WO2022236529A1 - Système et procédé d'estimation de poids de véhicule électrique - Google Patents

Système et procédé d'estimation de poids de véhicule électrique Download PDF

Info

Publication number
WO2022236529A1
WO2022236529A1 PCT/CN2021/092589 CN2021092589W WO2022236529A1 WO 2022236529 A1 WO2022236529 A1 WO 2022236529A1 CN 2021092589 W CN2021092589 W CN 2021092589W WO 2022236529 A1 WO2022236529 A1 WO 2022236529A1
Authority
WO
WIPO (PCT)
Prior art keywords
electric vehicle
weight
accelerator pedal
gear
vehicle
Prior art date
Application number
PCT/CN2021/092589
Other languages
English (en)
Chinese (zh)
Inventor
林继谦
Original Assignee
威刚科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 威刚科技股份有限公司 filed Critical 威刚科技股份有限公司
Priority to PCT/CN2021/092589 priority Critical patent/WO2022236529A1/fr
Publication of WO2022236529A1 publication Critical patent/WO2022236529A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight

Definitions

  • the invention relates to a vehicle weight estimation system and method, in particular to an electric vehicle weight estimation system and method.
  • one way of estimating the weight of a vehicle is to install a sensor capable of measuring stroke changes on the shock absorber of the vehicle body, thereby estimating it based on the spring constant of the shock absorber and the amount of stroke change. Vehicle weight.
  • another way is to embed a stress sensor at the bottom of the structure where the cargo is placed on the vehicle body, so as to measure the weight of the cargo, and then add the weight of the vehicle body to get the weight of the whole vehicle.
  • the technical problem to be solved by the present invention is to provide a weight estimating system for an electric vehicle in view of the deficiencies in the prior art.
  • an electric vehicle weight estimation system which includes an inertial measurement unit, a pedal position sensing unit, a vehicle speed sensing unit and a control unit.
  • the inertial measurement unit is arranged inside the electric vehicle to detect the gradient information of the location where the electric vehicle is located.
  • the pedal position sensing unit is arranged inside the electric vehicle to detect the amount of change in the position of the accelerator pedal of the electric vehicle.
  • the vehicle speed sensing unit is arranged on the electric vehicle to detect the vehicle speed information of the electric vehicle.
  • the control unit has a storage unit, the control unit is arranged inside the electric vehicle and is electrically connected to the inertial measurement unit, the pedal position sensing unit and the vehicle speed sensing unit to obtain slope information, pedal position variation and vehicle speed information, and the storage unit stores A database, the data in the database includes the slope information of the electric vehicle, the position change of the accelerator pedal, the speed information of the electric vehicle and the weight of the electric vehicle. Among them, the user depresses the accelerator pedal to drive the electric vehicle.
  • the control unit is used to collect the vehicle speed information of the electric vehicle at the n+k second, and the vehicle speed information of the electric vehicle at the n+k second, the position change of the accelerator pedal at the n second and the The slope information of the vehicle's location is compared with the data in the database to estimate the weight of the electric vehicle.
  • the weight of the electric vehicle includes load weight and vehicle body weight.
  • the pedal position of the accelerator pedal includes an initial position and an end position
  • the stroke of the accelerator pedal is defined as the distance between the initial position and the end position
  • the weight estimation system of the electric vehicle further includes a gear position sensing unit, which is arranged inside the electric vehicle and connected to the gearbox of the electric vehicle to detect the gear position mode of the electric vehicle.
  • a gear position sensing unit which is arranged inside the electric vehicle and connected to the gearbox of the electric vehicle to detect the gear position mode of the electric vehicle.
  • the inertial measurement unit is used to detect the slope information of the position of the electric vehicle and store it in the storage unit.
  • the control unit is used to collect The change amount of the pedal position and store it in the storage unit.
  • the amount of change in the position of the accelerator pedal of the electric car when the amount of change in the position of the accelerator pedal of the electric vehicle at the nth second exceeds half of the stroke of the accelerator pedal, the control unit is used to collect the amount of change in the position of the accelerator pedal and store it in a storage unit; when the position change is maintained for k seconds and the range of change within k seconds is less than 10% of the position change, the control unit is used to collect the vehicle speed information of the electric vehicle at the nth second; and use the control unit to set the electric vehicle
  • the vehicle speed information at the n+kth second, the position change of the accelerator pedal at the nth second, and the slope information of the location of the electric vehicle are compared with the data in a database to estimate the weight of the electric vehicle.
  • the storage unit stores a database, and the data in the database include the slope information of the electric vehicle, the position variation of the accelerator pedal, the speed information of the electric vehicle and the weight of the electric vehicle.
  • the data in the database includes the slope information of the location of the electric vehicle, the position change of the accelerator pedal, the speed information of the electric vehicle and the weight of the electric vehicle.
  • the weight of the electric vehicle includes load weight and vehicle body weight.
  • the pedal position of the accelerator pedal includes an initial position and an end position
  • the stroke of the accelerator pedal is defined as the distance between the initial position and the end position
  • the weight estimation method of the electric vehicle provided by the present invention can pass "when the position change is maintained for k seconds and the range of change within k seconds is less than 10 of the position change of the nth second %, the control unit is used to collect the vehicle speed information of the electric vehicle at the n+k second" and "according to the control unit to collect the slope information, position change and vehicle speed information, to be used with a database built in the storage unit The data are compared to estimate the weight of the electric vehicle” technical solution to improve the accuracy of electric vehicle weight estimation.
  • FIG. 1 is a schematic three-dimensional assembly diagram of a controller device according to an embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the position change of the accelerator pedal of the electric vehicle according to the present invention.
  • FIG. 3 is a schematic diagram of steps S100-S108 of the method for estimating the weight of an electric vehicle according to the present invention.
  • FIG. 4 is a schematic diagram of the operation flow of the electric vehicle weight estimation system of the present invention.
  • FIG. 5 is a schematic diagram of the database of the electric vehicle weight estimation system of the present invention.
  • FIG. 6 is a schematic diagram of a vehicle weight estimation table in the database of the electric vehicle weight estimation system of the present invention.
  • FIG. 1 is a schematic diagram of an electric vehicle weight estimation system of the present invention.
  • the present invention provides a weight estimation system for an electric vehicle M, which includes: an inertial measurement unit 1 , a pedal position sensing unit 2 , a vehicle speed sensing unit 3 and a control unit 4 .
  • An inertial measurement unit (Inertial measurement unit, IMU) 1 is arranged on the electric vehicle M to detect the gradient information of the position where the electric vehicle M is located.
  • the pedal position sensing unit 2 is disposed inside the electric vehicle M for detecting the amount of change in the position of the accelerator pedal of the electric vehicle M.
  • the vehicle speed sensing unit 3 is arranged on the electric vehicle M for detecting the vehicle speed information of the electric vehicle M.
  • the control unit 4 is a vehicle control unit (Vehicle Control Unit, VCU), which is installed inside the electric vehicle M.
  • VCU Vehicle Control Unit
  • the control unit 4 is used to receive various sensing signals output by various sensing components in the vehicle to obtain vehicle information.
  • the control unit 4 is electrically connected to the inertial measurement unit 1, the pedal position sensing unit 2, and the vehicle speed sensing unit 3, thereby communicating with the inertial measurement unit 1, the pedal position sensing unit 2, and the vehicle speed sensing unit 3.
  • Signal transmission to collect slope information, pedal position change and vehicle speed information, and further read and analyze to output corresponding control signals to related components to order them to take corresponding actions.
  • the inertial measurement unit 1 may be composed of a plurality of acceleration sensing components (mainly measuring the linear acceleration in the direction of motion of the electric vehicle M) and a plurality of gyroscopes (mainly measuring the angular velocity in the direction of motion of the electric vehicle M), so it can further Calculate the attitude of the electric vehicle M. If the electric vehicle M is located on a hillside, the inertial measurement unit 1 can measure that the electric vehicle M is in a tilted state, that is, the body of the electric vehicle M is inclined at an angle relative to the horizontal ground. Therefore, the inclination angle is equal to the slope angle ⁇ of the hillside, that is, the slope information of the location of the electric vehicle M.
  • the vehicle speed sensing unit 3 can be a magnetic induction shaft speed sensing assembly, coupled to the output shaft (not shown) of the gearbox of the electric vehicle M, to detect the speed of the output shaft , and the control unit 4 receives the sensing signal output by the vehicle speed sensing unit 3 to obtain the vehicle speed of the electric vehicle M; or, the vehicle speed sensing unit 3 can also be a wheel speed sensor, which can be coupled to the wheel (also can be Coupled to the final drive or transmission, but the present invention is not limited thereto), used to detect the rotation speed of the wheels and transmit signals with the control unit 4, so that the control unit 4 obtains the speed of the electric vehicle M.
  • the present invention is not limited by the type of the vehicle speed sensing unit 3 .
  • the electric vehicle weight estimation system of the present invention also includes a gear position sensing unit 5, which is arranged inside the electric vehicle M and coupled to the gearbox (not shown) of the electric vehicle M to detect the gear position of the electric vehicle M. gear mode.
  • the gear sensing unit 5 can be a contact gear sensor or a non-contact gear sensor, and the non-contact gear sensor can be a magnetic gear sensor or a photoelectric gear sensor. It is limited by the type of the gear position sensing unit 5 .
  • Figure 3 is a schematic diagram of steps S100-S108 of the method for estimating the weight of an electric vehicle according to the present invention
  • Figure 4 is a schematic diagram of the weight estimation system of an electric vehicle according to the present invention Schematic diagram of the operation process.
  • the present invention provides a method for estimating the weight of an electric vehicle M, which is applied to the above-mentioned weight estimation system for an electric vehicle M, and the method includes the following steps:
  • Step S102 When the gear position sensing unit 5 detects that the gear position mode of the electric vehicle M is the parking gear, use the inertial measurement unit 1 to detect the slope information (slope angle ⁇ ) of the position of the electric vehicle M, and use the control unit 4 to collect The slope information is also stored in the storage unit 40;
  • Step S106 When the position change is maintained for k seconds and the range of change within k seconds is less than 10% of the position change in the nth second, the control unit 4 is used to collect the vehicle speed information of the electric vehicle M at the n+kth second ;
  • Step S108 According to the slope information, position change and vehicle speed information collected by the control unit 4, it is used to compare with the data in a database (Database) A built in the storage unit 40, so as to estimate the weight of the electric vehicle M .
  • database Database
  • the gear position sensing component 5 detects the gear mode of the electric vehicle M first. For example, when the gear position sensing component 5 detects that the gear mode of the electric vehicle M is the parking gear (P gear), it can be determined that the electric vehicle M is in a stationary state at this time, and the gear position sensing component 5 according to To provide a first sensing signal to the control unit 4, and the inertial measurement unit 1 at this time also detects the slope information of the current position of the electric vehicle M, so when the control unit 4 receives the first sensing signal to determine the location of the electric vehicle M In the static state, the slope information at this time will be further collected and stored in the storage unit 40 .
  • the storage unit 40 can be, for example but not limited to, flash memory (flash memory).
  • the gear position sensing assembly 5 detects that the gear position mode of the electric vehicle M is the forward gear (D gear), it can be determined that the electric vehicle M is in a driving state at this time, and the gear position sensing assembly 5 provides a first gear accordingly.
  • the second sensing signal is sent to the control unit 4. If the driver depresses the accelerator pedal M1 to drive forward, the pedal position sensing unit 2 detects the position variation of the accelerator pedal M1 of the electric vehicle M at different time points.
  • the control unit 4 when the control unit 4 receives the second sensing signal to determine that the electric vehicle M is in the driving state, when the pedal position sensing unit 2 detects that the position change of the accelerator pedal M1 of the electric vehicle M at n seconds exceeds the accelerator pedal M1 Half of the stroke (the distance between the initial position IP and the end position EP, see Fig. 2) (that is, more than 50% of the stroke), the control unit 4 will record the position change of the accelerator pedal M1 in the n second, that is, collect The position change amount of the accelerator pedal M1 at the nth second is stored in the storage unit 40 .
  • the pedal position sensing unit 2 continues to detect the position change of the accelerator pedal M1 of the electric vehicle M, and the vehicle speed sensing unit 3 will detect the vehicle speed information of the electric vehicle M at the same time. .
  • the pedal position sensing unit 2 lasts for k seconds (that is, in the time interval from the nth second to the n+kth second, k is greater than or equal to 1)
  • the detected position change is compared with the position change of the n second , the variation ranges of which are all less than 10% of the position variation in the nth second, and the control unit 4 further collects the vehicle speed information of the electric vehicle M in the n+kth second.
  • the control unit 4 further collects the vehicle speed information of the electric vehicle M at the n+1th second.
  • the present invention is not limited to the value of k (k can be any value, but k is greater than 0), and the setting of this condition is mainly used to determine that the control unit 4 is collecting the vehicle speed information of the electric vehicle M , the accelerator of the electric vehicle M has been in a stable state for a period of time.
  • the control unit 4 collects the slope information of the location of the electric vehicle M, the position change amount of the accelerator pedal M1 at the nth second, and the vehicle speed information of the electric vehicle M at the n+k second
  • the information is combined with
  • the data in a database (Database) A built in the storage unit 40 is compared.
  • the basic structure of the database A can be seen in Figure 5, which contains the slope information of the location of the electric vehicle M, the position change of the accelerator pedal, the speed information of the electric vehicle and the weight of the electric vehicle.
  • the data stored in the database A mainly includes the correspondence table between various parameters obtained through multiple field tests, which represent the different slope information, different accelerator pedal position changes and different Under the conditions of the vehicle speed information, it corresponds to different electric vehicle weights.
  • the database A is a collection of related data (slope information at the location of the electric vehicle M, position change of the accelerator pedal M1, vehicle speed information of the electric vehicle M, and weight of the electric vehicle M), so that the control unit 4 can pass Retrieve, sort, calculate, query and other methods to get the desired results. For example, referring to FIG. 6, FIG.
  • the weights of different electric vehicles M are 300kg, 500kg, 700kg at different slopes (slope angles are 0 degrees, 5 degrees degrees, 10 degrees and 15 degrees) corresponding to the vehicle speed information. For example, if the vehicle speed measured by the control unit 4 is 5.23m/s, i.e.
  • Database A also includes different conditions (for example, the position variation of accelerator pedal M1 is 50%, 60%, 70% , 80%, 90%.. etc.) correspondence table.
  • the method for estimating the weight of the electric vehicle M provided by the present invention can pass "when the position change is maintained for k seconds and the range of change within k seconds is smaller than the position change of the nth second 10%, the control unit 4 is used to collect the vehicle speed information of the electric vehicle at the n+k second" and “according to the control unit 4 to collect the slope information, position change and vehicle speed information, and to communicate with the built-in storage unit 40 Compare the data in a database A to estimate the weight of the electric vehicle M", so as to improve the accuracy of the weight estimation of the electric vehicle M.
  • the weight estimation system of the electric vehicle M utilizes the inertial measurement unit 1 to detect the slope information (expressed by the slope angle ⁇ ) of the location of the electric vehicle M, and uses the pedal position sensing unit 2 to detect the slope information of the electric vehicle M.
  • the throttle state is determined by the amount of change in the position of the accelerator pedal M1 of M, the vehicle speed information of the electric vehicle M is detected by the vehicle speed sensing unit 3, and the gear position mode of the electric vehicle M is detected by the gear position sensing unit 5 to determine the electric vehicle M It is in a static state or a driving state, and then according to the above-mentioned detected information and various parameters obtained through field tests built in the database A (slope information at the location of the electric vehicle M, the slope information of the accelerator pedal M1 position change, vehicle speed information of the electric vehicle M, and the weight of the electric vehicle M) to estimate the weight of the electric vehicle M under different parameter conditions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un système et un procédé d'estimation du poids d'un véhicule électrique. Le système comprend : une unité de mesure inertielle (1), une unité de détection de position de pédale (2), une unité de détection de vitesse de véhicule (3), et une unité de commande (4). Le procédé consiste à : détecter un mode de marche d'un véhicule électrique, et si l'on détecte que le mode de marche du véhicule électrique est un mode d'arrêt, détecter des informations de pente de la position où se trouve le véhicule électrique ; lorsque l'on détecte que le mode de marche du véhicule électrique est une marche avant, mesurer une variation de position de la pédale d'accélérateur du véhicule électrique à une nième seconde ; lorsque la variation de position de la pédale d'accélérateur au niveau de la nième seconde dépasse la moitié de la course de la pédale d'accélérateur, que la variation de position se maintient pendant k secondes et que la grandeur de variation dans les k secondes est inférieure à 10 % de la variation de position de la nième seconde, recueillir des informations de vitesse du véhicule électrique à une (n+k)-ème seconde ; et en fonction des informations de pente recueillies, de la variation de position et des informations de vitesse du véhicule, comparer celles-ci avec des données d'une base de données intégrée dans une unité de stockage (40) de manière à estimer le poids du véhicule électrique.
PCT/CN2021/092589 2021-05-10 2021-05-10 Système et procédé d'estimation de poids de véhicule électrique WO2022236529A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/092589 WO2022236529A1 (fr) 2021-05-10 2021-05-10 Système et procédé d'estimation de poids de véhicule électrique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/092589 WO2022236529A1 (fr) 2021-05-10 2021-05-10 Système et procédé d'estimation de poids de véhicule électrique

Publications (1)

Publication Number Publication Date
WO2022236529A1 true WO2022236529A1 (fr) 2022-11-17

Family

ID=84028637

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/092589 WO2022236529A1 (fr) 2021-05-10 2021-05-10 Système et procédé d'estimation de poids de véhicule électrique

Country Status (1)

Country Link
WO (1) WO2022236529A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2169364A2 (fr) * 2008-09-30 2010-03-31 GM Global Technology Operations, Inc. Procédé et unité de mesure destinés à la détermination du poids d'un véhicule
US20100235039A1 (en) * 2009-03-13 2010-09-16 Aisin Seiki Kabushiki Kaisha Weight and gradient estimation apparatus and vehicle control apparatus using the same
CN102910172A (zh) * 2011-08-02 2013-02-06 通用汽车环球科技运作有限责任公司 使用车载加速度计估计车辆移动时的车辆坡度和质量
CN104773176A (zh) * 2014-01-15 2015-07-15 西门子公司 测定电动车辆的车辆质量或车重的方法、装置和车辆
CN109466561A (zh) * 2018-09-28 2019-03-15 潍柴动力股份有限公司 车辆总质量计算方法和系统
CN111717214A (zh) * 2019-03-22 2020-09-29 长沙智能驾驶研究院有限公司 整车质量估算方法、装置、电子设备和存储介质
CN111806449A (zh) * 2020-06-23 2020-10-23 西安法士特汽车传动有限公司 一种纯电动车的整车质量和路面坡度的估算方法
CN112429010A (zh) * 2020-12-02 2021-03-02 东风商用车有限公司 一种整车质量和道路坡度估算方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2169364A2 (fr) * 2008-09-30 2010-03-31 GM Global Technology Operations, Inc. Procédé et unité de mesure destinés à la détermination du poids d'un véhicule
US20100235039A1 (en) * 2009-03-13 2010-09-16 Aisin Seiki Kabushiki Kaisha Weight and gradient estimation apparatus and vehicle control apparatus using the same
CN102910172A (zh) * 2011-08-02 2013-02-06 通用汽车环球科技运作有限责任公司 使用车载加速度计估计车辆移动时的车辆坡度和质量
CN104773176A (zh) * 2014-01-15 2015-07-15 西门子公司 测定电动车辆的车辆质量或车重的方法、装置和车辆
CN109466561A (zh) * 2018-09-28 2019-03-15 潍柴动力股份有限公司 车辆总质量计算方法和系统
CN111717214A (zh) * 2019-03-22 2020-09-29 长沙智能驾驶研究院有限公司 整车质量估算方法、装置、电子设备和存储介质
CN111806449A (zh) * 2020-06-23 2020-10-23 西安法士特汽车传动有限公司 一种纯电动车的整车质量和路面坡度的估算方法
CN112429010A (zh) * 2020-12-02 2021-03-02 东风商用车有限公司 一种整车质量和道路坡度估算方法

Similar Documents

Publication Publication Date Title
US8068974B2 (en) Methods and systems for determining driver efficiency and operating modes in a hybrid vehicle
US8301354B2 (en) Vehicle
CN105109490B (zh) 一种基于三轴加速度传感器判断车辆急转弯的方法
US20160140438A1 (en) Hyper-class Augmented and Regularized Deep Learning for Fine-grained Image Classification
CN104085305B (zh) 车辆辅助驾驶主动限速控制系统
CN100480552C (zh) 带有变速装置的机动车辆
US10126160B2 (en) Method and vehicle with arrangement for estimating mass of the vehicle
CN104875743A (zh) 用于确定有效道路坡度特性的系统和方法
CN102951158A (zh) 车辆质量估算方法
JP6939378B2 (ja) 車両制御装置
JP6815406B2 (ja) 速度算出装置、制御方法、プログラム及び記憶媒体
JP2006234529A (ja) 走行距離算出システム、走行距離算出方法及び走行距離算出装置
CN109476316B (zh) 用于确定道路倾斜度的方法和装置
JP6943419B2 (ja) 車両における積載質量の推定方法
US11332150B2 (en) System and method for controlling wheel slip of vehicle
WO2022236529A1 (fr) Système et procédé d'estimation de poids de véhicule électrique
US20090265073A1 (en) Method For Determining The Speed of A Motor Vehicle
CN104691553B (zh) 用于监控车辆的驱动装置的方法
TWI768884B (zh) 電動車的重量估算系統與方法
JP2002013620A (ja) 車両質量推定装置
TWI823659B (zh) 電動車的坡度估算系統與方法
CN103158718A (zh) 基于油门踏板位置和车速的道路纵向坡度检测装置及方法
CN115320618A (zh) 电动车的重量估算系统与方法
CN118025188A (zh) 电动车的坡度估算系统与方法
WO2024092604A1 (fr) Système et procédé d'estimation de pente pour véhicule électrique

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21941108

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21941108

Country of ref document: EP

Kind code of ref document: A1