Truck weight estimation method and device

Abstract

The invention discloses a truck weight estimation method and device, and relates to the technical field of automobiles. Comprising the following steps: starting a to-be-tested truck sliding slope test; acquiring the vehicle acceleration, the resistance parameter and the parking parameter of the truck during the slope sliding test; the weight of the to-be-tested truck is calculated according to the vehicle acceleration, the resistance parameter and the parking parameter of the truck during the slope sliding test, the vehicle acceleration, the resistance parameter and the parking parameter of the truck are obtained through the slope sliding test, and the weight of the to-be-tested truck is calculated according to the vehicle acceleration, the resistance parameter and the parking parameter of the truck during the slope sliding test. The weight of the truck is measured by sliding on the ramp, the weight of the truck does not need to be measured through high-speed running of the truck, the problem of inaccurate truck weight measurement caused by inaccurate truck speed precision when the truck is measured at a low speed is solved, and a weight sensor does not need to be placed.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method and device for estimating the weight of a truck. Background Art

[0002] In an electrically powered vehicle, vehicle load, ie, vehicle weight, is an important parameter for calculating motor torque.

[0003] Vehicle weight sensors are relatively expensive and different types of vehicles have large differences in center of mass and sensor installation locations, which makes the vehicle weight sensors inaccurate in obtaining vehicle weight. The inaccurate vehicle load is particularly prominent in mining trucks, which may cause mining trucks to slip, lack power or overshoot when starting on a slope in the mining area, affecting driving safety and the life of the motor. Summary of the invention

[0004] The present application provides a truck weight estimation method and device to solve the problem that the existing vehicle load is inaccurately acquired, resulting in overshooting, sliding downhill, etc. in mining trucks, which damages the motor.

[0005] In a first aspect, the present application provides a method for estimating a truck weight, comprising the following steps:

[0006] Start the slope test of the truck to be tested;

[0007] Obtaining vehicle acceleration, resistance parameters, and parking parameters of the truck during the slope test;

[0008] The weight of the truck to be tested is calculated according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test.

[0009] The present application obtains the vehicle acceleration, resistance parameters and parking parameters of the truck through a slope test, and calculates the weight of the truck to be tested according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test. The weight of the truck can be measured by sliding down a slope, and there is no need to measure the weight of the truck by driving the truck at medium or high speed. This avoids the problem of inaccurate weight measurement caused by inaccurate speed accuracy when measuring the truck at a low speed. At the same time, there is no need to place a weight sensor, which reduces the cost. When the accurately measured truck weight is input into the system to calculate the torque, the torque is more accurate, the overshoot and slope rolling of the truck are reduced, the use condition of the motor blocking is reduced, the service life of the drive motor is improved, the generator of the truck is protected, and the safety of truck driving is improved.

[0010] It should be noted that due to the special operating environment of trucks, especially mining trucks often operate in mountainous areas with uneven roads and many slopes. Every time a mining truck is loaded with goods or unloaded with goods on a slope, its weight changes greatly and needs to be recalibrated to facilitate the calculation of the torque output when starting on a slope. Therefore, when the weight changes, it is necessary to recalculate the body weight and output the appropriate torque to make the start on the slope smooth and reduce overshoot and backward slip. The driving area of ​​the truck is a non-public road and there is no need to consider functional safety. Therefore, the slope test is allowed. The slope test can quickly calculate the mass of the truck. On the one hand, there is no need to install a weight sensor, and on the other hand, there is no need for repeated calibration, which improves the accuracy and convenience of truck weight measurement.

[0011] When the vehicle starts on a slope in the slope test, the parking brake is slowly released through the handbrake, allowing the vehicle to slowly roll backwards to start the truck.

[0012] In some embodiments, in the acquisition of the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test, the vehicle acceleration of the truck includes a plurality of vehicle accelerations and parking parameter collections at preset time intervals. By estimating the weight of the truck by using a plurality of vehicle acceleration collections at preset time intervals, the accuracy of the vehicle weight estimation can be improved and random errors can be reduced.

[0013] In some embodiments, the vehicle acceleration includes acceleration in the X direction and acceleration in the Y direction; and / or,

[0014] The resistance parameters include rolling resistance coefficient and resistance of the motor converted to the wheel end; and / or,

[0015] The parking parameters include parking air pressure, maximum parking release pressure and parking spring force.

[0016] By using the above vehicle acceleration, resistance parameters and parking parameters, the accuracy of vehicle weight estimation can be improved and the error can be reduced.

[0017] In some embodiments, the initiating a slope test of the truck to be tested includes:

[0018] Obtaining the slope value of the test road surface of the truck to be tested;

[0019] Determine whether the slope value of the test road surface is greater than a preset slope threshold;

[0020] If the slope value of the road to be tested is greater than the preset slope threshold, the slope sliding test of the truck to be tested is started.

[0021] When starting on a slope, the vehicle rolls back slowly by releasing the parking brake with the handbrake to start the truck. When the slope is small, the vehicle can be started with a large throttle to avoid rolling back. When the slope is large, such as greater than 10°, the accuracy of the vehicle weight is more important for the wheelbase input of the truck when starting, and it is more likely to cause backward rolling and overshoot, resulting in a failed start. By performing a rollback test, the accuracy of weight measurement can be improved and the rolling and overshoot of the truck can be reduced.

[0022] In some embodiments, after obtaining the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test, the method further includes:

[0023] Get the slope distance of the test truck;

[0024] Determining whether the sliding slope distance of the test truck is greater than a first preset sliding slope distance;

[0025] If the sliding distance of the test truck is greater than the first preset sliding distance;

[0026] The vehicle weight of the truck to be tested is obtained according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test and the first algorithm.

[0027] The weight of the truck is calculated by measuring the distance greater than the first preset sliding slope distance, that is, the test distance satisfies the first preset sliding slope distance, so that the distance for measuring the weight of the truck is sufficient, and the accuracy of the weight measurement can be improved.

[0028] In some embodiments, after obtaining the slope sliding distance of the test truck, the step further includes:

[0029] If the sliding distance of the test truck is greater than the second preset sliding distance;

[0030] Start parking and stop the hill-slide test;

[0031] The second preset sliding slope distance is greater than the first preset sliding slope distance.

[0032] When the slope sliding distance is greater than the second preset slope sliding distance, on the one hand, the measured distance is sufficient to accurately measure the weight of the truck, and on the other hand, the slope sliding distance is too long, which poses a safety risk. Therefore, the slope sliding is started and stopped to protect the safety of the vehicle and the driver. At the same time, such a setting does not affect the anti-slope sliding function of the vehicle, improves the safety of the entire vehicle and reduces the fatigue intensity of the driver.

[0033] In some embodiments, after obtaining the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test, the method further includes:

[0034] Get the ASR activation status of the test truck;

[0035] If the test truck's ASR is activated, parking is initiated and the hill-climbing test is stopped.

[0036] ASR is the vehicle's anti-skid system and an active safety device. The activation of the truck's ASR means that an abnormality has occurred in the hill-slip test. In order to protect the driver's safety, it is necessary to stop the hill-slip test and start parking. This setting will not affect the vehicle's anti-skid function and improves the safety of the entire vehicle.

[0037] In some embodiments, the first algorithm is:

[0038]

[0039] Where: α senx is the acceleration of the truck in the X direction at a certain moment, α seny is the acceleration of the truck in the Y direction at a certain moment, (α senx- fα seny ) T is a matrix consisting of the collection of accelerations of the trucks to be tested at multiple preset time intervals, P is the parking air pressure at a certain moment, P max F is the maximum parking release pressure. parking is the parking spring force, F motor is the resistance of the motor converted to the wheel end, f is the rolling resistance coefficient of the calibration parameter, where (a senx -fa seny ) T for (a senx -fa seny ), ((a senx -fa seny ) T (a senx -fa seny )) -1 for ((a senx -fa seny ) T (a senx -fa seny ))The inverse of the matrix. Using the above formula, the weight of the truck can be calculated.

[0040] It should be noted that the first algorithm can be derived from the simplified vehicle longitudinal dynamics equation, which is:

[0041]

[0042] Among them, α senx is the acceleration of the truck in the X direction at a certain moment, α seny is the acceleration of the truck in the Y direction at a certain moment, P is the parking air pressure at a certain moment, P maxF is the maximum parking release pressure. parking is the parking spring force, F motor is the resistance of the motor converted to the wheel, f is the calibrated parameter rolling resistance coefficient, and e is the system modeling error.

[0043] The simplified equation of vehicle longitudinal dynamics can be transformed into the optimal estimation formula:

[0044]

[0045] Through the linear regression least squares above optimal estimation formula, the vehicle mass calculation formula is obtained:

[0046]

[0047] The formula for the first algorithm is obtained by solving the vehicle mass calculation formula.

[0048] In some embodiments, the vehicle speed and acceleration include the acceleration α of the truck in the X direction at time k k , denoise αk, and the denoised α' k satisfy:

[0049] α' k =a*α k-1 +(1-a)*α k ;

[0050] Where: a is the first-order filter coefficient;

[0051] α k-1 is the acceleration of the truck in the X direction at the time k-1, which is a preset time before the k time. By noise reduction processing, the accuracy of acceleration can be improved, thereby improving the accuracy of truck weight measurement.

[0052] In a second aspect, the present application provides a truck weight estimation device, comprising:

[0053] A control module, used for controlling and starting a slope sliding test of a truck to be tested;

[0054] A first acquisition module is used to acquire the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test;

[0055] A calculation module is used to obtain the weight of the truck to be tested according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test and the first calculation method.

[0056] The truck weight estimation device can realize the truck weight estimation method, and then calculate the truck weight. The vehicle acceleration, resistance parameters and parking parameters of the truck are obtained through the slope test, and the weight of the truck to be tested is calculated according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test. The weight of the truck can be calculated by sliding down the slope, and there is no need to measure the weight of the truck by driving the truck at a medium or high speed, which avoids the problem of inaccurate weight measurement caused by inaccurate speed accuracy when measuring the truck at a low speed. At the same time, there is no need to place a weight sensor, which reduces the cost. When the accurately measured truck weight is input into the system to calculate the torque, the torque is more accurate, reducing the overshoot and slope of the truck, etc., reducing the use condition of the motor blocking, improving the service life of the drive motor, protecting the generator of the truck, and improving the safety of truck driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 This is a flow chart of a truck weight estimation method according to the first embodiment of the present application.

[0059] Figure 2 This is a flow chart of a truck weight estimation method according to a fourth embodiment of the present application.

[0060] Figure 3 This is a flow chart of a truck weight estimation method according to a fifth embodiment of the present application.

[0061] Figure 4 This is a flow chart of a method for estimating truck weight according to a sixth embodiment of the present application.

[0062] Figure 5 This is a flow chart of a truck weight estimation method according to the seventh embodiment of the present application.

[0063] Figure 6 Schematic diagram of a truck weight estimation device according to an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0065] In electrically powered vehicles, vehicle load, i.e., vehicle weight, is an important parameter for calculating motor torque.

[0066] Vehicle weight sensors are relatively expensive and different types of vehicles have large differences in center of mass and sensor installation locations, which makes the vehicle weight sensors inaccurate in obtaining vehicle weight. The inaccurate vehicle load is particularly prominent in mining trucks, which may cause mining trucks to slip, lack power or overshoot when starting on a slope in the mining area, affecting driving safety and the life of the motor.

[0067] The existing vehicle weight measurement method requires a lot of test resources for calibration. For example, when the vehicle is driving in a straight line, it is calculated by the Kalman algorithm, the least squares method or a large number of test databases. The specific ECU calculates the vehicle weight based on the engine torque, gearbox ratio, wheel speed sensor signal and calibration parameters on the CAN bus, tire specifications, ground adhesion coefficient, etc., combined with the vehicle longitudinal dynamics formula. The mass is estimated through the model state equation of longitudinal dynamics and the observed state value output by the sensor. As a result, different vehicle configurations, sensors and bus CAN signal accuracy all require a lot of time to calibrate. In particular, current commercial vehicles mainly use 100-tooth passive (magnetoelectric) wheel speed sensors, which have large speed errors at low speeds. Therefore, the above methods require medium and high speeds to calculate the vehicle weight in actual application. At lower speeds, the measurement results are inaccurate and it is difficult to cover the large slopes, large load changes, many turns, and few straight lines in the mining area. The vehicle load is not calculated, resulting in the motor torque being too small or too large, especially when the vehicle fails to start on a large slope, slips or has poor starting smoothness. The motor life may be greatly reduced due to the long time the motor is blocked during the starting process, thereby increasing the customer's vehicle operating costs.

[0068] The CAN signal accuracy and calibration values ​​of different vehicle configurations require a lot of calibration time, the initial investment in the vehicle is large, the quality of the mining truck varies greatly, and the vehicle weight cannot be calculated at the start. The traditional accelerator-brake-shift method may cause the vehicle to fail to start or have poor starting smoothness on a large slope. In view of this, the present application provides a truck weight estimation method and device to solve the problem that the existing vehicle load is inaccurately obtained, resulting in overshoot, slope slippage, etc. in the mining truck, which damages the motor.

[0069] First, as Figure 1 As shown, in a first embodiment provided in the present application, a method for estimating the weight of a truck is provided, comprising the following steps:

[0070] S10, starting the slope sliding test of the truck to be tested;

[0071] S20, obtaining the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test;

[0072] S30, obtaining the weight of the truck to be tested according to the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test and the first algorithm.

[0073] It should be noted that, in the present application, the rolling slope test refers to the vehicle being stationary on a slope, the parking brake is slowly released with the handbrake, so that the vehicle slowly rolls backwards under the action of gravity to start the truck, and the vehicle mass estimation can be achieved without giving the vehicle an additional initial velocity.

[0074] The present application then obtains the vehicle acceleration, resistance parameters and parking parameters of the truck through a slope test, and calculates the weight of the truck to be tested according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test. This allows the weight of the truck to be calculated by sliding down a slope, without having to measure the weight of the truck by driving the truck at medium or high speed, thus avoiding the problem of inaccurate weight measurement caused by inaccurate speed accuracy when measuring the truck at a low speed. At the same time, there is no need to place a weight sensor, which reduces costs. When the accurately measured truck weight is input into the system to calculate torque, the torque is more accurate, reducing overshoot and slope sliding of the truck, etc., reducing the use condition of motor blockage, improving the service life of the drive motor, protecting the generator of the truck, and improving the safety of truck driving.

[0075] It should be noted that the overall weight of a passenger car does not change much when it is in use. The weight is calculated by pre-calibration before leaving the factory. The weight with a small change has a small impact on the output of torque. When the vehicle turns, turns around, goes uphill or downhill, the change in the weight of a passenger car usually has a small impact on the driving state of the vehicle. Unlike passenger cars, trucks have a special operating environment, especially mining trucks often operate in mountainous areas, where the road surface is uneven and there are many slopes. Every time a mining truck is filled with goods or unloaded on a slope, its weight changes greatly and the weight needs to be recalibrated to facilitate the calculation of the torque output when starting on a slope. Therefore, when the weight changes, the vehicle weight needs to be recalculated and the vehicle outputs the appropriate torque to make the slope start smooth and reduce overshoot and backslip. The driving area of ​​the truck is a non-public road and there is no need to consider functional safety. Therefore, the slope test is allowed. The mass of the truck can be quickly calculated through the slope test. On the one hand, there is no need to install a weight sensor, and on the other hand, there is no need for repeated calibration, which improves the accuracy and convenience of truck weight measurement.

[0076] In combination with the first aspect, in the second embodiment provided by the present application, in the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test, the vehicle acceleration of the truck includes a collection of vehicle accelerations at multiple preset time intervals. Estimating the weight of the truck by means of a collection of vehicle accelerations at multiple preset time intervals can improve the accuracy of vehicle weight estimation and reduce random errors. Multiple vehicle accelerations at preset time intervals refer to obtaining the vehicle acceleration of the truck at different time points multiple times at the same interval within a total slope test time. For example, the total slope test time is 3s, and the vehicle acceleration is obtained every 0.1s, and a collection of vehicle accelerations at multiple different times will be obtained. The weight of the truck is estimated based on these vehicle acceleration collections, rather than estimating the weight based on the vehicle acceleration at a certain moment, which can improve the accuracy of vehicle weight estimation and reduce random errors.

[0077] In combination with the first aspect, in the third embodiment provided in the present application, the vehicle acceleration includes acceleration in the X direction and acceleration in the Y direction. It should be noted that the X direction is the slope direction, and the Y direction is a direction perpendicular to the slope direction.

[0078] The resistance parameters include the rolling resistance coefficient and the belt resistance converted from the motor to the wheel end.

[0079] The parking parameters include parking air pressure, maximum parking release pressure and parking spring force.

[0080] By using the above-mentioned vehicle acceleration, resistance parameters and parking parameters, the accuracy of vehicle weight estimation can be improved and the error can be reduced. The acceleration in the X direction and the acceleration in the Y direction can be measured in real time through the CAN bus. The parking spring force, rolling resistance coefficient, and the maximum parking release pressure are calibration parameters, which are fixed values ​​related to the vehicle model. The resistance of the motor converted to the wheel end can be calculated by the vehicle bus through the engine speed, gearbox ratio, rear axle ratio, vehicle speed, and tire radius, and the calculation method is a known method. The parking air pressure can be measured by adding an air pressure sensor to the outlet of the differential valve. It should be noted that the X direction is the slope direction, and the Y direction is the direction perpendicular to the slope direction.

[0081] Combined with the first aspect, Figure 2 As shown, in the fourth embodiment provided in the present application, the starting of the slope rolling test of the truck to be tested includes:

[0082] S101, obtaining a slope value of a test road surface of a truck to be tested;

[0083] S102, determining whether the slope value of the test road surface is greater than a preset slope threshold;

[0084] S103: If the slope value of the road to be tested is greater than a preset slope threshold, start a slope sliding test for the truck to be tested.

[0085] When starting on a slope, the vehicle rolls back slowly by releasing the parking brake with the handbrake to start the truck. When the slope is small, the vehicle can be started with a large throttle to avoid rolling back. When the slope is large, such as greater than 10°, the accuracy of the vehicle weight is more important for the wheelbase input of the truck when starting, and it is more likely to cause backward rolling and overshoot, resulting in a failed start. By performing a rollback test, the accuracy of weight measurement can be improved and the rolling and overshoot of the truck can be reduced.

[0086] Combined with the first aspect, Figure 3 As shown, in the fifth embodiment provided by the present application, after obtaining the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test, it also includes:

[0087] S40, obtaining the slope sliding distance of the test truck;

[0088] S50, determining whether the slope sliding distance of the test truck is greater than a first preset slope sliding distance;

[0089] S60: If the sliding distance of the test truck is greater than the first preset sliding distance;

[0090] S70. Obtaining the weight of the truck to be tested according to the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test and the first algorithm.

[0091] By measuring the weight of the truck by a distance greater than the first preset sliding slope distance, that is, the test distance meets the first preset sliding slope distance, the distance for measuring the weight of the truck can be sufficient, which can improve the accuracy of the weight measurement. The first preset sliding slope distance can be 0.5 to 1m, that is, the distance of the truck sliding back is at least 0.5 to 1m, which can improve the accuracy of the truck weight calculation.

[0092] Combined with the first aspect, Figure 4 As shown, in the sixth embodiment provided by the present application, after obtaining the slope sliding distance of the test truck, the method further includes:

[0093] S80, determining whether the slope sliding distance of the test truck is greater than a second preset slope sliding distance;

[0094] S90, if the sliding distance of the test truck is greater than the second preset sliding distance;

[0095] S100, start parking and stop the slope test;

[0096] The second preset sliding slope distance is greater than the first preset sliding slope distance.

[0097] When the sliding slope distance is greater than the second preset sliding slope distance, on the one hand, the measured distance is sufficient to accurately measure the weight of the truck, and on the other hand, the sliding slope distance is too long, which poses a safety risk. Therefore, starting to stop the sliding slope can protect the safety of the vehicle and the driver. The second preset sliding slope distance can be 2 to 5 meters, that is, when the truck slides downhill for more than 2 to 5 meters, it needs to stop sliding downhill to reduce the risk of vehicle loss of control and improve the safety of the driver and the vehicle. At the same time, such a setting does not affect the anti-slip function of the vehicle, improves the safety of the entire vehicle and reduces the fatigue intensity of the driver.

[0098] Combined with the first aspect, Figure 5 As shown, in the seventh embodiment provided by the present application, after obtaining the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test, it also includes:

[0099] S110, obtaining the ASR activation status of the test truck;

[0100] S120: If the ASR of the test truck is activated, parking is started and the slope test is stopped.

[0101] ASR is the vehicle's anti-skid system, which is an active safety device. The activation of the truck's ASR means that the slope test is abnormal. In order to protect the driver's safety, it is necessary to stop the slope test and start parking. This setting does not affect the vehicle's anti-slope function and improves the safety of the entire vehicle. If the ASR of the test truck is not activated, continue the slope test and calculate the truck's weight.

[0102] In combination with the first aspect, in an eighth embodiment provided in the present application, the first algorithm is:

[0103]

[0104] Where: α senx is the acceleration of the truck in the X direction at a certain moment, α seny is the acceleration of the truck in the Y direction at a certain moment, (α senx- fα seny ) T is a matrix consisting of the collection of accelerations of the trucks to be tested at multiple preset time intervals, P is the parking air pressure at a certain moment, P max F is the maximum parking release pressure. parking is the parking spring force, F motor is the resistance of the motor converted to the wheel end, f is the rolling resistance coefficient of the calibration parameter, where (a senx -fa seny ) T for (a senx -fa seny ), ((a senx -faseny ) T (a senx -fa seny )) -1 for ((a senx -fa seny ) T (a senx -fa seny )) matrix. The above formula can be used to calculate the weight of the truck. By combining the accelerations at multiple moments into a matrix, the accuracy of the truck weight calculation can be improved.

[0105] It should be noted that the first algorithm can be derived from the simplified vehicle longitudinal dynamics equation, which is:

[0106]

[0107] Among them, α senx is the acceleration of the truck in the X direction at a certain moment, α seny is the acceleration of the truck in the Y direction at a certain moment, P is the parking air pressure at a certain moment, P max F is the maximum parking release pressure. parking is the parking spring force, F motor is the resistance of the motor converted to the wheel, f is the calibrated parameter rolling resistance coefficient, and e is the system modeling error.

[0108] The simplified equation of vehicle longitudinal dynamics can be transformed into the optimal estimation formula:

[0109]

[0110] Where (n) is a sampling array of multiple time points separated by a preset time.

[0111] Through the linear regression least squares above optimal estimation formula, the vehicle mass calculation formula is obtained:

[0112]

[0113] The formula for the first algorithm is obtained by solving the vehicle mass calculation formula.

[0114] In combination with the first aspect, in the tenth embodiment provided in the present application, the vehicle speed, vehicle acceleration, resistance parameter and parking parameter include the acceleration α of the truck in the X direction at time k k , denoise αk, and the denoised α' k satisfy:

[0115] α' k =a*α k-1 +(1-a)*αk ;

[0116] Where: a is the first-order filter coefficient;

[0117] α k-1 is the acceleration of the truck in the X direction at the k-1 moment before the k moment. For example, if the acceleration of the truck in the X direction is obtained every 0.1s, the acceleration in the X direction at the 0.9s is α 0.9 , the acceleration in the X direction in the first second is α 1.0 , α' after denoising 1.0 =a*α 0.9 +(1-a)*α 1.0 , the first-order filter coefficient a is a constant, usually 0.8 to 0.9. By noise reduction processing, the accuracy of acceleration can be improved, thereby improving the accuracy of truck weight measurement.

[0118] Second, as Figure 6 As shown, the present application provides a truck weight estimation device, comprising:

[0119] A control module, used for controlling and starting a slope sliding test of a truck to be tested;

[0120] A first acquisition module is used to acquire the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test;

[0121] A calculation module is used to obtain the weight of the truck to be tested according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test and the first calculation method.

[0122] The truck weight estimation device can realize the truck weight estimation method, and then calculate the truck weight. The vehicle acceleration, resistance parameters and parking parameters of the truck are obtained through the slope test, and the weight of the truck to be tested is calculated according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test. The weight of the truck can be calculated by sliding down the slope, and there is no need to measure the weight of the truck by driving the truck at a medium or high speed, which avoids the problem of inaccurate weight measurement caused by inaccurate speed accuracy when measuring the truck at a low speed. At the same time, there is no need to place a weight sensor, which reduces the cost. When the accurately measured truck weight is input into the system to calculate the torque, the torque is more accurate, reducing the overshoot and slope of the truck, etc., reducing the use condition of the motor blocking, improving the service life of the drive motor, protecting the generator of the truck, and improving the safety of truck driving.

[0123] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0124] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0125] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0126] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0127] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0128] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for estimating the weight of a truck, characterized in that: The following steps are involved: Start the slope test of the truck to be tested; Obtaining vehicle acceleration, resistance parameters, and parking parameters of the truck during the slope test; The vehicle weight of the truck to be tested is obtained according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test and the first calculation method.

2. The method for estimating the weight of a truck according to claim 1, characterized in that: In the acquisition of the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test, the vehicle acceleration of the truck includes a collection of vehicle accelerations at multiple preset time intervals.

3. The method for estimating the weight of a truck according to claim 1, wherein: The vehicle acceleration includes acceleration in the X direction and acceleration in the Y direction; and / or, The resistance parameters include rolling resistance coefficient and resistance of the motor converted to the wheel end; and / or, The parking parameters include parking air pressure, maximum parking release pressure and parking spring force.

4. The method for estimating the weight of a truck according to claim 1, wherein: The starting of the slope sliding test of the truck to be tested comprises: Obtaining the slope value of the test road surface of the truck to be tested; Determine whether the slope value of the test road surface is greater than a preset slope threshold; If the slope value of the road to be tested is greater than the preset slope threshold, the slope sliding test of the truck to be tested is started.

5. The method for estimating the weight of a truck according to claim 1, wherein: After obtaining the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test, the method further includes: Get the slope sliding distance of the test truck; Determining whether the sliding slope distance of the test truck is greater than a first preset sliding slope distance; If the sliding distance of the test truck is greater than the first preset sliding distance; The vehicle weight of the truck to be tested is obtained according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test and the first algorithm.

6. The method for estimating the weight of a truck according to claim 5, characterized in that: The step of obtaining the slope distance of the test truck further includes: If the sliding distance of the test truck is greater than the second preset sliding distance; Start parking and stop the hill-slide test; The second preset sliding slope distance is greater than the first preset sliding slope distance.

7. The method for estimating the weight of a truck according to claim 1, wherein: After obtaining the vehicle acceleration, resistance parameter and parking parameter of the truck during the slope test, the method further includes: Get the ASR activation status of the test truck; If the test truck's ASR is activated, parking is initiated and the hill-climbing test is stopped.

8. The method for estimating the weight of a truck according to claim 1, wherein: The first calculation method is: Where: α senx is the acceleration of the truck in the X direction at a certain moment, α seny is the acceleration of the truck in the Y direction at a certain moment, (α senx- fα senY ) T is a matrix consisting of the collection of accelerations of the trucks to be tested at multiple preset time intervals, P is the parking air pressure at a certain moment, P max F is the maximum parking release pressure. parking is the parking spring force, F motor is the resistance of the motor converted to the wheel end, f is the rolling resistance coefficient of the calibration parameter, where (a senx -fa seny ) T for (a senx -fa seny ), ((a senx -fa seny ) T (a senx -fa seny )) -1 for ((a senx -fa seny ) T (a senx -fa seny ))Inverse of the matrix.

9. The method for estimating the weight of a truck according to claim 1, wherein: Vehicle speed and vehicle acceleration include the acceleration α of the truck in the X direction at time k k , for α k After noise reduction, α' k satisfy: a' k =a*a k-1 +(1-a)*a k ; Where: a is the first-order filter coefficient; α k-1 is the acceleration of the truck in the X direction at the time k-1 which is a preset time before the time k.

10. A truck weight estimation device, characterized in that: include: A control module, used for controlling and starting a slope sliding test of a truck to be tested; A first acquisition module is used to acquire the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test; The calculation module is used to obtain the weight of the truck to be tested according to the vehicle acceleration, resistance parameters and parking parameters of the truck during the slope test and the first calculation method.

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