Vehicle weighing method and device, computer equipment and storage medium

Abstract

The invention discloses a vehicle weighing method and device, computer equipment and a storage medium, and relates to the technical field of vehicle loading, and the method comprises the steps: responding to a weighing instruction corresponding to a target object, and obtaining the current front axle load and the current vehicle body inclination angle of a vehicle based on the weighing instruction; and determining the current load of the vehicle based on the current front axle load and the current vehicle body inclination angle. By means of the method, the vehicle has the electronic scale function, manpower consumption can be reduced, the conveying efficiency can be improved, and the production efficiency is further improved. And meanwhile, additional sensors do not need to be added on the vehicle, cost increase is avoided, the requirement for vehicle configuration is not high, and the adaptive vehicle types are very wide.

Description

Technical Field

[0001] The present application relates to the field of vehicle weight technology, and in particular to a vehicle weighing method, device, computer equipment and storage medium. Background Art

[0002] Commercial vehicles are cars that are designed and technically used to transport people and goods. Currently, commercial vehicles only have the function of transportation, and do not have the function of weight detection. In particular, when commercial vehicles are transporting goods, since the weight of the goods cannot be effectively controlled and detected, it is easy to cause overloading during the transportation process, affecting safe driving. The existing method mainly relies on manual transportation to the floor scale, and after weighing the goods on the floor scale, it is transported to the vehicle for transportation, which is relatively cumbersome and increases the workload of the operators. The whole vehicle weighing needs to be carried to a designated location, which affects the transportation efficiency and reduces the production efficiency. Summary of the invention

[0003] Based on this, a vehicle weighing method, device, computer equipment and storage medium are provided to solve the problem that in the prior art, the goods are manually carried to a floor scale, weighed using the floor scale, and then carried to a vehicle for transportation, which is rather cumbersome and increases the workload of the operators. The whole vehicle weighing requires going to a designated location, which affects the transportation efficiency and reduces the production efficiency.

[0004] In a first aspect, the present application provides a vehicle weighing method, the method comprising:

[0005] In response to a weighing instruction corresponding to the target object, a current front axle load and a current body tilt angle of the vehicle are acquired based on the weighing instruction; wherein the current front axle load is determined according to a steering power motor torque of the vehicle;

[0006] Based on the current front axle load and the current vehicle body inclination angle, a current load of the vehicle is determined.

[0007] In one embodiment, obtaining the current front axle load of the vehicle based on the weighing instruction includes:

[0008] A window pops up based on the weighing instruction; wherein the window includes a steering wheel rotation method;

[0009] When it is detected that the steering wheel is in a rotation period, the power steering motor torque of the vehicle is acquired, and the current front axle load of the vehicle is calculated based on the power steering motor torque.

[0010] In one embodiment, the calculating the current front axle load of the vehicle based on the power steering motor torque includes:

[0011] Obtaining a worm gear transmission ratio, a steering gear transmission ratio and a total steering system efficiency corresponding to the vehicle;

[0012] The current front axle load is calculated based on the steering assist motor torque, the worm gear ratio, the steering gear ratio and the steering system overall efficiency.

[0013] In one embodiment, the current front axle load is calculated based on the power steering motor torque, the worm gear ratio, the steering gear ratio and the total efficiency of the steering system. The calculation formula is as follows:

[0014] M1=(T*i1*η*1000*2*π) / (i2*G*f)

[0015] Among them, M1 is the front axle load, T is the steering power motor torque, i1 is the worm gear ratio, i2 is the steering gear ratio, η is the total efficiency of the steering system, G is the gravity acceleration, and f is the proportional coefficient between the rack force and the front axle load.

[0016] In one embodiment, determining the current load of the vehicle based on the current front axle load and the current vehicle body tilt angle includes:

[0017] Determine the total vehicle mass according to the following mathematical expression:

[0018]

[0019] Wherein, θ is the vehicle body tilt angle, M2 is the total vehicle mass, M1 is the front axle load, k1 is the front suspension stiffness, k2 is the rear suspension stiffness, L is the vehicle wheelbase, G is the gravitational acceleration, and the total vehicle mass is the sum of the vehicle curb mass and the vehicle load;

[0020] The current load of the vehicle is determined according to the gross vehicle mass and the vehicle curb mass.

[0021] In one embodiment, the method further comprises:

[0022] The current load is displayed to the target object.

[0023] In one embodiment, the method further comprises:

[0024] In response to a reset operation instruction of the target object, the current load is cleared based on the reset operation instruction.

[0025] In a second aspect, the present application provides a vehicle weighing device, the device comprising:

[0026] an acquisition module, configured to respond to a weighing instruction corresponding to the target object, and acquire a current front axle load and a current body tilt angle of the vehicle based on the weighing instruction; wherein the current front axle load is determined according to a steering power motor torque of the vehicle;

[0027] The vehicle weighing module is used to determine the current load of the vehicle based on the current front axle load and the current vehicle body inclination angle.

[0028] In one embodiment, the acquisition module is specifically used for:

[0029] A window pops up based on the weighing instruction; wherein the window includes a steering wheel rotation method;

[0030] When it is detected that the steering wheel is in a rotation period, the power steering motor torque of the vehicle is acquired, and the current front axle load of the vehicle is calculated based on the power steering motor torque.

[0031] In one embodiment, the acquisition module is further used for:

[0032] Obtaining a worm gear transmission ratio, a steering gear transmission ratio and a total steering system efficiency corresponding to the vehicle;

[0033] The current front axle load is calculated based on the steering assist motor torque, the worm gear ratio, the steering gear ratio and the steering system overall efficiency.

[0034] In one embodiment, the current front axle load is calculated based on the power steering motor torque, the worm gear ratio, the steering gear ratio and the total efficiency of the steering system. The calculation formula is as follows:

[0035] M1=(T*i1*η*1000*2*π) / (i2*G*f)

[0036] Among them, M1 is the front axle load, T is the steering power motor torque, i1 is the worm gear ratio, i2 is the steering gear ratio, η is the total efficiency of the steering system, G is the gravity acceleration, and f is the proportional coefficient between the rack force and the front axle load.

[0037] In one embodiment, the vehicle weighing module is specifically used for:

[0038] Determine the total vehicle mass according to the following mathematical expression:

[0039]

[0040] Wherein, θ is the vehicle body tilt angle, M2 is the total vehicle mass, M1 is the front axle load, k1 is the front suspension stiffness, k2 is the rear suspension stiffness, L is the vehicle wheelbase, G is the gravitational acceleration, and the total vehicle mass is the sum of the vehicle curb mass and the vehicle load;

[0041] The current load of the vehicle is determined according to the gross vehicle mass and the vehicle curb mass.

[0042] In one embodiment, the vehicle weighing module is further used for:

[0043] The current load is displayed to the target object.

[0044] In one embodiment, the vehicle weighing module is further used for:

[0045] In response to a reset operation instruction of the target object, the current load is cleared based on the reset operation instruction.

[0046] In a third aspect, the present application provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle weighing method of the first aspect when executing the computer program.

[0047] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle weighing method of the first aspect.

[0048] The above-mentioned vehicle weighing method, device, computer equipment and storage medium obtain the current front axle load and the current body tilt angle of the vehicle based on the weighing instruction of the target object, thereby determining the current load of the vehicle based on the current front axle load and the current body tilt angle, so that the vehicle has the function of an electronic scale, which can not only reduce manpower consumption, but also improve transportation efficiency and further improve production efficiency. At the same time, there is no need to add additional sensors to the vehicle to avoid increasing costs, and the requirements for the configuration of the entire vehicle are not high, and the adaptable vehicle models are very wide. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a flow chart of a vehicle weighing method in one embodiment;

[0050] Figure 2 A schematic diagram of a vehicle weighing operation interface in one embodiment;

[0051] Figure 3 A schematic diagram of load and vehicle body posture in one embodiment;

[0052] Figure 4 A flow chart of signal interaction of a load display system in one embodiment;

[0053] Figure 5 is a structural block diagram of a vehicle weighing device in one embodiment;

[0054] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The specific operating methods in the method embodiments can also be applied to device embodiments or system embodiments. It should be noted that in the description of the present application, "multiple" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, and A and B exist, and B exists alone. A is connected to B, which can represent: A is directly connected to B and A is connected to B through C. In addition, in the description of the present application, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0056] The following is a brief introduction to the background technology of this application.

[0057] Commercial vehicles are cars that are designed and technically used to transport people and goods. Currently, commercial vehicles only have the function of transportation, and do not have the function of weight detection. In particular, when commercial vehicles are transporting goods, since the weight of the goods cannot be effectively controlled and detected, it is easy to cause overloading during the transportation process, affecting safe driving. The existing method mainly relies on manual transportation to the floor scale, and after weighing the goods on the floor scale, it is transported to the vehicle for transportation, which is relatively cumbersome and increases the workload of the operators. The whole vehicle weighing needs to be carried to a designated location, which affects the transportation efficiency and reduces the production efficiency.

[0058] In order to solve the above problems, a vehicle weighing method provided in an embodiment of the present application obtains the current front axle load and the current body tilt angle of the vehicle based on the weighing instruction of the target object, thereby determining the current load of the vehicle based on the current front axle load and the current body tilt angle, so that the vehicle has the function of an electronic scale, which can not only reduce manpower consumption, but also improve transportation efficiency and further improve production efficiency. At the same time, there is no need to add additional sensors to the vehicle to avoid increasing costs, and the requirements for the configuration of the whole vehicle are not high, and the adaptation model is very wide. Among them, the method and device described in the embodiment of the present application are based on the same technical concept. Since the principles of the problems solved by the method and the device are similar, the embodiments of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0059] To further illustrate the technical solution provided by the embodiments of the present application, a detailed description is given below in conjunction with the accompanying drawings and specific implementation methods.

[0060] Figure 1 FIG. 1 is a flow chart of a vehicle weighing method in one embodiment. The flow chart can be executed by a vehicle weighing device, which can be implemented by software, hardware, or a combination of software and hardware. Figure 1 As shown, the process includes the following steps:

[0061] Step 102 , in response to a weighing instruction corresponding to the target object, obtain the current front axle load and the current body tilt angle of the vehicle based on the weighing instruction.

[0062] Among them, the current front axle load is determined according to the vehicle's power steering motor torque.

[0063] In the embodiment of the present application, the human-machine dialogue operation interface of the vehicle's multimedia or instrument cluster includes functional soft switches such as "reset", "tare", and "start weighing", such as Figure 2 As shown, it is a schematic diagram of a vehicle weighing operation interface in one embodiment. When a vehicle is loaded with goods and parked on a well-paved road surface, such as a cement / asphalt road surface, the target object can realize vehicle weighing by clicking the "Start Weighing" and "Tare" switches in the operation interface. Specifically:

[0064] In response to the weighing instruction corresponding to the target object, a window pops up based on the weighing instruction; wherein the window includes the steering wheel rotation mode, which can be displayed in animation form or text form, depending on the specific situation, and is not limited here. When it is detected that the steering wheel is in rotation, the torque of the vehicle's power steering motor is obtained through the torque angle sensor in the vehicle's electric power steering system (Electric Power Steering, EPS), and the current front axle load of the vehicle is calculated based on the power steering motor torque. At the same time, the current body tilt angle of the vehicle is obtained through the tilt sensor in the vehicle's electronic parking brake system or electronic stability control system.

[0065] Through the above method, vehicle weighing is performed based on the weighing instruction of the target object, which can avoid false touches and ensure the safe implementation of vehicle weighing.

[0066] In one embodiment, calculating the current front axle load of the vehicle based on the power steering motor torque specifically includes:

[0067] Obtain the corresponding worm gear ratio, steering gear ratio and steering system total efficiency of the vehicle, where the worm gear ratio is the speed ratio between the worm and the worm, and is also the ratio of torque transmission. This transmission ratio can be obtained through design parameters or actual measurements. Steering gear ratio refers to the speed ratio or torque ratio between the input and output ends of the steering gear. This transmission ratio can also be obtained through design parameters or actual measurements. The total efficiency of the steering system refers to the efficiency from the output torque of the motor to the steering torque actually obtained by the wheel. This efficiency can be obtained through experimental measurements, including motor efficiency, friction loss of transmission components, steering gear efficiency, etc.

[0068] Furthermore, based on the steering assist motor torque, the worm gear ratio, the steering gear ratio and the total efficiency of the steering system, the current front axle load is calculated, wherein the specific calculation formula for calculating the current front axle load is as follows:

[0069] M1=(T*i1*η*1000*2*π) / (i2*G*f) (1)

[0070] In formula (1), M1 is the front axle load, T is the steering power motor torque, i1 is the worm gear ratio, i2 is the steering gear ratio, η is the total efficiency of the steering system, G is the gravitational acceleration, and f is the proportional coefficient between the rack force and the front axle load.

[0071] Through the above method, the current front axle load can be accurately calculated based on the steering power motor torque, worm gear ratio, steering gear ratio and total steering system efficiency, without adding additional sensors to the vehicle to avoid increasing costs.

[0072] In the above method, EPS has a calibration resolution of at least 0.1N·m, which is equivalent to EPS having a front axle load detection resolution of 30Kg.

[0073] For example, when the steering wheel is detected to be in rotation, the EPS motor current signal is obtained, and the minimum steering power motor torque change (unit: N·m) that the EPS can detect is determined based on the obtained EPS motor current signal; wherein, the relationship between the EPS motor current signal and the steering power motor torque is as follows: the current signal is a direct indicator of the output torque of the control motor, and the change in the current can be inferred from the change in the steering power motor torque. There is a certain proportional relationship between the steering power motor torque and the current, and this proportional relationship can be determined by the torque constant of the steering power motor. Thus, the resolution and accuracy of the current signal are analyzed to determine the minimum current change that can be detected, and this minimum current change is converted into a corresponding torque change, that is, the minimum steering power motor torque change that the EPS can detect is obtained.

[0074] Further, based on the minimum steering power motor torque change that EPS can detect, the worm gear ratio, the steering gear ratio and the total efficiency of the steering system, the minimum front axle load change (in kg) that EPS can detect is calculated. Among them, based on the minimum motor output torque change that EPS can detect, the worm gear ratio, the steering gear ratio and the total efficiency of the steering system, the calculation formula for calculating the minimum front axle load change M' that EPS can detect is as follows:

[0075] M'=(T'*i1*η*1000*2*π) / (i2*G*f) (2)

[0076] In formula (2), T' is the minimum steering power motor torque change that EPS can detect, i1 is the worm gear ratio, i2 is the steering gear ratio, η is the total efficiency of the steering system, G is the gravitational acceleration, and f is the proportional coefficient between the rack force and the front axle load.

[0077] Step 104, determining the current load of the vehicle based on the current front axle load and the current vehicle body tilt angle.

[0078] In the embodiment of the present application, since the front and rear suspension springs of the vehicle are mostly of constant stiffness characteristics, assuming that the front axle load is constant, if the load is to be increased, it can only be increased through the rear axle, which will inevitably cause a corresponding change in the body tilt angle. Therefore, the total vehicle mass can be determined based on the current front axle load and the current body tilt angle, and then the current vehicle load can be determined based on the total vehicle mass and the vehicle curb mass; wherein the total vehicle mass is the sum of the vehicle curb mass and the vehicle load.

[0079] For example, Figure 3 FIG. 1 is a schematic diagram of load and vehicle body posture in one embodiment. Figure 3 In the equation, θ is the body tilt angle, k1 is the front suspension stiffness, k2 is the rear suspension stiffness, S1 is the front suspension compression stroke, S2 is the rear suspension compression stroke, and L is the vehicle wheelbase. The total vehicle mass M2 = k1*S1+k2*S2. Assuming that the front axle load remains unchanged, the change in the total vehicle mass △M2 = k2*(S2+△S2) can be obtained, and by Figure 3 It can be seen that: θ = arctan (△S2 / L), then combined with the above formula, the total mass of the vehicle can be determined according to the following mathematical expression:

[0080]

[0081] In formula (3), θ is the body tilt angle, M2 is the total mass of the vehicle, M1 is the front axle load, k1 is the front suspension stiffness, k2 is the rear suspension stiffness, L is the vehicle wheelbase, and G is the gravitational acceleration.

[0082] In another embodiment, a preset correspondence table can be established based on different front axle loads, different body tilt angles, vehicle curb weight and the above formula (3), wherein the preset correspondence table contains vehicle loads corresponding to different front axle loads and different body tilt angles, and the correspondence between the three will not be repeated. Therefore, when the front axle load and the body tilt angle are known, the vehicle load can be determined by looking up the table, thereby improving the vehicle weighing efficiency. The preset correspondence table is shown in Table 1:

[0083]

[0084]

[0085] Table 1 A preset correspondence table

[0086] In one embodiment, in order to ensure the accuracy of the current load obtained above, the vehicle is parked in a scene with a certain road slope, for example, in a scene with a road slope of about 20%, at this time, the total mass of the vehicle M2 = (M1 + M3) / cosθ1, where M1 is the front axle load of the vehicle, M3 is the rear axle load of the vehicle, and θ1 is the road inclination angle. It can be calculated that the change in the total vertical load of the whole vehicle relative to a straight road will not exceed 2%. For example, the total axle load difference of a 3.5-ton total mass vehicle at a 20% slope is only about 60Kg. Taking N1 class vehicles (trucks with a maximum design total mass of no more than 3500kg) as an example, the body inclination angle caused by the load is generally less than 1°, but the road inclination can reach as much as 10°. It can be seen that the change in road slope has little interference with the weighing method.

[0087] In another embodiment, the current road inclination angle corresponding to the vehicle can also be obtained, and the load compensation corresponding to the current road inclination angle can be determined, so as to calculate the actual load of the vehicle based on the current load and load compensation obtained above, and further improve the vehicle weighing accuracy. Specifically, the load transfer amount of the front axle under the road surface with the maximum slope (uphill, downhill) in the ready state can be calibrated as the load compensation in the uphill scene and the downhill scene (the road inclination angle greater than 0 is regarded as uphill, and the road inclination angle less than 0 is regarded as downhill).

[0088] In one embodiment, after the current load of the vehicle is determined by the above method, the current load is displayed to the target object so that the target object can timely control the use of the vehicle and avoid safety accidents caused by vehicle overloading.

[0089] In one embodiment, when the target object is in Figure 2 When the "reset" switch is clicked in the operation interface shown, the current load is cleared based on the reset operation instruction in response to the reset operation instruction of the target object, so that the target object can control the weighing process of the vehicle, thereby improving the user experience.

[0090] In the above vehicle weighing method, the current front axle load and the current body tilt angle of the vehicle are obtained based on the weighing instruction of the target object, and the current load of the vehicle is determined based on the current front axle load and the current body tilt angle, so that the vehicle has the function of an electronic scale, which can not only reduce manpower consumption, but also improve transportation efficiency and further improve production efficiency. At the same time, there is no need to add additional sensors to the vehicle to avoid increasing costs, and the requirements for the vehicle configuration are not high, and the adaptable models are very wide.

[0091] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0092] To further illustrate the technical solution provided by the embodiment of the present application, the embodiment of the present application also provides a load display system signal interaction flow chart, such as Figure 4 FIG. 1 is a flow chart of signal interaction of a load display system in an embodiment, including: a chassis controller area network bus (Chassis Controller Area Network, CHA CAN) and an information controller area network bus INFO CAN. The specific process is as follows:

[0093] When the user starts weighing, INFO CAN sends an In-Vehicle Infotainment (IVI) weighing request to CHA CAN. After receiving the weighing request, CHA CAN returns to INFO CAN that the EPS motor current is valid, indicating that weighing can start. At this time, INFO CAN will prompt the user to turn the vehicle steering wheel.

[0094] Furthermore, when INFO CAN detects the rotation completion signal corresponding to the vehicle steering wheel, it sends the IVI weighing status valid and the IVI tire pressure normal to CHA CAN. After receiving the IVI weighing status valid and the IVI tire pressure normal, CHA CAN controls the vehicle to perform self-weight detection, obtains the vehicle's self-weight, and returns the EPS self-weight to INFO CAN. At this time, INFOCAN will prompt the user whether to peel the car.

[0095] When the user chooses to peel, INFO CAN sends an IVI deadweight reset request to CHA CAN. When CHA CAN receives the IVI deadweight reset request, it performs the peel operation and returns the EPS deadweight reset. At this time, INFO CAN prompts the user to turn the vehicle steering wheel.

[0096] When INFO CAN detects the rotation completion signal corresponding to the vehicle steering wheel, it sends the IVI load status valid and the IVI tire pressure normal to CHA CAN. After receiving the IVI load status valid and the IVI tire pressure normal, CHA CAN controls the vehicle to perform load detection according to the aforementioned vehicle weighing method, obtains the vehicle load, and returns the EPS load to INFO CAN.

[0097] In one embodiment, when the user selects reset, INFO CAN sends an IVI load completion to CHA CAN, at which time CHA CAN completes the weighing and returns the EPS load position to INFO CAN.

[0098] In one embodiment, Figure 5 As shown, a vehicle weighing device is provided, including: an acquisition module 501 and a vehicle weighing module 502, wherein:

[0099] An acquisition module 501 is used to respond to a weighing instruction corresponding to the target object and acquire the current front axle load and the current body tilt angle of the vehicle based on the weighing instruction; wherein the current front axle load is determined according to the steering power motor torque of the vehicle;

[0100] The vehicle weighing module 502 is used to determine the current load of the vehicle based on the current front axle load and the current vehicle body tilt angle.

[0101] In one embodiment, the acquisition module 501 is specifically used for:

[0102] A window pops up based on the weighing instruction; wherein the window includes the steering wheel rotation method;

[0103] When it is detected that the steering wheel is turning, the power steering motor torque of the vehicle is acquired, and the current front axle load of the vehicle is calculated based on the power steering motor torque.

[0104] In one embodiment, the acquisition module 501 is further used to:

[0105] Obtain the worm gear ratio, steering gear ratio and total steering system efficiency corresponding to the vehicle;

[0106] The current front axle load is calculated based on the power steering motor torque, worm gear ratio, steering gear ratio and the overall steering system efficiency.

[0107] In one embodiment, based on the steering assist motor torque, the worm gear ratio, the steering gear ratio and the total efficiency of the steering system, the current front axle load is calculated using the following formula:

[0108] M1=(T*i1*η*1000*2*π) / (i2*G*f)

[0109] Among them, M1 is the front axle load, T is the steering power motor torque, i1 is the worm gear ratio, i2 is the steering gear ratio, η is the total efficiency of the steering system, G is the gravity acceleration, and f is the proportional coefficient between the rack force and the front axle load.

[0110] In one embodiment, the vehicle weighing module 502 is specifically used for:

[0111] Determine the total vehicle mass according to the following mathematical expression:

[0112]

[0113] Among them, θ is the body tilt angle, M2 is the total mass of the vehicle, M1 is the front axle load, k1 is the front suspension stiffness, k2 is the rear suspension stiffness, L is the vehicle wheelbase, G is the gravitational acceleration, and the total mass of the vehicle is the sum of the vehicle curb mass and the vehicle load;

[0114] The current load of the vehicle is determined based on the gross vehicle mass and the vehicle curb weight.

[0115] In one embodiment, the vehicle weighing module 502 is further used to:

[0116] Displays the current payload to the target object.

[0117] In one embodiment, the vehicle weighing module 502 is further used to:

[0118] In response to the reset operation instruction of the target object, the current load is cleared based on the reset operation instruction.

[0119] The specific definition of the vehicle weighing device can be found in the definition of the vehicle weighing method above, which will not be repeated here. Each module in the above-mentioned vehicle weighing device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0120] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle weighing method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0121] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0122] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0123] In response to a weighing instruction corresponding to the target object, a current front axle load and a current body tilt angle of the vehicle are obtained based on the weighing instruction; wherein the current front axle load is determined according to a steering power motor torque of the vehicle;

[0124] Based on the current front axle load and the current vehicle body inclination angle, the current load of the vehicle is determined.

[0125] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0126] A window pops up based on the weighing instruction; wherein the window includes the steering wheel rotation method;

[0127] When it is detected that the steering wheel is turning, the power steering motor torque of the vehicle is acquired, and the current front axle load of the vehicle is calculated based on the power steering motor torque.

[0128] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0129] Obtain the worm gear ratio, steering gear ratio and total steering system efficiency corresponding to the vehicle;

[0130] The current front axle load is calculated based on the power steering motor torque, worm gear ratio, steering gear ratio and the overall steering system efficiency.

[0131] In one embodiment, when the processor executes the computer program, the current front axle load is calculated based on the steering assist motor torque, the worm gear ratio, the steering gear ratio, and the total efficiency of the steering system by the following calculation formula:

[0132] M1=(T*i1*η*1000*2*π) / (i2*G*f)

[0133] Among them, M1 is the front axle load, T is the steering power motor torque, i1 is the worm gear ratio, i2 is the steering gear ratio, η is the total efficiency of the steering system, G is the gravity acceleration, and f is the proportional coefficient between the rack force and the front axle load.

[0134] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0135] Determine the total vehicle mass according to the following mathematical expression:

[0136]

[0137] Among them, θ is the body tilt angle, M2 is the total mass of the vehicle, M1 is the front axle load, k1 is the front suspension stiffness, k2 is the rear suspension stiffness, L is the vehicle wheelbase, G is the gravitational acceleration, and the total mass of the vehicle is the sum of the vehicle curb mass and the vehicle load;

[0138] The current load of the vehicle is determined based on the gross vehicle mass and the vehicle curb weight.

[0139] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0140] Displays the current payload to the target object.

[0141] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0142] In response to the reset operation instruction of the target object, the current load is cleared based on the reset operation instruction.

[0143] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0144] In response to a weighing instruction corresponding to the target object, a current front axle load and a current body tilt angle of the vehicle are obtained based on the weighing instruction; wherein the current front axle load is determined according to a steering power motor torque of the vehicle;

[0145] Based on the current front axle load and the current vehicle body inclination angle, the current load of the vehicle is determined.

[0146] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0147] A window pops up based on the weighing instruction; wherein the window includes the steering wheel rotation method;

[0148] When it is detected that the steering wheel is turning, the power steering motor torque of the vehicle is acquired, and the current front axle load of the vehicle is calculated based on the power steering motor torque.

[0149] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0150] Obtain the worm gear ratio, steering gear ratio and total steering system efficiency corresponding to the vehicle;

[0151] The current front axle load is calculated based on the power steering motor torque, worm gear ratio, steering gear ratio and the overall steering system efficiency.

[0152] In one embodiment, when the computer program is executed by the processor, the current front axle load is calculated based on the steering assist motor torque, the worm gear ratio, the steering gear ratio and the total efficiency of the steering system by the following calculation formula:

[0153] M1=(T*i1*η*1000*2*π) / (i2*G*f)

[0154] Among them, M1 is the front axle load, T is the steering power motor torque, i1 is the worm gear ratio, i2 is the steering gear ratio, η is the total efficiency of the steering system, G is the gravity acceleration, and f is the proportional coefficient between the rack force and the front axle load.

[0155] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0156] Determine the total vehicle mass according to the following mathematical expression:

[0157]

[0158] Among them, θ is the body tilt angle, M2 is the total mass of the vehicle, M1 is the front axle load, k1 is the front suspension stiffness, k2 is the rear suspension stiffness, L is the vehicle wheelbase, G is the gravitational acceleration, and the total mass of the vehicle is the sum of the vehicle curb mass and the vehicle load;

[0159] The current load of the vehicle is determined based on the gross vehicle mass and the vehicle curb weight.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0161] Displays the current payload to the target object.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0163] In response to the reset operation instruction of the target object, the current load is cleared based on the reset operation instruction.

[0164] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0165] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A vehicle weighing method, characterized in that: The method comprises: In response to a weighing instruction corresponding to the target object, a current front axle load and a current body tilt angle of the vehicle are acquired based on the weighing instruction; wherein the current front axle load is determined according to a steering power motor torque of the vehicle; Based on the current front axle load and the current vehicle body inclination angle, a current load of the vehicle is determined.

2. The method according to claim 1, characterized in that The obtaining the current front axle load of the vehicle based on the weighing instruction includes: A window pops up based on the weighing instruction; wherein the window includes a steering wheel rotation method; When it is detected that the steering wheel is in a rotation period, the power steering motor torque of the vehicle is acquired, and the current front axle load of the vehicle is calculated based on the power steering motor torque.

3. The method according to claim 2, characterized in that The calculating the current front axle load of the vehicle based on the power steering motor torque includes: Obtaining a worm gear transmission ratio, a steering gear transmission ratio and a total steering system efficiency corresponding to the vehicle; The current front axle load is calculated based on the steering assist motor torque, the worm gear ratio, the steering gear ratio and the steering system overall efficiency.

4. The method according to claim 3, characterized in that The calculation formula for calculating the current front axle load based on the steering assist motor torque, the worm gear ratio, the steering gear ratio and the total efficiency of the steering system is as follows: M1=(T*i1*η*1000*2*π) / (i2*G*f) Among them, M1 is the front axle load, a is the proportional coefficient between the rack force and the front axle load, T is the steering power motor torque, i1 is the worm gear ratio, i2 is the steering gear ratio, η is the total efficiency of the steering system, G is the acceleration of gravity, and f is the proportional coefficient between the rack force and the front axle load.

5. The method according to claim 1, characterized in that The determining the current load of the vehicle based on the current front axle load and the current vehicle body inclination angle includes: Determine the total vehicle mass according to the following mathematical expression: Wherein, θ is the vehicle body tilt angle, M2 is the total vehicle mass, M1 is the front axle load, k1 is the front suspension stiffness, k2 is the rear suspension stiffness, L is the vehicle wheelbase, G is the gravitational acceleration, and the total vehicle mass is the sum of the vehicle curb mass and the vehicle load; The current load of the vehicle is determined according to the gross vehicle mass and the vehicle curb mass.

6. The method according to claim 1, characterized in that The method further comprises: The current load is displayed to the target object.

7. The method according to claim 6, characterized in that The method further comprises: In response to a reset operation instruction of the target object, the current load is cleared based on the reset operation instruction.

8. A vehicle weighing device, characterized in that: The device comprises: an acquisition module, configured to respond to a weighing instruction corresponding to the target object, and acquire a current front axle load and a current body tilt angle of the vehicle based on the weighing instruction; wherein the current front axle load is determined according to a steering power motor torque of the vehicle; The vehicle weighing module is used to determine the current load of the vehicle based on the current front axle load and the current vehicle body inclination angle.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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