Vehicle mass estimation method, device, equipment, storage medium and program product

Abstract

The present application relates to a vehicle mass estimation method, device, equipment, storage medium and program product. The method includes: obtaining vehicle driving information in a first time period and vehicle driving information in a second time period; determining a target state of the vehicle according to the vehicle driving information in the first time period; when the target state is a first preset state, calculating an estimated mass of the vehicle according to the vehicle driving information in the first time period; calculating an estimated speed of the vehicle according to the estimated mass and the vehicle driving information in the second time period; when a speed difference between the estimated speed and an actual speed in the vehicle driving information in the second time period satisfies a first preset relationship, determining a vehicle mass according to the estimated mass. Using this method, the mass of an electric vehicle can be estimated quickly and accurately.

Description

Technical Field

[0001] The present application relates to the technical field of automobiles, and particularly to a vehicle mass estimation method, device, equipment, storage medium, and program product. Background Art

[0002] Compared with traditional vehicles, electric vehicles have less impact on the environment and are widely regarded as having good prospects. During the use of electric vehicles, the mass of the electric vehicle affects vehicle lateral control and longitudinal control. Therefore, a method for quickly and accurately estimating the mass of an electric vehicle is needed to enhance vehicle control and thereby improve the safety of vehicle driving. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a vehicle mass estimation method, device, computer equipment, computer-readable storage medium, and computer program product that can quickly and accurately estimate the mass of an electric vehicle.

[0004] In a first aspect, the present application provides a vehicle mass estimation method, the method comprising: obtaining vehicle driving information of a first time period and vehicle driving information of a second time period; determining a target state of the vehicle according to the vehicle driving information of the first time period; when the target state is a first preset state, calculating an estimated mass of the vehicle according to the vehicle driving information of the first time period; calculating an estimated speed of the vehicle according to the estimated mass and the vehicle driving information of the second time period; when a speed difference between the estimated speed and an actual speed in the vehicle driving information of the second time period satisfies a first preset relationship, determining the vehicle mass according to the estimated mass.

[0005] In one embodiment, the determining the target state of the vehicle according to the vehicle driving information of the first time period includes: determining the target state of the vehicle according to at least one of vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and windshield wiper information.

[0006] In one embodiment, the calculating an estimated mass of the vehicle according to the vehicle driving information of the first time period includes: calculating an estimated mass of the vehicle according to the vehicle driving information of the first time period by using the kinetic energy theorem.

[0007] In one embodiment, the calculating an estimated speed of the vehicle according to the estimated mass and the vehicle driving information of the second time period includes: calculating the estimated speed according to the vehicle driving information of the second time period and the estimated mass by using the kinetic energy theorem:

[0008]

[0009] m is the estimated mass, T i is the torque of the vehicle's motor at time i, v i is the vehicle speed at time i, n is the total number of calculation steps, i0 is the reduction ratio of the vehicle's main reducer, η is the transmission efficiency of the main reducer, C d is the air resistance coefficient, A is the frontal area, S i is the distance traveled by the vehicle at step i, r is the rolling radius of the vehicle's tire, g is the acceleration due to gravity, f is the rolling resistance coefficient, v n is the estimated speed, v1 is the vehicle speed at the start time.

[0010] In one embodiment, when the speed difference between the estimated speed and the actual speed in the vehicle driving information of the second period satisfies a first preset relationship, determining the mass of the vehicle according to the estimated mass includes: if the speed difference between the estimated speed and the actual speed in the vehicle driving information of the second period satisfies the first preset relationship, calculating a mass difference according to the estimated mass and the historical estimated mass; if the mass difference satisfies a second preset relationship, storing the estimated mass obtained in this calculation; determining the mass of the vehicle according to the stored historical estimated mass and the calculation result of the estimated mass obtained in this calculation.

[0011] In one embodiment, it further includes: if the speed difference between the estimated speed and the actual speed does not satisfy the first preset relationship, using the vehicle mass obtained in the previous calculation as the vehicle mass for the corresponding time period.

[0012] In one embodiment, it further includes: if the mass difference does not satisfy the second preset relationship, determining a second vehicle state of the vehicle before the estimated start time; if the second vehicle state is a second preset state, using the estimated mass as the vehicle mass.

[0013] In a second aspect, the present application further provides a vehicle mass estimation device, and the device includes:

[0014] An acquisition module, configured to acquire vehicle driving information in a first period and vehicle driving information in a second period;

[0015] A state determination module, configured to determine a target state of the vehicle according to the vehicle driving information in the first period;

[0016] An estimated mass module, configured to calculate an estimated mass of the vehicle according to the vehicle driving information in the first period when the target state is a first preset state;

[0017] An estimated speed module, configured to calculate an estimated speed of the vehicle according to the estimated mass and the vehicle driving information in the second period;

[0018] A mass determination module is configured to determine the vehicle mass according to the estimated mass when the speed difference between the estimated speed and the actual speed in the vehicle driving information of the second period satisfies a first preset relationship.

[0019] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above method are implemented.

[0020] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0021] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0022] The above vehicle mass estimation method, device, equipment, storage medium and program product estimate the vehicle mass through vehicle driving information, do not require additional sensors to be installed, have a fast convergence speed, and a wide application range. By using the difference between the estimated speed obtained from the estimated mass and the actual speed, the effectiveness of the estimated mass of the vehicle is judged to reduce the influence of the road gradient on the accuracy of the estimated mass. When the difference between the estimated speed and the actual speed does not satisfy the first preset relationship, it indicates that the electric vehicle is driving on a slope, and the vehicle mass of the vehicle is not determined according to the estimated mass; if the difference between the estimated speed and the actual speed satisfies the first preset relationship, it indicates that the electric vehicle is driving on a flat road surface, and the vehicle mass of the vehicle is determined according to the estimated mass, so as to quickly and accurately estimate the vehicle mass of the electric vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an application environment diagram of the vehicle mass estimation method in an embodiment;

[0024] Figure 2 It is a flowchart of the vehicle mass estimation method in an embodiment;

[0025] Figure 3 It is a flowchart of the vehicle mass estimation method in another embodiment;

[0026] Figure 4 It is a structural block diagram of the vehicle mass estimation device in an embodiment;

[0027] Figure 5 It is an internal structure diagram of the computer device in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To make the objectives, technical solutions and advantages of this application more clear and understandable, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain this application and are not used to limit this application.

[0029] The quality estimation method provided by the embodiments of this application can be applied to, for example, Figure 1 the application environment as shown. Among them, the control end of the vehicle communicates with each sensor on the vehicle to obtain vehicle driving information, and then determines the target state of the vehicle according to the vehicle driving information in the first period; when the target state is the first preset state, the estimated mass of the vehicle is calculated according to the vehicle driving information in the first period; the estimated speed of the vehicle is calculated according to the estimated mass and the vehicle driving information in the second period; when the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, the vehicle mass is determined according to the estimated mass.

[0030] In one embodiment, as Figure 2 shown, a vehicle mass estimation method is provided. Taking the control end of the vehicle in Figure 1 as an example for illustration, the method includes the following steps:

[0031] Step 202, obtain the vehicle driving information in the first period and the vehicle driving information in the second period.

[0032] Among them, the first period is the duration for estimating the estimated mass of the vehicle, the second period is after the first period, and the duration of the second period is equal to that of the first period. The vehicle driving information includes but is not limited to at least one of vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, windshield wiper information, motor torque, total calculation step length (n), main reducer ratio (i0), transmission efficiency, air resistance coefficient (C d ), frontal area (A), tire rolling radius (r), gravitational acceleration (g), rolling resistance coefficient (f). Among them, the step length is the software operation cycle.

[0033] Specifically, during the driving of the vehicle, the control end of the vehicle obtains the vehicle driving information in the first period and the vehicle driving information in the second period in real time. Optionally, the control end of the vehicle can also obtain the historical vehicle driving information of a specified period from the data storage system as the vehicle driving information in the first period and the vehicle driving information in the second period to calculate the vehicle mass of any historical period.

[0034] Step 204, determine the target state of the vehicle according to the vehicle driving information in the first period.

[0035] Among them, the target state is determined according to the vehicle driving information, where the target state may include a first preset state and a non-first preset state, and the target state is one of the first preset state or the non-first preset state. Among them, the first preset state is that the vehicle speed in the vehicle speed information is within the vehicle speed target range, the vehicle gear in the gear information is in the forward gear, the depression depth in the accelerator pedal information is within the depression target range, the braking information does not include a braking instruction, the tire pressure in the tire pressure information is within the normal range, and the windshield wiper in the windshield wiper information is in the non-working state. The non-first preset state is that the vehicle speed in the vehicle speed information is outside the vehicle speed target range, or the vehicle gear in the gear information is in a non-forward gear, or the depression depth in the accelerator pedal information is outside the depression target range, or the braking information includes a braking instruction, or the tire pressure in the tire pressure information is outside the normal range, or the windshield wiper in the windshield wiper information is in the working state. Optionally, the vehicle speed target range is 40 km / h - 50 km / h, and the depression target range is 30% - 40%.

[0036] Specifically, the control end of the vehicle determines the target state of the vehicle according to the vehicle speed, gear information, accelerator pedal information, braking information, tire pressure information, and windshield wiper information in the vehicle driving information in the first period.

[0037] Step 206, when the target state is the first preset state, calculate the estimated mass of the vehicle according to the vehicle driving information in the first period.

[0038] Specifically, the control end of the vehicle compares the target state of the vehicle with the first preset state. When the target state is the first preset state, calculate the estimated mass of the vehicle according to at least one of the vehicle speed information, motor torque, total calculation step (n), main reducer ratio (i0), transmission efficiency (η), air resistance coefficient (C d ), frontal area (A), tire rolling radius (r), gravitational acceleration (g), and rolling resistance coefficient (f) in the vehicle driving information in the first period. When the target state is the non-first preset state, enter step 202.

[0039] In a specific embodiment, the control end of the vehicle calculates the estimated mass of the vehicle according to the kinetic energy theorem, i.e., formula (1), based on the vehicle driving information in the first period.

[0040]

[0041] Among them, the calculation data in formula (1) are respectively the vehicle driving information in the first period. Among them, m is the estimated mass of the vehicle; T i is the torque of the motor at the i-th moment; v i is the vehicle speed at the i-th moment; n is the total calculation step; i0 is the main reducer ratio; η is the transmission efficiency; Cd is the air resistance coefficient; A is the frontal area; S i is the distance traveled in the step at the i-th moment, which can be obtained by multiplying the vehicle speed at the i-th moment by the step; r is the rolling radius of the tire; g is the acceleration due to gravity; f is the rolling resistance coefficient; v n is the vehicle speed at the end of the estimation; v1 is the vehicle speed at the start of the estimation. Optionally, the estimation duration is 4 seconds, that is, the duration from the start of the estimation to the end of the estimation is 4 seconds.

[0042] In the above embodiments, the vehicle mass is estimated by the kinetic energy theorem, which has the effects of fast convergence speed and no need to add additional sensors, is applicable to the calculation of the vehicle mass of any electric vehicle, and has high portability.

[0043] Step 208, calculate the estimated vehicle speed according to the estimated mass and the vehicle driving information in the second period.

[0044] Among them, the types of the vehicle driving information in the second period are the same as those in the first period. The estimated speed is the estimated vehicle speed at the end of the estimation in the second period calculated by formula (1).

[0045] Specifically, the control end of the vehicle will substitute the estimated mass calculated according to the vehicle driving information in the first period and the vehicle driving information in the second period into formula (1) for reverse calculation to obtain the estimated vehicle speed at the end of the estimation in the second period.

[0046] Step 210, when the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, determine the vehicle mass according to the estimated mass.

[0047] Among them, the first preset relationship is the pre-set range of the speed difference between the estimated speed and the actual speed. Optionally, the first preset relationship is that the speed difference is less than 5%. Among them, the speed difference is calculated by formula (2).

[0048]

[0049] Among them, V n1 is the estimated speed, V n2 is the actual speed.

[0050] Specifically, when the speed difference obtained by formula (2) between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, it is considered that the vehicle is driving on a flat and good road surface without slope, and the vehicle mass is determined according to the estimated mass. When the speed difference does not satisfy the first preset relationship, it means that the vehicle is driving on a sloped road surface, and the vehicle mass cannot be determined according to the estimated mass.

[0051] The above vehicle mass estimation method estimates the vehicle mass based on vehicle driving information, without the need to install additional sensors, has a fast convergence speed, and a wide application range. By using the difference between the estimated speed and the actual speed obtained from the estimated mass, the effectiveness of the estimated mass of the vehicle is judged to reduce the influence of the road slope on the accuracy of the estimated mass. When the difference between the estimated speed and the actual speed does not satisfy the first preset relationship, it indicates that the electric vehicle is driving on a slope, and the vehicle mass is not determined according to the estimated mass; if the difference between the estimated speed and the actual speed satisfies the first preset relationship, it indicates that the electric vehicle is driving on a flat road surface, and the vehicle mass is determined according to the estimated mass, so as to quickly and accurately estimate the vehicle mass of the electric vehicle.

[0052] In one embodiment, determining the target state of the vehicle according to the vehicle driving information in the first time period includes: determining the target state of the vehicle according to at least one of the vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and windshield wiper information. Specifically, the control end of the vehicle determines whether the target state of the vehicle is the first preset state or a non-first preset state according to the vehicle speed in the vehicle speed information in the first time period, the vehicle gear in the gear information, the depression depth in the accelerator pedal information, the command in the braking information, the tire pressure value in the tire pressure information, and the windshield wiper working state in the windshield wiper information.

[0053] In the above embodiment, the control end of the vehicle determines the target state of the vehicle according to the vehicle driving information in the first time period to determine whether to estimate the vehicle mass according to the vehicle driving information, so as to screen the vehicle driving information generated during the vehicle driving process and filter out the data that is not suitable for the vehicle mass estimation method of this method to ensure the accuracy of the calculated vehicle mass.

[0054] In one embodiment, the estimated speed of the vehicle is calculated according to the estimated mass and the vehicle driving information in the second time period, including: calculating the estimated speed according to the vehicle driving information and the estimated mass in the second time period through the kinetic energy theorem:

[0055]

[0056] m is the estimated mass, T i is the torque of the vehicle motor at time i, v i is the vehicle speed at time i of the vehicle, n is the total number of calculation steps, i0 is the speed ratio of the vehicle's main reducer, η is the transmission efficiency of the main reducer, C d is the air resistance coefficient, A is the frontal area, S i is the distance traveled by the vehicle at the step at time i of the vehicle, r is the rolling radius of the vehicle tire, g is the acceleration due to gravity, f is the rolling resistance coefficient, v n is the estimated speed, v1 is the vehicle speed at the start time.

[0057] Specifically, the vehicle driving information and the estimated mass in the second period are substituted into formula (1) to obtain the estimated speed corresponding to the end moment of the estimated speed in the second period. It should be noted that the calculated estimated speed value is the vehicle driving information in the second period, and the m substituted is the estimated mass calculated according to the vehicle driving information in the first period, and T i is the torque of the vehicle's motor at the i-th moment corresponding to the second period, and S i is the distance traveled by the vehicle at the i-th moment corresponding to the second period, and v1 is the speed of the vehicle corresponding to the start moment of the second period. The total number of calculation steps n, the speed ratio i0 of the vehicle's main reducer, the transmission efficiency η of the main reducer, the air resistance coefficient C d , the frontal area A, the rolling radius r of the vehicle's tires, the gravitational acceleration g, and the rolling resistance coefficient f are also the vehicle driving information in the second period.

[0058] In the above embodiment, the estimated speed corresponding to the end moment of the estimated speed in the second period is calculated by the kinetic energy theorem. This estimated speed is the theoretical speed of the electric vehicle at the end moment of the estimated speed in the second period. This theoretical speed is the speed without considering the slope, that is, this theoretical speed is equivalent to the speed of the electric vehicle at the end moment of the estimated speed in the second period when the electric vehicle is driving on a good flat road surface.

[0059] In one embodiment, when the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, the mass of the vehicle is determined according to the estimated mass, including: if the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, the mass difference is calculated according to the estimated mass and the historical estimated mass; if the mass difference satisfies the second preset relationship, the estimated mass calculated this time is stored; the mass of the vehicle is determined according to the calculation result of the stored historical estimated mass and the estimated mass calculated this time.

[0060] Among them, the historical estimated mass is the estimated mass of the vehicle calculated within the time period before the first period. Optionally, the historical estimated mass is the estimated mass of the vehicle calculated within the most recent time period before the first period. The second preset relationship is the preset range of the estimated mass. Optionally, the second preset range is that the mass difference is less than 5%, where the mass difference is calculated by formula (3).

[0061]

[0062] Among them, m is the estimated mass, and m L is the estimated mass of the vehicle calculated within the time period before the first period.

[0063] Specifically, the control end of the vehicle calculates the speed difference between the estimated speed and the actual speed according to formula (2). If the speed difference satisfies the first preset relationship, it calculates the mass difference between the estimated mass and the historical estimated mass according to formula (3). If the mass difference satisfies the second preset relationship, it stores the estimated mass obtained from this calculation. It can be understood that both the estimated speed and the actual speed are the speeds corresponding to the end moment of the estimated speed in the second time period. Among them, the estimated speed is obtained by calculating according to formula (1), and the estimated speed is almost the same as the actual speed of the electric vehicle on a flat and good road surface, which is the theoretical speed without considering the road gradient. The actual speed is the actual speed of the vehicle in the real world, which is the actual speed considering the influence factor of the gradient. Therefore, when the speed difference between the estimated speed and the actual speed satisfies the first preset relationship, it can be considered that the electric vehicle travels on a flat and good road surface in the first time period and the second time period, and the calculated estimated mass is a valid value.

[0064] Optionally, the control end of the vehicle acquires the three most recent historical estimated masses stored and the estimated mass obtained from this calculation, and calculates the average value of the above three historical estimated masses and the estimated mass obtained from this calculation, and takes the calculated average value as the mass of the vehicle. It should be noted that the control end of the vehicle acquires the three most recent historical estimated masses stored and the estimated mass obtained from this calculation, and in chronological order, they successively satisfy the second preset relationship.

[0065] In the above embodiment, the control end of the vehicle jointly determines the mass of the vehicle through the current estimated mass and the historical estimated mass, making the calculated mass of the vehicle more accurate.

[0066] In one embodiment, it further includes: if the speed difference between the estimated speed and the actual speed does not satisfy the first preset relationship, then use the vehicle mass obtained from the previous calculation as the vehicle mass for the corresponding time period.

[0067] Specifically, the control end of the vehicle calculates the speed difference between the estimated speed and the actual speed according to formula (2). If the speed difference does not satisfy the first preset relationship, it stops the calculation and executes step 202, and takes the vehicle mass obtained from the previous calculation as the vehicle mass for the corresponding time period.

[0068] In the above embodiment, if the speed difference between the estimated speed and the actual speed calculated according to formula (2) does not satisfy the first preset relationship, it indicates that the electric vehicle does not travel on a flat and good road surface in the first time period or the second time period, and the calculated data of the estimated mass is inaccurate.

[0069] In one embodiment, it further includes: if the mass difference does not satisfy the second preset relationship, then determine the second vehicle state of the vehicle before the estimated start time; if the second vehicle state is the second preset state, then take the estimated mass as the vehicle mass.

[0070] Among them, the second preset state is that the vehicle speed is 0 and the duration of the speed being 0 is a preset duration. Optionally, the preset duration of the speed being 0 is at least 3 minutes.

[0071] Specifically, the control end of the vehicle calculates the mass difference between the estimated mass and the historical estimated mass according to formula (3). If the mass difference does not satisfy the second preset relationship, the second vehicle state of the vehicle before the start time of this estimation is determined according to the vehicle driving speed and the duration corresponding to the driving speed between the end time corresponding to the nearest historical estimated mass before the start time of this estimation. If the vehicle driving speed between the end time corresponding to the nearest historical estimated mass before the start time of this estimation and the start time of this estimation is 0, and the duration of the speed being 0 is greater than 3 minutes, then the estimated mass of this time is used as the vehicle mass.

[0072] In the above embodiment, the change situation of the vehicle mass is determined by the second vehicle state of the vehicle before the start time of the estimation. If the second vehicle state of the vehicle is the second preset state, it indicates that the vehicle mass may change. For example, adding or reducing goods. In this way, using the estimated mass calculated this time as the vehicle mass is more in line with the actual situation.

[0073] It should be noted that the estimated mass and the vehicle mass can be the mass of the vehicle when it is unloaded, or the total mass of the vehicle with goods added.

[0074] It can be understood that if the control end of the vehicle collects the vehicle driving information of the real-time first time period and the second time period, the calculated result is the current mass of the vehicle. If the control end of the vehicle collects the vehicle driving information of the historically specified first time period and the historically specified second time period, the calculated result is the mass of the vehicle in the specified time period.

[0075] Optionally, the estimation duration is 4 seconds and the step size is 0.01 second.

[0076] In a specific embodiment, such as Figure 3As shown, the control end of the vehicle obtains the vehicle driving information in the first period. The vehicle driving information in the first period includes the vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and windshield wiper information in the first period. The control end of the vehicle determines whether the state of the vehicle in the first period meets the estimation conditions according to the above vehicle driving information. Among them, the state of the vehicle in the first period can be understood as the target state in other embodiments, and meeting the estimation conditions can be understood as the target state in other embodiments being the first preset state. If the vehicle speed in the first period is greater than the set lower limit value, less than the set upper limit value, the gear is in the forward gear, the accelerator pedal depression depth is within the set range, the braking information does not contain a braking instruction, the tire pressure is normal, and the windshield wiper is in the non-working state, it is considered that the vehicle meets the estimation conditions. Optionally, the set lower limit value of the vehicle speed is 40 km / h; the set upper limit value of the vehicle speed is 50 km / h; the set range of the accelerator pedal depression depth is 30%-40%.

[0077] When the state of the vehicle in the first period does not meet the estimation conditions, the previous valid estimated mass is used as the mass of the vehicle. When the state of the vehicle in the first period meets the estimation conditions, the motor torque (T i ) at each moment in the first period of the vehicle, the total calculation step (n), the main reduction ratio (i0), the transmission efficiency (η), the air resistance coefficient (C d ), the frontal area (A), the tire rolling radius (r), the acceleration due to gravity (g), the rolling resistance coefficient (f), the vehicle speed V1 corresponding to the start moment of the first period, and the vehicle speed V n at the end moment of the first period are continuously obtained, and the above data are substituted into formula (1) to calculate the estimated mass of the vehicle. Among them, one operating cycle of the software, that is, the compensation, is 0.01 seconds. It can be understood that this step length can be changed when using different control ends of the vehicle. Optionally, the estimation period is set to 4 seconds. From this, it can be known that the total step length = estimation period / operating cycle of the software.

[0078] The control end of the vehicle continues to obtain the motor torque (T i2 ) at each moment in the second period of the vehicle, the total calculation step (n2), the main reduction ratio (i 02 ), the transmission efficiency (η2), the air resistance coefficient (C d2 ), the frontal area (A2), the tire rolling radius (r2), the acceleration due to gravity (g2), the rolling resistance coefficient (f2), and the vehicle speed V 12 at the start moment of the second period, and substitutes the above data and the estimation into formula (1) to calculate the theoretical vehicle speed V n2 at the end moment of the second period.

[0079] The control end of the vehicle obtains the actual vehicle speed V at the end moment of the second period of the vehiclen2’ , and calculate the theoretical vehicle speed V according to formula (2) n2 and V n2’ Check whether the speed difference between the theoretical vehicle speed and the actual vehicle speed is within the set range, that is, whether it is less than 5%. If the difference between the theoretical vehicle speed and the actual vehicle speed is greater than 5%, use the previous valid estimated mass as the vehicle mass. If the difference between the theoretical vehicle speed and the actual vehicle speed is less than 5%, calculate the mass difference between the current estimated mass and the previous estimated mass according to formula (3). If this value is less than 5%, calculate the average value of the current estimated mass and the previous three estimated masses, and use this average value as the actual vehicle mass. Among them, the mass differences between the current estimated mass and the previous three estimated masses are calculated in chronological order, and all need to be less than 5%.

[0080] Optionally, when the mass difference between the current estimated mass and the previous estimated mass is less than 5%, calculate the average value of the current estimated mass and the previous estimated mass, and use this average value as the actual vehicle mass.

[0081] If the mass difference between the current estimated mass and the previous estimated mass is greater than 5%, obtain the vehicle driving speed and time before the first period. If the driving speed is 0 km / h and the duration of the speed being 0 is greater than 3 minutes, use the current estimated mass as the actual vehicle mass. Otherwise, adjust the weight of the current estimated mass, calculate the weighted average value based on the adjusted current estimated mass and the previous three estimated masses, and use this weighted average value as the actual vehicle mass. It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0082] Based on the same inventive concept, an embodiment of the present application further provides a vehicle mass estimation device for implementing the vehicle mass estimation method involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the vehicle mass estimation device provided below can refer to the limitations on the vehicle mass estimation method in the above text, and will not be repeated here.

[0083] In one embodiment, as Figure 4As shown, a vehicle mass estimation device is provided, including: an acquisition module 100, a state determination module 200, an estimated mass module 300, an estimated speed module 400, and a determined mass module 500, where:

[0084] The acquisition module 100 is configured to acquire the vehicle driving information in the first time period and the vehicle driving information in the second time period.

[0085] The state determination module 200 is configured to determine the target state of the vehicle according to the vehicle driving information in the first time period.

[0086] The estimated mass module 300 is configured to, when the target state is the first preset state, calculate the estimated mass of the vehicle according to the vehicle driving information in the first time period.

[0087] The estimated speed module 400 is configured to calculate the estimated speed of the vehicle according to the estimated mass and the vehicle driving information in the second time period.

[0088] The determined mass module 500 is configured to, when the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second time period satisfies the first preset relationship, determine the vehicle mass according to the estimated mass.

[0089] In one embodiment, the state determination module includes: determining the target state of the vehicle according to at least one of vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and windshield wiper information.

[0090] In one embodiment, the estimated mass module includes: calculating the estimated mass of the vehicle according to the vehicle driving information in the first time period through the kinetic energy theorem.

[0091] In one embodiment, the estimated speed module includes: calculating the estimated speed through the kinetic energy theorem according to the vehicle driving information in the second time period and the estimated mass:

[0092]

[0093] m is the estimated mass, T i is the torque of the vehicle's motor at time i, v i is the vehicle speed at time i, n is the total number of calculation steps, i0 is the speed ratio of the vehicle's main reducer, η is the transmission efficiency of the main reducer, C d is the air resistance coefficient, A is the frontal area, S i is the distance traveled by the vehicle at the step at time i, r is the rolling radius of the vehicle's tire, g is the acceleration due to gravity, f is the rolling resistance coefficient, v n is the estimated speed, v1 is the vehicle speed at the start time.

[0094] In one embodiment, the determined mass module further includes:

[0095] A calculation mass difference module, configured to calculate a mass difference according to an estimated mass and a historical estimated mass if a speed difference between an estimated speed and an actual speed in vehicle driving information in a second time period satisfies a first preset relationship;

[0096] A storage module, configured to store the estimated mass obtained in this calculation if the mass difference satisfies a second preset relationship;

[0097] A first vehicle mass determination sub-module, configured to determine the mass of a vehicle according to a calculation result of a stored historical estimated mass and the estimated mass obtained in this calculation.

[0098] In one embodiment, it further includes: a second vehicle mass determination sub-module, configured to use the vehicle mass obtained in the last calculation as the vehicle mass in a corresponding time period if the speed difference between the estimated speed and the actual speed does not satisfy the first preset relationship.

[0099] In one embodiment, it further includes: a second state determination module, configured to determine a second vehicle state of a vehicle before an estimated start time if the mass difference does not satisfy the second preset relationship;

[0100] A third vehicle mass determination sub-module, configured to use the estimated mass as the vehicle mass if the second vehicle state is a second preset state.

[0101] Each module in the above vehicle mass estimation device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in a processor in a computer device in a hardware form or be independent of the processor, or can be stored in a memory in the computer device in a software form, so as to be called by the processor to execute operations corresponding to the above respective modules.

[0102] In one embodiment, a computer device is provided. The computer device can be a vehicle controller, and its internal structure diagram can be as Figure 5 shown. The computer device includes a processor, a memory, and a network interface 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, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as vehicle driving information. 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, it implements a vehicle mass estimation method.

[0103] Those skilled in the art can understand, Figure 5The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0104] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented: obtaining vehicle driving information in a first time period and vehicle driving information in a second time period; determining a target state of the vehicle according to the vehicle driving information in the first time period; when the target state is a first preset state, calculating an estimated mass of the vehicle according to the vehicle driving information in the first time period; calculating an estimated speed of the vehicle according to the estimated mass and the vehicle driving information in the second time period; when the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second time period satisfies a first preset relationship, determining the vehicle mass according to the estimated mass.

[0105] In one embodiment, determining the target state of the vehicle according to the vehicle driving information in the first time period, which is implemented when the processor executes the computer program, includes: determining the target state of the vehicle according to at least one of vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and windshield wiper information.

[0106] In one embodiment, calculating the estimated mass of the vehicle according to the vehicle driving information in the first time period, which is implemented when the processor executes the computer program, includes: calculating the estimated mass of the vehicle according to the vehicle driving information in the first time period through the kinetic energy theorem.

[0107] In one embodiment, calculating the estimated speed of the vehicle according to the estimated mass and the vehicle driving information in the second time period, which is implemented when the processor executes the computer program, includes: calculating the estimated speed through the kinetic energy theorem according to the vehicle driving information in the second time period and the estimated mass:

[0108]

[0109] m is the estimated mass, T i is the torque of the vehicle's motor at time i, v i is the vehicle speed at time i, n is the total number of calculation steps, i0 is the speed ratio of the vehicle's main reducer, η is the transmission efficiency of the main reducer, C d is the air resistance coefficient, A is the frontal area, S i is the distance traveled by the vehicle at the step at time i, r is the rolling radius of the vehicle's tire, g is the acceleration due to gravity, f is the rolling resistance coefficient, v n is the estimated speed, v1 is the vehicle speed at the start time.

[0110] In one embodiment, when the speed difference between the estimated speed and the actual speed in the vehicle driving information of the second period satisfies a first preset relationship when the processor executes a computer program, determining the mass of the vehicle according to the estimated quality includes: if the speed difference between the estimated speed and the actual speed in the vehicle driving information of the second period satisfies the first preset relationship, calculating a mass difference according to the estimated quality and the historical estimated quality; if the mass difference satisfies a second preset relationship, storing the estimated quality calculated this time; determining the mass of the vehicle according to the stored historical estimated quality and the calculation result of the estimated quality calculated this time.

[0111] In one embodiment, the processor further implements the following steps when executing the computer program: if the speed difference between the estimated speed and the actual speed does not satisfy the first preset relationship, using the vehicle mass calculated last time as the vehicle mass for the corresponding time period.

[0112] In one embodiment, the processor further implements the following steps when executing the computer program: if the mass difference does not satisfy the second preset relationship, determining a second vehicle state of the vehicle before the estimation start time; if the second vehicle state is a second preset state, using the estimated quality as the vehicle mass.

[0113] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtaining vehicle driving information of a first period and vehicle driving information of a second period; determining a target state of the vehicle according to the vehicle driving information of the first period; when the target state is a first preset state, calculating an estimated quality of the vehicle according to the vehicle driving information of the first period; calculating an estimated speed of the vehicle according to the estimated quality and the vehicle driving information of the second period; when the speed difference between the estimated speed and the actual speed in the vehicle driving information of the second period satisfies the first preset relationship, determining the mass of the vehicle according to the estimated quality.

[0114] In one embodiment, determining the target state of the vehicle according to the vehicle driving information of the first period when the computer program is executed by the processor includes: determining the target state of the vehicle according to at least one of vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and windshield wiper information.

[0115] In one embodiment, calculating the estimated quality of the vehicle according to the vehicle driving information of the first period when the computer program is executed by the processor includes: calculating the estimated quality of the vehicle according to the vehicle driving information of the first period through the kinetic energy theorem.

[0116] In one embodiment, when the computer program is executed by a processor, the estimated speed of the vehicle calculated based on the estimated mass and the vehicle driving information in the second period includes: calculating the estimated speed based on the vehicle driving information and the estimated mass in the second period through the kinetic energy theorem:

[0117]

[0118] m is the estimated mass, T i is the torque of the vehicle's motor at the i-th moment, v i is the vehicle speed at the i-th moment, n is the total number of calculation steps, i0 is the speed ratio of the vehicle's main reducer, η is the transmission efficiency of the main reducer, C d is the air resistance coefficient, A is the frontal area, S i is the distance traveled by the vehicle at the i-th moment step, r is the rolling radius of the vehicle's tire, g is the acceleration due to gravity, f is the rolling resistance coefficient, v n is the estimated speed, v1 is the vehicle speed at the start moment.

[0119] In one embodiment, when the computer program is executed by a processor, when the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, determining the mass of the vehicle according to the estimated mass includes: if the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, calculating the mass difference according to the estimated mass and the historical estimated mass; if the mass difference satisfies the second preset relationship, storing the estimated mass calculated this time; determining the mass of the vehicle according to the calculation result of the stored historical estimated mass and the estimated mass calculated this time.

[0120] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: if the speed difference between the estimated speed and the actual speed does not satisfy the first preset relationship, using the vehicle mass calculated last time as the vehicle mass for the corresponding time period.

[0121] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: if the mass difference does not satisfy the second preset relationship, determining the second vehicle state of the vehicle before the estimated start moment; if the second vehicle state is the second preset state, using the estimated mass as the vehicle mass.

[0122] In one embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the following steps: obtaining vehicle driving information for a first time period and vehicle driving information for a second time period; determining a target state of the vehicle according to the vehicle driving information for the first time period; when the target state is a first preset state, calculating an estimated mass of the vehicle according to the vehicle driving information for the first time period; calculating an estimated speed of the vehicle according to the estimated mass and the vehicle driving information for the second time period; and when the speed difference between the estimated speed and the actual speed in the vehicle driving information for the second time period satisfies a first preset relationship, determining the vehicle mass according to the estimated mass.

[0123] In one embodiment, determining the target state of the vehicle according to the vehicle driving information for the first time period, which is implemented when the computer program is executed by the processor, includes: determining the target state of the vehicle according to at least one of vehicle speed information, gear position information, accelerator pedal information, braking information, tire pressure information, and windshield wiper information.

[0124] In one embodiment, calculating the estimated mass of the vehicle according to the vehicle driving information for the first time period, which is implemented when the computer program is executed by the processor, includes: calculating the estimated mass of the vehicle according to the vehicle driving information for the first time period by using the kinetic energy theorem.

[0125] In one embodiment, calculating the estimated speed of the vehicle according to the estimated mass and the vehicle driving information for the second time period, which is implemented when the computer program is executed by the processor, includes: calculating the estimated speed by using the kinetic energy theorem according to the vehicle driving information for the second time period and the estimated mass:

[0126]

[0127] m is the estimated mass, T i is the torque of the vehicle's motor at time i, v i is the vehicle speed at time i, n is the total number of calculation steps, i0 is the speed ratio of the vehicle's main reducer, η is the transmission efficiency of the vehicle's... C d is the air resistance coefficient, A is the frontal area, S i is the distance traveled by the vehicle at the step at time i, r is the rolling radius of the vehicle's tire, g is the acceleration due to gravity, f is the rolling resistance coefficient, v n is the estimated speed, v1 is the vehicle speed at the start time.

[0128] In one embodiment, when the computer program is executed by a processor, if the speed difference between the estimated speed and the actual speed in the vehicle driving information of the second period satisfies a first preset relationship, determining the mass of the vehicle according to the estimation quality includes: if the speed difference between the estimated speed and the actual speed in the vehicle driving information of the second period satisfies the first preset relationship, calculating a mass difference according to the estimation quality and the historical estimation quality; if the mass difference satisfies a second preset relationship, storing the estimation quality calculated this time; determining the mass of the vehicle according to the calculation result of the stored historical estimation quality and the estimation quality calculated this time.

[0129] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: if the speed difference between the estimated speed and the actual speed does not satisfy the first preset relationship, using the vehicle mass calculated last time as the vehicle mass for the corresponding time period.

[0130] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: if the mass difference does not satisfy the second preset relationship, determining a second vehicle state of the vehicle before the estimation start time; if the second vehicle state is a second preset state, using the estimation quality as the vehicle mass. It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0131] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0132] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0133] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A vehicle mass estimation method, characterized in that, The method includes: Obtaining the vehicle driving information in the first period and the vehicle driving information in the second period; Determining the target state of the vehicle according to the vehicle driving information in the first period; When the target state is the first preset state, calculating the estimated mass of the vehicle according to the vehicle driving information in the first period by the kinetic energy theorem; Calculating the estimated speed by the kinetic energy theorem according to the vehicle driving information in the second period and the estimated mass; m is the estimated mass, T i is the torque of the motor of the vehicle at time i, v i is the vehicle speed of the vehicle at time i, n is the total number of calculation steps, i0 is the reduction ratio of the vehicle's main reducer, η is the transmission efficiency of the main reducer, C d is the air resistance coefficient, A is the frontal area, S i is the distance traveled by the vehicle at the step at time i, r is the rolling radius of the vehicle's tire, g is the acceleration due to gravity, f is the rolling resistance coefficient, v n is the estimated speed, v1 is the vehicle speed at the start time; If the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, calculating the mass difference according to the estimated mass and the historical estimated mass; if the mass difference satisfies the second preset relationship, storing the estimated mass calculated this time; determining the mass of the vehicle according to the calculation result of the stored historical estimated mass and the estimated mass calculated this time.

2. The method according to claim 1, wherein The determining the target state of the vehicle according to the vehicle driving information in the first period includes: Determining the target state of the vehicle according to at least one of the vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and wiper information.

3. The method according to claim 2, wherein The method further includes: If the speed difference between the estimated speed and the actual speed does not satisfy the first preset relationship, using the vehicle mass calculated last time as the vehicle mass for the corresponding time period.

4. The method according to claim 3, wherein It further includes: If the mass difference does not satisfy the second preset relationship, determining the second vehicle state of the vehicle before the estimated start time; If the second vehicle state is the second preset state, using the estimated mass as the vehicle mass.

5. A vehicle mass estimation device, characterized in that, The device includes: An obtaining module, configured to obtain the vehicle driving information in the first period and the vehicle driving information in the second period; A state determining module, configured to determine the target state of the vehicle according to at least one of the vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and wiper information; An estimated mass module, configured to, when the target state is the first preset state, calculate the estimated mass of the vehicle according to the vehicle driving information in the first period by the kinetic energy theorem; An estimated speed module, configured to calculate the estimated speed by the kinetic energy theorem according to the vehicle driving information in the second period and the estimated mass; m is the estimated mass, T i is the torque of the vehicle's motor at time i, v i is the vehicle speed at time i, n is the total number of calculation steps, i0 is the reduction ratio of the vehicle's main reducer, η is the transmission efficiency of the main reducer, C d is the air resistance coefficient, A is the frontal area, S i is the distance traveled by the vehicle at the step at time i, r is the rolling radius of the vehicle's tire, g is the acceleration due to gravity, f is the rolling resistance coefficient, v n is the estimated speed, v1 is the vehicle speed at the start time; A determining mass module, including a calculating mass difference module, a storing module, and a first determining vehicle mass sub-module; the calculating mass difference module is configured to, if the speed difference between the estimated speed and the actual speed in the vehicle driving information in the second period satisfies the first preset relationship, calculate the mass difference according to the estimated mass and the historical estimated mass; the storing module is configured to, if the mass difference satisfies the second preset relationship, store the estimated mass calculated this time; the first determining vehicle mass sub-module is configured to determine the mass of the vehicle according to the calculation result of the stored historical estimated mass and the estimated mass calculated this time.

6. The device according to claim 5, characterized in that The state determining module is configured to determine the target state of the vehicle according to at least one of the vehicle speed information, gear information, accelerator pedal information, braking information, tire pressure information, and wiper information.

7. The device according to claim 6, characterized in that, The device further includes: The second vehicle mass determination sub-module is configured to use the vehicle mass obtained in the last calculation as the vehicle mass for the corresponding time period if the speed difference between the estimated speed and the actual speed does not satisfy the first preset relationship.

8. The device according to claim 7, characterized in that, The device further includes: The second state determination module is configured to determine the second vehicle state of the vehicle before the estimated start time if the mass difference does not satisfy the second preset relationship. The third vehicle mass determination sub-module is configured to use the estimated mass as the vehicle mass if the second vehicle state is the second preset state.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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