Method, device, vehicle and storage medium for monitoring vehicle loading

Abstract

The present invention relates to a method, device, vehicle and storage medium for monitoring vehicle loading. The method comprises the following steps: A. determining the estimated loading value of each wheel based on at least one or more of wheel contact footprint information, air spring air pressure information and vehicle height information; B. verifying the validity of the estimated loading value of each wheel based on the functional relationship between the vehicle pitch angle and the difference between the front and rear wheel loading values; and C. if the verification is passed, generating a valid loading value based on the estimated loading value of each wheel and the vehicle weight information. The scheme can realize high-precision detection of vehicle loading, thereby improving driving safety.

Description

Technical Field

[0001] The present invention relates to vehicle monitoring technology, and in particular to a method, a device, a vehicle and a storage medium for monitoring vehicle loading. Background Art

[0002] The detection of wheel load is an essential part of realizing intelligent vehicle control, which will provide important help for tire pressure adjustment and driving risk estimation. In addition, the tire life is closely related to the wheel load during use, so the research on wheel loading data for tire life prediction is also of great significance.

[0003] At present, existing technologies often use a single monitoring solution (for example, with the help of a wheel vertical load sensor) to estimate the wheel load. However, this single monitoring solution is not only susceptible to extreme road conditions, but the uncorrected detection results are often inaccurate, which will lead to more and more traffic accidents caused by safety issues such as vehicle overloading and tire blowout. Summary of the invention

[0004] According to one aspect of the present invention, a method for monitoring vehicle loading is provided, characterized in that it includes the following steps: A. determining an estimated loading value of each wheel based on at least one or more of wheel contact footprint information, air spring pressure information, and vehicle height information; B. verifying the validity of the estimated loading value of each wheel based on a functional relationship between the vehicle pitch angle and the difference between the front and rear wheel loading values; and C. if the verification is passed, generating a valid loading value based on the estimated loading value of each wheel and the vehicle weight information.

[0005] As an alternative or supplement to the above solution, the method according to an embodiment of the present invention further includes: D. generating a recommended cold tire pressure value and a low pressure warning threshold based on the effective load value.

[0006] As an alternative or supplement to the above scheme, in a method according to an embodiment of the present invention, step A includes one or more of the following items: A1, determining a first load value for each wheel based at least on the wheel contact footprint information and the tire pressure information obtained by a direct tire pressure sensor; A2, determining a second load value for each wheel based at least on the air spring pressure information from the suspension system; A3, determining a third load value for each wheel based at least on the vehicle height information and the vehicle weight information from the suspension system; and A4, generating the estimated load value for each wheel based at least on one or more of the first load value, the second load value and the third load value of each wheel.

[0007] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, in step A1, the first load value M of each wheel 1iDetermined by the following formula:

[0008]

[0009] L=t contact ·ω·r0

[0010] Where i=1, 2, 3, 4 represent the left front wheel, right front wheel, left rear wheel and right rear wheel respectively, P is the real-time tire pressure value obtained by the direct tire pressure sensor, L is the wheel contact footprint length, B is the wheel contact footprint width, t contact is the wheel contact time, ω is the wheel angular velocity, r0 is the theoretical wheel radius, M 0i The distribution of the vehicle's own weight on the corresponding wheels.

[0011] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, in step A2, the second loading value M of each wheel 2i Determined by the following formula:

[0012] M 2i =k1·P AirSpring -M 0i

[0013] Here, P AirSpring is the air spring pressure value, k1 is the preset parameter value, M 0i The distribution of the vehicle's own weight on the corresponding wheels.

[0014] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, in step A3, the third loading value M of each wheel is 3i Determined by the following formula:

[0015] M 3i =k2·(h0+Δh)-M 0i

[0016] Wherein, h0 is the initial height of the vehicle body, Δh is the change in the vehicle body height value collected by the vehicle body height sensor, k2 is the preset parameter value, M 0i The distribution of the vehicle's own weight on the corresponding wheels.

[0017] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, in step A4, the estimated load value M of each wheel is i Determined by the following formula:

[0018] M i =γ1M 1i +γ2M 2i +γ3M 3i

[0019] in,

[0020] γ1+γ2+γ3=1

[0021] Here, γ1, γ2 and γ3 are M 1i 、M 2i and M 3i The pre-calibrated confidence coefficient of i = 1, 2, 3, 4, respectively representing the left front wheel, right front wheel, left rear wheel and right rear wheel.

[0022] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, in step B, performing validity verification on the estimated load value of each wheel includes determining whether the following formula is established:

[0023]

[0024] in,

[0025]

[0026]

[0027] Here, M1, M2, M3, and M4 represent the estimated load values ​​of the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively; θ is the vehicle body pitch angle; k3 is the preset parameter value; and a y is the longitudinal acceleration of the vehicle body stability system.

[0028] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, in step C, the effective load value M load Determined by the following formula:

[0029] M load =M1+M2+M3+M4

[0030] As an alternative or supplement to the above scheme, in a method according to an embodiment of the present invention, step D also includes one or more of the following items: D1, displaying the recommended cold tire pressure value on the vehicle's central control screen; D2, generating a tire pressure adjustment instruction based on the recommended cold tire pressure value and transmitting it to the tire pressure adjustment device to automatically adjust the tire pressure of the vehicle; and D3, generating an alarm signal if the real-time tire pressure value obtained by the direct tire pressure sensor is less than the low pressure alarm threshold.

[0031] According to another aspect of the present invention, there is provided an apparatus for monitoring vehicle loading, comprising: a memory; a processor; and a computer program stored in the memory and executable on the processor, wherein the execution of the computer program causes the following steps to be performed: A. determining an estimated loading value of each wheel based on at least one or more of wheel contact footprint information, air spring pressure information, and vehicle height information; B. verifying the validity of the estimated loading value of each wheel based on a functional relationship between the vehicle pitch angle and the difference between the front and rear wheel loading values; and C. if the verification is passed, generating a valid loading value based on the estimated loading value of each wheel and the vehicle weight information.

[0032] As an alternative or supplement to the above solution, in an apparatus according to an embodiment of the present invention, the execution of the computer program further causes the following steps to be performed: D. generating a recommended cold tire pressure value and a low pressure warning threshold based on the effective load value.

[0033] As an alternative or supplement to the above scheme, in an apparatus according to an embodiment of the present invention, the operation of the computer program also causes step A to be executed in one or more of the following ways: A1, determining a first load value for each wheel based at least on the wheel contact footprint information and the tire pressure information obtained by a direct tire pressure sensor; A2, determining a second load value for each wheel based at least on the air spring pressure information from the suspension system; A3, determining a third load value for each wheel based at least on the vehicle height information and the vehicle weight information from the suspension system; and A4, generating the estimated load value for each wheel based at least on one or more of the first load value, the second load value and the third load value of each wheel.

[0034] As an alternative or supplement to the above scheme, in an apparatus according to an embodiment of the present invention, the operation of the computer program also causes step D to be executed in one or more of the following ways: D1. Displaying the recommended cold tire pressure value on the vehicle's central control screen; D2. Generating a tire pressure adjustment instruction based on the recommended cold tire pressure value and transmitting it to the tire pressure adjustment device to automatically adjust the tire pressure of the vehicle; and D3. If the real-time tire pressure value obtained by the direct tire pressure sensor is less than the low pressure alarm threshold, an alarm signal is generated.

[0035] According to yet another aspect of the present invention, a vehicle is provided, characterized in that the vehicle comprises the device according to any one embodiment of one aspect of the present invention.

[0036] According to another aspect of the present invention, a computer-readable storage medium is provided, on which program instructions executable by a processor are stored, and when the program instructions are executed by the processor, the method according to any embodiment of one aspect of the present invention is performed.

[0037] On the one hand, the scheme for monitoring vehicle loading proposed by the present invention combines three kinds of information, namely, wheel contact footprint, air spring pressure, and vehicle height, to estimate wheel loading. For example, wheel loading information estimated based on wheel contact footprint, wheel loading information estimated based on air spring pressure, and wheel loading information estimated based on vehicle height change are integrated and calculated to generate an estimated loading value. Compared with the prior art that estimates vehicle loading based on only one kind of information (for example, vertical load information collected by a wheel vertical load sensor installed at the lower end of the suspension), the scheme according to the present invention can greatly improve detection accuracy and precision, while avoiding the need for vehicle components such as wheel vertical load sensors that are difficult to arrange.

[0038] On the other hand, the solution for monitoring vehicle loading proposed in the present invention verifies the validity of the estimated loading value based on the functional relationship between the vehicle body pitch angle and the difference between the front and rear wheel loading values, thereby eliminating abnormal estimated data caused by extreme working conditions (for example, the vehicle turns at a high speed), and further realizes high-precision detection of vehicle loading, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or other aspects and advantages of the present invention will become clearer and easier to understand through the following description in conjunction with the accompanying drawings, in which the same or similar elements are represented by the same reference numerals. The accompanying drawings include:

[0040] Figure 1 A schematic flow chart of a method 10 for monitoring vehicle loading according to an embodiment of the present invention is shown;

[0041] Figure 2 A schematic diagram showing a vehicle pitch angle according to an embodiment of the present invention; and

[0042] Figure 3 FIG. 4 is a schematic block diagram of an apparatus 30 for monitoring vehicle loading according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In this specification, the present invention is more fully described with reference to the accompanying drawings in which exemplary embodiments of the present invention are illustrated. However, the present invention may be implemented in different forms and should not be construed as being limited to the embodiments given herein. The embodiments given are intended to make the disclosure herein comprehensive and complete, so as to more fully convey the scope of the present invention to those skilled in the art.

[0044] It should be noted that the terms "first", "second", etc. in this document are used to distinguish similar objects, and are not necessarily used to describe the order of objects in terms of time, space, size, etc. In addition, unless otherwise specifically stated, the terms "including", "having" and similar expressions in this document are intended to indicate non-exclusive inclusion.

[0045] The term "vehicle" or other similar terms herein includes general motor vehicles, such as passenger cars (including sports utility vehicles, buses, trucks, etc.), various commercial vehicles, etc., and includes hybrid electric vehicles, electric vehicles, plug-in hybrid electric vehicles, etc. A hybrid electric vehicle is a vehicle with two or more power sources, such as gasoline-powered and electric vehicles.

[0046] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

[0047] Reference now Figure 1 , Figure 1 FIG. 1 is a schematic flow chart of a method 10 for monitoring vehicle loading according to an embodiment of the present invention. Figure 1 As shown, method 10 includes the following steps.

[0048] In step S110 , an estimated load value of each wheel is determined based on at least one or more of wheel contact patch information, air spring pressure information, and vehicle height information.

[0049] Optionally, before executing step S110 , a control device in the vehicle (eg, an electronic control unit ECU, a domain controller DCU, etc.) may receive input information for determining an effective load value of the vehicle.

[0050] Exemplarily, the input information may include one or more of the following: real-time tire pressure signal from an intelligent direct tire pressure sensor; four-wheel speed signal, vehicle lateral and longitudinal acceleration signal, yaw angular velocity signal, and wheel tangential acceleration signal from a vehicle stability controller; air spring pressure information from an air spring controller arranged in the suspension system; vehicle height information from a vehicle height sensor arranged in the suspension system; and real-time absolute speed information of the vehicle from a global positioning system.

[0051] Exemplarily, intelligent direct tire pressure sensors, vehicle stability controllers, air spring controllers, vehicle height sensors and other devices can transmit the above input information to the execution entity of method 10, such as a vehicle controller (such as an electronic control unit ECU, a domain controller DCU, etc.) through the vehicle communication network.

[0052] Optionally, before executing step S110, the control device in the vehicle may also perform a preprocessing operation on the received input information.

[0053] Exemplarily, the preprocessing operation may include: comprehensively determining whether the vehicle is driving aggressively based on input information such as the vehicle's lateral and longitudinal acceleration, yaw rate, and four-wheel speed signals received through the vehicle communication network. For example, if one or more of the vehicle's acceleration, yaw rate, and wheel speed signals are greater than their corresponding thresholds, it is determined that the vehicle is driving aggressively (for example, the vehicle is accelerating, decelerating, or turning sharply) and an invalid value flag signal is generated.

[0054] Exemplarily, the preprocessing operation further includes: filtering the input information based on the invalid value flag signal. For example, if it is determined that the vehicle is driving aggressively, then filtering out the input information during the aggressive driving period of the vehicle.

[0055] Optionally, the above step S110 may include sub-steps S111 - S114 .

[0056] In step S111 , a first load value of each wheel is determined based on at least the wheel contact patch information and the tire pressure information obtained by the direct tire pressure sensor.

[0057] Optionally, in step S111, the first load value M of each wheel 1i It can be determined by the following formula:

[0058]

[0059] L=t contact ·ω·r0 (Formula 2)

[0060] Where i=1, 2, 3, 4 represent the left front wheel, right front wheel, left rear wheel and right rear wheel respectively, P is the real-time tire pressure value obtained by the direct tire pressure sensor, L is the wheel contact footprint length, B is the wheel contact footprint width, t contact is the wheel contact time, ω is the wheel angular velocity, r0 is the theoretical wheel radius, M 0i The distribution of the vehicle's own weight on the corresponding wheels.

[0061] For example, the wheel contact time t contactThe measurement principle is as follows: when the wheel rotates, the acceleration value of any point on the circumference of the wheel changes periodically. Exemplarily, when any point on the circumference of the wheel touches the ground, the acceleration at this point will suddenly increase (for example, increase to a first maximum value), and then quickly decrease (for example, decrease to a first minimum value) and increase again when leaving the ground (for example, increase to a second maximum value, wherein the second maximum value is smaller than the first maximum value). Therefore, the contact moment and the lift-off moment at any point of the wheel can be analyzed and determined based on the change law of the characteristic value of the acceleration, and the wheel contact time, that is, the difference between the lift-off moment and the contact moment, can be measured accordingly.

[0062] For example, the wheel contact patch width B is related to the tire's own characteristics (eg, tire stiffness), and can be obtained based on the relationship between the load (tire vertical pressure) and tire sinkage obtained during the calibration process of different tires.

[0063] In step S112 , a second load value for each wheel is determined based on at least the air spring pressure information from the suspension system.

[0064] Optionally, in a passenger car equipped with air springs, the load applied to each wheel can be regarded as positively correlated with the air pressure value of the air spring, that is, the second load value M of each wheel 2i Determined by the following formula:

[0065] M 2i =k1·P AirSpring -M 0i (Formula 3)

[0066] Here, P AirSpring is the air spring pressure value, and k1 is the preset parameter value determined during the vehicle calibration process.

[0067] In step S113 , a third load value of each wheel is determined based on at least the vehicle height information and the vehicle weight information from the suspension system.

[0068] Optionally, on a vehicle equipped with a rigid suspension system, without considering the actual road excitation, the third load value M of each wheel is 3i It can be determined by the following formula:

[0069] M 3i =k2·(h0+Δh)-M 0i (Formula 4)

[0070] Wherein, h0 is the initial height of the vehicle body, Δh is the change in the vehicle body height value collected by the vehicle body height sensor, and k2 is the preset parameter value determined during the calibration process.

[0071] In step S114, an estimated load value of each wheel is generated based on at least one or more of the first load value, the second load value and the third load value of each wheel.

[0072] For example, the wheel load information estimated based on the wheel contact footprint (e.g., the first load value), the wheel load information estimated based on the air spring pressure (e.g., the second load value), and the wheel load information estimated based on the vehicle height change value (e.g., the third load value) may be fused and calculated to generate an estimated load value. i (For example, the estimated load value M1 of the left front wheel, the estimated load value M2 of the right front wheel, the estimated load value M3 of the left rear wheel, and the estimated load value M4 of the right rear wheel) can be determined by the following formula:

[0073] M i =γ1M 1i +γ2M 2i +γ3M 3i (Formula 5)

[0074] Among them, γ1+γ2+γ3=1. Here, γ1, γ2 and γ3 are the first loading values ​​M respectively. 1i , the second loading value M 2i and the third load value M 3i For example, for M 1i The first confidence coefficient γ1 is 0.2, for M 2i The second confidence coefficient γ2 is 0.3, for M 3i The third confidence coefficient γ3 is 0.5.

[0075] Optionally, confidence coefficients (e.g., γ1, γ2, and γ3) for loading values ​​generated based on different information (e.g., wheel contact patch, air spring pressure, and vehicle height information) can be automatically updated during vehicle monitoring through manual adjustment or machine learning.

[0076] The estimated load value M of each wheel at the determined location i Afterwards, in step S120, the validity of the estimated load value of each wheel may be checked based on the functional relationship between the vehicle body pitch angle and the difference between the front and rear wheel load values.

[0077] like Figure 2 As shown, since the loads distributed at the front and rear wheels of the vehicle are often uneven, the integral of the component of the longitudinal acceleration of the vehicle body in the horizontal direction is not 0 during the vehicle's driving. According to the following formula, the estimated value of the vehicle body pitch angle θ can be obtained based on the gravity acceleration component model:

[0078]

[0079] in,

[0080] Here, a y is the longitudinal acceleration of the vehicle body stability system, It is the average value of longitudinal acceleration during the period from t1 to t2.

[0081] Optionally, in step S120, the validity of the estimated load value of each wheel may be checked according to the following formula:

[0082]

[0083] Here, M1, M2, M3, and M4 represent the estimated load values ​​of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, respectively, and k3 is a preset parameter value determined during the calibration process.

[0084] In step S130 , if the verification is passed, an effective load value is generated based on the estimated load value of each wheel and the vehicle body weight information.

[0085] Exemplarily, if the above formula 8 holds true (ie, the vehicle body pitch angle θ is approximately proportional to the difference between the front and rear wheel loads), the validity check passes; otherwise, the set of estimated load values ​​is abandoned and steps S110-S120 are performed again.

[0086] Optionally, if the validity check passes, the final valid load value M is calculated based on the following formula: load :

[0087] M load =M1+M2+M3+M4 (Formula 9)

[0088] Optionally, the method 10 may further include S140. In S140, a recommended cold tire pressure value and a low pressure warning threshold may be generated based on the effective load value.

[0089] Exemplarily, the recommended cold tire pressure value and the low pressure alarm threshold value under the loading state can be determined based on a pre-stored lookup table or in a machine learning manner. Optionally, the recommended cold tire pressure value can be displayed on the vehicle's central control screen so that the driver can manually adjust the tire pressure according to the recommended cold tire pressure value. Optionally, a tire pressure adjustment instruction can be generated based on the recommended cold tire pressure value, and the instruction can be transmitted to the tire pressure adjustment device through the vehicle communication network to automatically adjust the tire pressure of the vehicle. Optionally, an alarm signal can also be generated based on the size relationship between the real-time tire pressure value obtained by the direct tire pressure sensor and the low pressure alarm threshold. For example, if the real-time tire pressure value is less than the low pressure alarm threshold, an alarm signal is generated to drive the alarm device to alarm.

[0090] It should be noted that the receiving, calculating, judging and other operations in the above steps can be performed at a preset frequency. For example, the calculation operation of the estimated load value for each wheel in step S110 can be performed at a frequency of 1 Hz, and the present invention does not impose any specific limitation on this.

[0091] Continue to refer Figure 3 , Figure 3 FIG. 3 is a schematic block diagram of an apparatus 30 for monitoring vehicle loading according to an embodiment of the present invention. Figure 3 The device shown can be used to implement Figure 1 Method 10 in .

[0092] See also Figure 3 The device 30 includes a communication unit 310, a memory 320 (e.g., a non-volatile memory such as a flash memory, a ROM, a hard disk drive, a magnetic disk, an optical disk, etc.), a processor 330 (e.g., a microprocessor, a microcontroller, etc.), and a computer program 340 stored on the memory 320 and executable on the processor 330.

[0093] The communication unit 310 serves as a communication interface and is configured to establish a communication connection between the apparatus and an external device or network (eg, a vehicle sensor, an electronic control unit ECU, or a server).

[0094] The memory 320 stores a computer program 340 executable by the processor 330. The processor 330 is configured to execute the computer program 340 to implement a corresponding effective load value generation process. The effective load value generation process has been described in detail above and will not be repeated here.

[0095] In one or more embodiments according to the present invention, the above-mentioned components (eg, devices, means, or units) may be independent devices, or may be combined in a processing device such as an electronic control unit ECU, a domain control unit DCU, or the like.

[0096] For example, the device 30 may be integrated into a tire pressure monitoring system (TPMS). The TPMS system may detect and adjust the tire pressure of the vehicle using various sensors installed on the vehicle (e.g., direct tire pressure sensor, millimeter wave radar, laser radar, wheel speed sensor, etc.), thereby effectively increasing the comfort and safety of automobile driving.

[0097] According to another aspect of the present invention, a vehicle is provided. The vehicle comprises: Figure 3 The system shown in .

[0098] According to another aspect of the present invention, a computer-readable storage medium is provided, on which program instructions executable by a processor are stored, and when the program instructions are executed by the processor, the method for monitoring vehicle loading according to any embodiment of one aspect of the present invention is performed.

[0099] According to one or more embodiments of the present invention, wheel contact footprint information, air spring pressure information, and vehicle height information are integrated to estimate wheel loading. Compared with the prior art that estimates vehicle loading based only on a single type of information, the solution according to the present invention can greatly improve detection accuracy and precision, while avoiding the need to arrange vehicle components such as wheel vertical load sensors that are more difficult to configure.

[0100] According to one or more embodiments of the present invention, the validity of the estimated load value is checked based on the functional relationship between the vehicle body pitch angle and the difference between the front and rear wheel load values, thereby eliminating abnormal estimated data caused by extreme working conditions, further achieving high-precision detection of vehicle loading, and thus improving driving safety.

[0101] It should be understood that some of the block diagrams shown in the accompanying drawings of the present invention are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0102] It should also be understood that in some alternative embodiments, the functions / steps included in the foregoing method may not occur in the order shown in the flow chart. For example, two functions / steps shown in sequence may be performed substantially simultaneously or even in reverse order. This specifically depends on the functions / steps involved.

[0103] In addition, it is easy for those skilled in the art to understand that the methods provided by one or more embodiments of the present invention can be implemented by computer programs. For example, when a computer storage medium (such as a USB flash drive) storing the computer program is connected to a computer, the methods of one or more embodiments of the present invention can be executed by running the computer program.

[0104] Although only some of the embodiments of the present invention are described above, it should be understood by those skilled in the art that the present invention can be implemented in many other forms without departing from its subject matter and scope. Therefore, the examples and embodiments shown are considered to be illustrative rather than restrictive, and the present invention may include various modifications and substitutions without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A method for monitoring vehicle loading, It is characterized in that The steps include: A. performing a fusion calculation based on at least wheel contact footprint information, air spring pressure information, and vehicle height information to determine an estimated load value for each wheel; B. performing validity check on the estimated load value of each wheel according to the functional relationship between the vehicle body pitch angle and the difference between the front and rear wheel load values, so as to exclude abnormal estimated load values ​​caused by high-speed turning of the vehicle; as well as C. If the verification is passed, generating an effective load value based on the estimated load value of each wheel and the vehicle body weight information; Wherein, step A comprises: A1. determining a first load value for each wheel based at least on wheel contact footprint information and tire pressure information obtained by a direct tire pressure sensor; A2. determining a second load value for each wheel based at least on air spring pressure information from the suspension system; A3. determining a third load value for each wheel based at least on the vehicle height information from the suspension system and the vehicle weight information; and A4. generating the estimated load value of each wheel based at least on the first load value, the second load value and the third load value of each wheel; In step B, the validity check of the estimated load value of each wheel includes determining whether the following formula is true: in, Here, M 1 、M 2 、M 3 、M 4 They represent the estimated load values ​​of the left front wheel, right front wheel, left rear wheel, and right rear wheel respectively, θ is the vehicle body pitch angle, k 3 is the preset parameter value, a y is the longitudinal acceleration of the vehicle body stability system, g is the acceleration due to gravity, t 1 to 2 The average value of the longitudinal acceleration during the period.

2. The method according to claim 1, in, Also includes: D. Generate a recommended cold tire pressure value and a low pressure warning threshold based on the effective load value.

3. The method according to claim 1, in, In step A1, the first load value M of each wheel 1i Determined by the following formula: L=t contact ·ω·r 0 Where i=1, 2, 3, 4 represent the left front wheel, right front wheel, left rear wheel and right rear wheel respectively, P is the real-time tire pressure value obtained by the direct tire pressure sensor, L is the wheel contact footprint length, B is the wheel contact footprint width, t contact is the wheel contact time, ω is the wheel angular velocity, r 0 is the theoretical wheel radius, M 0i is the distribution of the vehicle body weight on the corresponding wheels, and g is the acceleration due to gravity.

4. The method according to claim 1, in, In step A2, the second load value M of each wheel 2i Determined by the following formula: M 2i =k 1 ·P AirSpring -M 0i Here, i=1, 2, 3, 4 represent the left front wheel, right front wheel, left rear wheel and right rear wheel respectively, P AirSpring is the air spring pressure value, k 1 is the preset parameter value, M 0i The distribution of the vehicle's own weight on the corresponding wheels.

5. The method according to claim 1, in, In step A3, the third load value M of each wheel 3i Determined by the following formula: M 3i =k 2 ·(h 0 +Δh)-M 0i Where i=1, 2, 3, 4 represent the left front wheel, right front wheel, left rear wheel and right rear wheel respectively, h 0 is the initial height of the vehicle body, Δh is the change in the vehicle body height value collected by the vehicle body height sensor, k 2 is the preset parameter value, M 0i The distribution of the vehicle's own weight on the corresponding wheels.

6. The method according to claim 1, in, In step A4, the estimated load value M of each wheel i Determined by the following formula: M i =c 1 M 1i +g 2 M 2i +g 3 M 3i in, c 1 +g 2 +g 3 =1 Here, i=1, 2, 3, 4 represent the left front wheel, right front wheel, left rear wheel and right rear wheel respectively, γ 1 , γ 2 and γ 3 M 1i 、M 2i and M 3i The pre-calibrated confidence coefficient of M 1i 、M 2i and M 3i They are the first loading value, the second loading value, and the third loading value of each wheel respectively.

7. The method according to claim 1, in, In step C, the effective load value M load Determined by the following formula: M load =M 1 +M 2 +M 3 +M 4 。 8. The method according to claim 2, in, Step D also includes one or more of the following: D1. Displaying the recommended cold tire pressure value on the vehicle's central control screen; D2. generating a tire pressure adjustment instruction based on the recommended cold tire pressure value and transmitting the instruction to the tire pressure adjustment device to automatically adjust the tire pressure of the vehicle; as well as D3. If the real-time tire pressure value acquired by the direct tire pressure sensor is less than the low pressure alarm threshold, an alarm signal is generated.

9. A device for monitoring vehicle loading, comprising: Memory; Processor; and A computer program stored on the memory and executable on the processor, the execution of which causes the following steps to be performed: A. performing a fusion calculation based on at least wheel contact footprint information, air spring pressure information, and vehicle height information to determine an estimated load value for each wheel; B. Check the validity of the estimated load value of each wheel based on the functional relationship between the vehicle body pitch angle and the difference between the front and rear wheel load values ​​to exclude abnormal estimated load values ​​caused by high-speed vehicle turning. ； as well as C. If the verification is passed, generating an effective load value based on the estimated load value of each wheel and the vehicle body weight information; in, Step A includes: A1. determining a first load value for each wheel based at least on wheel contact footprint information and tire pressure information obtained by a direct tire pressure sensor; A2. determining a second load value for each wheel based at least on air spring pressure information from the suspension system; A3. determining a third load value for each wheel based at least on the vehicle height information from the suspension system and the vehicle weight information; and A4. generating the estimated load value of each wheel based at least on the first load value, the second load value and the third load value of each wheel; In step B, the validity check of the estimated load value of each wheel includes determining whether the following formula is true: in, Here, M 1 、M 2 、M 3 、M 4 They represent the estimated load values ​​of the left front wheel, right front wheel, left rear wheel, and right rear wheel respectively, θ is the vehicle body pitch angle, k 3 is the preset parameter value, a y is the longitudinal acceleration of the vehicle body stability system, g is the acceleration due to gravity, t 1 to 2 The average value of longitudinal acceleration during the period.

10. The device according to claim 9, in, The execution of the computer program also causes the following steps to be performed: D. Generate a recommended cold tire pressure value and a low pressure warning threshold based on the effective load value.

11. A vehicle, It is characterized in that The vehicle comprises an apparatus as claimed in any one of claims 9-10.

12. A computer-readable storage medium having stored therein instructions, It is characterized in that When the instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 8.

13. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 8.

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