimated speed for each vehicle weight and the current vehicle speed is determined as the vehicle weight.

Description

Load measuring device and method of freight vehicle {APPARATUS AND METHOD FOR ESTIMATING WEIGHT OF LOAD IN FREIGHT VEHICLE}

The present invention relates to an apparatus and method for measuring a load of a freight vehicle.

Currently, large-capacity trucks need to be transported within the legal load limit, which is often difficult to measure and often overloaded.

This overload also adversely affects the driving condition of the vehicle, and may cause excessive loads on the road, causing road damage or road maintenance costs. The cost of economic loss due to overcharging is about 32.4 billion per year and the number of traffic accident deaths is 4 times higher than that of passengers.

In order to solve this problem, there is disclosed a system for informing a vehicle owner when a sensor is mounted on a freight vehicle to exceed a legal loading amount.

However, such a sensor-based system costs about 3 million won for each freight vehicle, which is a burden on the vehicle owner, which makes it difficult to apply to an actual freight vehicle.

The technical problem to be solved by the present invention, by installing a sensor to predict the load through the software algorithm and warn it, to prevent the economic loss due to overload and to prevent the increase of large accidents while securing price competitiveness It is to provide an apparatus and a method for measuring the load capacity of the.

In order to solve the above technical problem, an apparatus for measuring a load amount of a freight vehicle according to an embodiment of the present invention includes: a storage unit for storing a table and a constant that list weights added up to a maximum loading amount by adding a weight of a predetermined unit from a tolerance weight; Communication unit for performing communication with the electronic control unit (ECU) of the freight vehicle; A calculation unit for calculating an estimated speed for each vehicle weight of the table by using driving information of a freight vehicle and a constant stored in the storage unit; And an estimator configured to determine, as the vehicle weight, a weight having the smallest error between the estimated speed for each vehicle weight and the current vehicle speed.

In one embodiment of the present invention, the calculator may calculate the speed measured in the previous time by adding the acceleration time calculated from the vehicle motion equation using the vehicle's driving information and a constant multiplied by the update time.

In one embodiment of the present invention, the calculation unit may calculate the estimated speed for each vehicle weight by the following equation.

V _g = V _q + T _s × (τ _p × U × ε- α ₁ × V _q ² -α ₂ × ρ × m _t ) / (m _t + m _r )

Where V _q is the previous speed, T _s is the update time, τ _p is the current engine torque, U is the current total gear ratio to the radius of the wheel of the vehicle, ε is the drive loss, α ₁ is the air resistance, and α ₂ is Gravity (α ₂ = g / cos (atan (μ))) for trigonometric transformation of friction coefficient ρ, ρ is the sine function of the sum of slope and friction coefficient (ρ = sin (s + atan (μ))) where m _t is the weight of the freight vehicle and m _r is the inertia respectively.

In one embodiment of the present invention, the load estimating unit accumulates the sum of the absolute value of the error of the estimated current speed and the measured speed, and generates a row that is the minimum value of the array of the cumulative absolute errors of the estimated speed for each vehicle weight. It can be estimated by the weight of.

In addition, in order to solve the technical problem as described above, the load capacity measurement method of the freight vehicle according to an embodiment of the present invention, generates a table listing the weight plus the weight of the predetermined unit from the tolerance weight plus the maximum load, and initializes the constant Doing; Receiving operation information of a freight vehicle; Calculating an estimated speed for each vehicle weight of the table using driving information of the vehicle and the constant; And determining the weight of the vehicle having the smallest error between the estimated speed for each vehicle weight and the speed of the current vehicle when the brake of the freight vehicle is off and the speed of the freight vehicle is greater than or equal to a predetermined speed. have.

In one embodiment of the present invention, the calculating step may be calculated by adding the speed measured in the previous time, the acceleration time calculated from the vehicle motion equation using a constant and the vehicle's driving information and a constant multiplied by the update time.

In an embodiment of the present disclosure, the determining may include accumulating a sum of an absolute value of an estimated current speed and an error of the measured speed, and extracting a column that is a minimum value of an array of cumulative absolute errors of estimated speeds for each vehicle weight. It can be estimated by the weight of the vehicle.

The method of an embodiment of the present invention may further include transmitting the load to the ECU by subtracting the tolerance weight from the determined vehicle weight.

The present invention as described above, by estimating the speed by weight of each freight vehicle through the transfer speed and the equation of motion of the vehicle, and by determining the weight of the freight vehicle with the current speed and the smallest error, separate from the freight vehicle Since the sensor may not be installed, there is an effect of ensuring price competitiveness.

As a result, the present invention can reduce the overload by being implemented in more freight vehicles, there is an effect that can reduce the social cost due to overload.

1 is a side view as viewed from the side of a freight vehicle to which the present invention is applied.
Figure 2 is a block diagram of a freight vehicle load measuring apparatus of an embodiment of the present invention.
FIG. 3 is an exemplary view for explaining an example of a table stored in a storage of FIG. 2.
4 is a flowchart illustrating a method of measuring a load amount of a freight vehicle according to an embodiment of the present invention.

In order to fully understand the constitution and effects of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be embodied in various forms and various changes may be made. However, the description of the present embodiment is provided to make the disclosure of the present invention complete, and to fully inform the person of ordinary skill in the art the scope of the present invention. In the accompanying drawings, for convenience of description, the size of the components is larger than the actual drawings, and the ratio of each component may be exaggerated or reduced.

Terms such as 'first' and 'second' may be used to describe various components, but the components should not be limited by the above terms. The term may only be used to distinguish one component from another. For example, a 'first component' may be referred to as a 'second component' without departing from the scope of the present invention, and similarly, a 'second component' may also be referred to as a 'first component'. Can be. In addition, singular forms also include plural forms unless the context clearly indicates otherwise. Unless otherwise defined, terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those skilled in the art.

Hereinafter, an apparatus and method for measuring a load amount of a freight vehicle according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4.

1 is a side view as viewed from the side of a freight vehicle to which the present invention is applied. The freight vehicle load measuring apparatus of an embodiment of the present invention may be implemented in the form of an instrument display panel that communicates with an electronic control unit (ECU) of a freight vehicle, or an individual driving recorder that communicates with the ECU of a vehicle. It can be implemented as an On-Board Diagnostics (OBD) terminal.

Figure 2 is a block diagram of a freight vehicle load measuring apparatus of an embodiment of the present invention.

As shown in the figure, the load measuring apparatus 1 according to an embodiment of the present invention, the communication unit 11, the estimated speed calculation unit 12 for each vehicle weight, the load estimation unit 13 and the storage unit 14 It may include, and may communicate with the ECU (2) of the freight vehicle.

The ECU 2 of the freight vehicle and the measuring device 1 of one embodiment of the present invention can communicate with each other via a control area network (CAN). CAN is a vehicle network system for providing digital serial communication between various measurement control equipments of automobiles.In addition, it replaces complex electric wiring and relays of electronic components in vehicles with serial communication lines and intelligently, reducing weight and complexity and real-time demands on vehicles. Can satisfy.

The storage unit 14 may generate a table that calculates up to the maximum load with a tolerance weight and a weight greater than 200 kg. 3 is an exemplary diagram for describing an example of a table stored in the storage unit 14 of FIG. 2.

As shown in the figure, in one embodiment of the present invention, the storage unit 14, the total weight table 3 of the vehicle can be stored, the table 3, the tolerance weight (3A), the tolerance weight In this manner, the maximum loading amount 3P may be included, such as the weight (3B) plus 200kg, the weight (3C) plus 200kg to 3B, the weight (3D) plus 200kg to 3C. At this time, the maximum loading amount (3P) is shown as an 'tolerance weight + 6000kg', for example, but is not limited thereto, and may vary depending on the loading amount of the freight vehicle having ordinary knowledge in the art. It will be self-evident to him. In addition, in one embodiment of the present invention, for example, it is described to generate a table by adding each 200kg to the tolerance weight, but is not limited to this, it will be possible to add a smaller or larger weight.

In addition, in the storage unit 14, constants related to the freight vehicle may be stored. Constants associated with the freight vehicle may include, for example, the radius of the wheels of the freight vehicle.

The communication unit 11 may receive driving information of the vehicle from the ECU 2 of the vehicle, and transmit the vehicle load estimated by the estimating apparatus 10 according to an embodiment of the present invention to the ECU 2 via CAN. . The driving information of the vehicle that the communication unit 11 receives from the ECU 2 includes the revolution per minute (rpm) of the engine of the vehicle, the current speed of the vehicle, the torque percentage of the current vehicle, and the brake state of the current vehicle. May contain information.

The estimated speed calculator 12 for each vehicle weight may calculate the estimated speed for each vehicle weight by using the driving information of the vehicle and a constant stored in the storage unit 14. At this time, the estimated speed calculation unit 12 for each vehicle weight updates the estimated speed at the current time, the speed measured at the previous time, and the acceleration time calculated from the vehicle motion equation using the vehicle's driving information and constants. For example, it can be calculated by adding the product multiplied by 0.1 seconds, which is represented by the following equation.

(Equation 1)
V _g = V _q + T _s × (τ _p × U × ε-α ₁ × V _q ² -α ₂ × ρ × m _t ) / (m _t + m _r )

In this case, V _q is the previous speed and may be stored in the storage unit, and the unit is m / sec.

V _p is the speed of the current vehicle and the unit is m / sec.

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U is the current total gear ratio to the radius of the wheel of the vehicle.

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τ _p represents the torque of the current engine, unit is Nm.

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In Equation 1,? Represents a driving loss, m _t represents a weight of a freight vehicle, and m _r represents inertia. α ₁ is the air resistance, α ₂ is the gravity of the trigonometric function conversion value of the friction coefficient μ, and the following equation.

(Equation 2)
α ₂ = g / cos (atan (μ))

Finally, p is the sine function value of the sum of the slope s and the friction coefficient μ, which is a calculation factor of the resistance to the driving direction.

(Equation 3)
ρ = sin (s + atan (μ))

In this way, the estimated speed calculation unit 12 for each vehicle weight may calculate the current estimated speed with respect to the weight of each vehicle in the vehicle gross weight table 3 of FIG. 3.

The load estimating unit 13 may accumulate the sum of the absolute value of the error of the estimated current speed and the currently measured speed received through the communication unit 11.

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The load estimating unit 13 is an arrangement for the cumulative absolute error of the estimated speed obtained by using Equation 1, for each vehicle weight of the vehicle weight array divided by the tolerance weight in units of 200 kg to the vehicle mass loaded with 6 tons. You can determine the value of the selected column as the true value by selecting the minimum column.

In this case, the weight estimated by the load estimating unit 13 is obtained by adding the tolerance weight of the vehicle, and the communication unit 11 may transmit the cargo loading amount by subtracting the corresponding tolerance weight to the ECU 2.

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4 is a flowchart illustrating a method of measuring a load amount of a freight vehicle according to an embodiment of the present invention.

As shown in the figure, in the measuring method of an embodiment of the present invention, the vehicle gross weight table 3 is generated in the storage unit 14, and constants such as air resistance and driving loss may be initialized (S10). In this case, the generation of the gross weight table 3 and the initialization of the constant may be performed by the estimated speed calculator 12 for each vehicle weight, but an initialization unit may be separately provided for this purpose.

Thereafter, when the start of the freight vehicle is turned on (S15), the operation information of the freight vehicle may be received from the ECU 2 of the freight vehicle connected by CAN (S20). However, if the operation information of the freight vehicle is not received, it may wait until receiving it.

When the driving information of the freight vehicle is received in S20, the estimated speed calculator 12 for each vehicle weight may calculate the estimated speed for each weight of the vehicle by Equation 1 using the driving information and the constant of the vehicle. That is, the estimated speed calculation unit 12 for each vehicle weight may estimate the speed of the vehicle for each weight by multiplying the speed measured in the previous time and the acceleration calculated from the equation of motion of the vehicle by the update time Ts.

Thereafter, the load estimating unit 13 may estimate the vehicle mass when the brake is in the off state and the speed is a predetermined speed, for example, 30 Km / h or more (S30, S35). This is because the error of the vehicle mass estimation value becomes large when the brake is applied and the speed is below the predetermined speed.

For estimating vehicle mass, for each vehicle weight in the vehicle weight array, accumulate the sum of the absolute values of the estimated current speed and the measured speed error, and divide the vehicle weight into vehicle weights of 6 tons loaded in 200 kg increments. , By selecting the column that is the minimum value of the array of the cumulative absolute error of the estimated speed obtained using Equation 1, the value of the selected column may be determined as the true value. However, the load estimator 13 is not limited to estimating the vehicle mass, and the vehicle weight may be estimated to have the smallest absolute value of the error between the estimated current speed and the measured speed. .

Thereafter, the load estimating unit 13 may transmit the estimated load amount obtained by subtracting the tolerance weight from the estimated vehicle weight to the ECU 2 (S40).

The ECU 2, which has received the estimated load of cargo, can display this on the instrument panel and notify the user when the current load is exceeded, thereby preventing overload.

As described above, the present invention estimates the speed of each freight vehicle by the weight of the freight vehicle through the transfer speed and the equation of motion of the vehicle, and determines the weight of the freight vehicle by determining the weight of the freight vehicle with the smallest error. Since no sensor can be installed, price competitiveness can be secured.

Although embodiments according to the present invention have been described above, these are merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent embodiments of the present invention are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the following claims.

1: estimator 2: ECU
11: communication unit 12: estimated speed calculation unit by vehicle weight
13: load estimating unit 14: storage unit

Claims (8)

A table arranged to list the respective vehicle weights for the freight vehicle by adding weights of a predetermined unit sequentially from the tolerance weights to the maximum loading amount, and a storage unit for storing constants;
A communication unit configured to communicate with an electronic control unit (ECU) of a freight vehicle to receive driving information of the freight vehicle;
A calculator for calculating an estimated speed for each vehicle weight of the table by using the freight information and the constants stored in the storage unit; And
The estimated speed (nearly estimated speed) closest to the measurement speed (measurement current speed) of the current freight vehicle among the estimated speeds by vehicle weight is derived, and the vehicle weight in the table corresponding to the derived nearest estimated speed is stored. An estimating unit for estimating the current vehicle weight of the vehicle,
The estimating unit,
A freight vehicle that accumulates and accumulates the absolute value (error absolute value) of the error between the nearest estimated speed and the measured present speed, and estimates the vehicle weight having the minimum value among the absolute values accumulated by the vehicle weight as the current vehicle weight of the freight vehicle. Load measuring device.
The method of claim 1, wherein the calculation unit,
A load measuring apparatus for a freight vehicle, calculated by adding a vehicle's driving information and an acceleration calculated from a vehicle equation of motion using a constant multiplied by an update time.
The method of claim 2, wherein the calculation unit,
A load capacity measuring apparatus for a freight vehicle that calculates an estimated speed (Vg) for each vehicle weight by the following equation.
V _g = V _q + T _s × (τ _p × U × ε- α ₁ × V _q ² -α ₂ × ρ × m _t ) / (m _t + m _r )
(V _q is the previous speed, T _s is the update time, τ _p is the current engine torque, U is the current total gear ratio to the radius of the wheel of the vehicle, ε is the drive loss, α ₁ is the air resistance, α ₂ is the friction Gravity (α ₂ = g / cos (atan (μ))) for the trigonometric transformation of the coefficient ρ, ρ is the sine function of the sum of the slope and friction coefficient (ρ = sin (s + atan (μ))), m _t is the weight of the freight vehicle, m _r is the inertia respectively)
delete Generating a table arranged to list respective vehicle weights for the freight vehicle by sequentially adding a predetermined unit weight from the tolerance weight to the maximum loading amount, and initializing a constant;
Receiving operation information of a freight vehicle;
Calculating an estimated speed for each vehicle weight of the table by using the received driving information of the vehicle and the constant; And
When the brake of the freight vehicle is off and the measurement speed (measurement current speed) of the current freight vehicle is more than a predetermined speed, an estimated speed (closest estimated speed) closest to the measurement current speed among the estimated speeds by vehicle weight is derived. And estimating the vehicle weight in the table corresponding to the derived nearest estimated speed as the current vehicle weight of the freight vehicle,
The estimating step,
Estimating and accumulating the absolute value (error absolute value) of the error between the nearest estimated speed and the measured present speed, and estimating the vehicle weight having the minimum value among the absolute values accumulated for each vehicle weight as the current vehicle weight of the freight vehicle. Load capacity measurement method of a cargo vehicle including.
The method of claim 5, wherein the calculating step,
And calculating the speed measured in the previous time by adding the acceleration time calculated from the vehicle motion equation using the vehicle's driving information and a constant multiplied by the update time.
delete The method of claim 5,
And transmitting the load to the ECU, subtracting the tolerance weight, from the determined vehicle weight.

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