A method, apparatus, device, and storage medium for estimating the weight of a vehicle.

Abstract

This application discloses a method, apparatus, device, and storage medium for estimating vehicle mass. The method includes: initializing an acquisition state and timing time in response to a vehicle mass update requirement; if the vehicle driving state meets the timing conditions, determining the time when the vehicle driving state meets the timing conditions as a first time; the first time being equal to the initial time, and updating the timing time based on the initial time; if the acquisition state is pending acquisition, determining a first vehicle speed; if the timing time reaches a second time, calculating the integral of the motor driving force from the first time to the second time to obtain the current integral value; if the difference between the second time and the first time is equal to a preset time interval, determining the current integral value as a target integral value; determining a second vehicle speed; and determining the current vehicle mass based on the first vehicle speed, the second vehicle speed, and the target integral value. In this way, the vehicle mass can be accurately estimated, ensuring the functionality and performance of the intelligent driving system even without an acceleration sensor.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a method, apparatus, device and storage medium for estimating vehicle weight. Background Technology

[0002] Intelligent driving systems, such as AEB (Automatic Emergency Braking) or ACC (Adaptive Cruise Control), need to send acceleration and deceleration requests to the drive-by-wire systems (drive system, braking system, etc.) based on system functional requirements. However, for existing mass-produced vehicles, the drive-by-wire systems require high-precision acceleration sensors for real-time feedback to accurately respond to these requests. This places high demands on the hardware sensors, increasing mass production costs. Furthermore, for mass-produced vehicles that did not originally have acceleration sensors or high-precision acceleration sensors, adding an intelligent driving system to the existing design and hardware may result in an inability to accurately determine the vehicle's acceleration in real time, thus affecting the functionality and performance of the intelligent driving system. Summary of the Invention

[0003] This application provides a method, apparatus, device, and storage medium for estimating the mass of a vehicle, which can accurately estimate the mass of the vehicle and convert the need to obtain the vehicle's acceleration into the need to obtain the braking force, thereby ensuring the functionality and performance of the intelligent driving system even without an acceleration sensor.

[0004] On the one hand, embodiments of this application provide a method for estimating vehicle weight, the method comprising:

[0005] In response to the vehicle quality update requirement, initialize the acquisition status and timer, set the acquisition status to pending acquisition, and set the timer to the initial time;

[0006] If the vehicle's driving status meets the timing conditions, the time when the vehicle's driving status meets the timing conditions is determined as the first time; the first time is equal to the initial time, and timing is updated based on the initial time.

[0007] If the acquisition status is pending, determine the first vehicle speed; the first vehicle speed is the speed at which the vehicle's driving state meets the timing conditions.

[0008] If the timing reaches the second time, calculate the integral of the motor driving force from the first time to the second time to obtain the current integral value;

[0009] If the difference between the second time and the first time is equal to the preset time interval, the current integral value is determined as the target integral value;

[0010] Determine the second speed; the second speed is the speed at which the timing reaches the second time interval.

[0011] The current vehicle mass is determined based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0012] Furthermore, if the timing reaches the second time, the integral of the motor driving force from the first time to the second time is calculated. After obtaining the current integral value, before determining the current integral value as the target integral value if the difference between the second time and the first time is equal to the preset time interval, the process also includes:

[0013] Set the acquisition status to acquired.

[0014] Furthermore, after setting the acquisition status to acquired, it also includes:

[0015] If the difference between the second time and the first time is less than the preset time interval, the vehicle's driving status meets the timing conditions, and the acquired status is "acquired". The timing is updated based on the second time.

[0016] If the timing reaches the third time, calculate the integral of the motor driving force from the first time to the third time, obtain the updated current integral value, and set the acquisition status to acquired;

[0017] If the difference between the third time and the first time is equal to the preset time interval, the updated current integral value will be determined as the target integral value.

[0018] Determine the third speed; the third speed is the speed at which the timing reaches the third time interval.

[0019] The current vehicle mass is determined based on the first vehicle speed, the third vehicle speed, and the target integral value.

[0020] Furthermore, after setting the acquisition status to acquired, it also includes:

[0021] If the difference between the second time and the first time is less than the preset time interval, and the vehicle's driving status does not meet the timing conditions, the acquisition status is set to pending acquisition, the timing is stopped, and the timing time is set to the initial time.

[0022] If the vehicle's driving status meets the timing conditions, the time when the vehicle's driving status meets the timing conditions is determined as the first time; the first time is equal to the initial time, and timing is updated based on the initial time.

[0023] If the acquisition status is pending, determine the first vehicle speed;

[0024] If the timing reaches the second time, calculate the integral of the motor driving force from the first time to the second time to obtain the updated current integral value;

[0025] If the difference between the second time and the first time is equal to the preset time interval, the updated current integral value will be determined as the target integral value.

[0026] Determine the second speed;

[0027] The current vehicle mass is determined based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0028] Furthermore, in response to the vehicle quality update requirement, before initializing the acquisition status and timeout, setting the acquisition status to pending acquisition, and setting the timeout to the initial time, the process also includes:

[0029] If the conditions for vehicle quality renewal are met, a vehicle quality renewal requirement will be generated.

[0030] Furthermore, the conditions for updating the overall vehicle quality include:

[0031] Car doors open and close;

[0032] And / or, opening and closing the trunk door.

[0033] Furthermore, the timing conditions include: the vehicle is traveling in a straight line, the vehicle is in forward gear, the vehicle speed is within a preset speed range, the vehicle's motor torque is greater than a preset torque, and the vehicle is operating within preset working conditions.

[0034] On the other hand, embodiments of this application provide a vehicle weight estimation device, the device comprising:

[0035] The initialization module is used to respond to the vehicle quality update requirements by initializing the acquisition status and the timer, setting the acquisition status to pending acquisition, and setting the timer to the initial time.

[0036] The timing module is used to determine the time when the vehicle's driving state meets the timing conditions as the first time if the vehicle's driving state meets the timing conditions; the first time is equal to the initial time, and timing is updated based on the initial time.

[0037] The first vehicle speed determination module is used to determine the first vehicle speed if the acquisition status is pending; the first vehicle speed is the speed when the vehicle's driving status meets the timing conditions.

[0038] The current integral value determination module is used to calculate the integral of the motor driving force from the first time to the second time if the timing time reaches the second time, and obtain the current integral value.

[0039] The target integral value determination module is used to determine the current integral value as the target integral value if the difference between the second time and the first time is equal to a preset time interval.

[0040] The second vehicle speed determination module is used to determine the second vehicle speed; the second vehicle speed is the vehicle speed when the timing time reaches the second time.

[0041] The vehicle mass determination module is used to determine the current vehicle mass based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0042] Furthermore, the device also includes:

[0043] The current score determination module is also used to set the acquisition status to "acquired".

[0044] Furthermore, the device also includes:

[0045] The timing module is also used to update the timing time based on the second time if the difference between the second time and the first time is less than a preset time interval, the vehicle driving status meets the timing conditions, and the acquisition status is acquired.

[0046] The current integral value determination module is also used to calculate the integral of the motor driving force from the first time to the third time if the timing time reaches the third time, and obtain the updated current integral value; and set the acquisition status to acquired.

[0047] The target integral value determination module is also used to determine the updated current integral value as the target integral value if the difference between the third time and the first time is equal to a preset time interval.

[0048] The third speed determination module is used to determine the third speed; the third speed is the speed when the timing reaches the third time.

[0049] The vehicle mass determination module is also used to determine the current vehicle mass based on the first vehicle speed, the third vehicle speed, and the target integral value.

[0050] Furthermore, the device also includes:

[0051] The timing module is also used to set the acquisition status to pending acquisition, stop timing, and set the timing time to the initial time if the difference between the second time and the first time is less than the preset time interval and the vehicle driving status does not meet the timing conditions.

[0052] The timing module is also used to determine the time when the vehicle's driving state meets the timing conditions as the first time if the vehicle's driving state meets the timing conditions; the first time is equal to the initial time, and timing is started based on the initial time to update the timing time;

[0053] The first vehicle speed determination module is used to determine the first vehicle speed if the acquisition status is pending.

[0054] The current integral value determination module is used to calculate the integral of the motor driving force from the first time to the second time if the timing time reaches the second time, and obtain the updated current integral value.

[0055] The target integral value determination module is used to determine the updated current integral value as the target integral value if the difference between the second time and the first time is equal to a preset time interval.

[0056] The second vehicle speed determination module is used to determine the second vehicle speed;

[0057] The vehicle mass determination module is used to determine the current vehicle mass based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0058] Furthermore, the device also includes:

[0059] The update requirement generation module is used to generate a vehicle quality update requirement if the vehicle quality update conditions are met; the vehicle quality update conditions include: door opening and closing; and / or, trunk door opening and closing.

[0060] Furthermore, the device also includes:

[0061] The timing module is also used to ensure that the timing conditions are met when the vehicle is traveling in a straight line, in forward gear, at a speed within a preset speed range, with the motor torque exceeding a preset torque, and operating within preset conditions.

[0062] On the other hand, embodiments of this application provide an electronic device, which includes a processor and a memory. The memory stores at least one instruction or at least one program, and the processor loads and executes the vehicle weight estimation method as described above.

[0063] On the other hand, embodiments of this application provide a computer storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle weight estimation method as described above.

[0064] The vehicle weight estimation method, apparatus, device, and storage medium provided in this application have the following technical effects:

[0065] In response to the vehicle mass update requirement, the acquisition status and timing are initialized. The acquisition status is set to "Pending Acquisition," and the timing is set to the initial time. If the vehicle's driving state meets the timing conditions, the time when the vehicle's driving state meets the timing conditions is determined as the first time. The first time equals the initial time, and timing is updated based on the initial time. If the acquisition status is "Pending Acquisition," the first vehicle speed is determined. The first vehicle speed is the speed when the vehicle's driving state meets the timing conditions. If the timing reaches the second time, the integral of the motor driving force from the first time to the second time is calculated to obtain the current integral value. If the difference between the second time and the first time equals the preset time interval, the current integral value is determined as the target integral value. The second vehicle speed is determined. The second vehicle speed is the speed when the timing reaches the second time. The current vehicle mass is determined based on the first vehicle speed, the second vehicle speed, and the target integral value. In this way, the vehicle mass can be accurately estimated, and the requirement to acquire vehicle acceleration can be converted into a requirement to acquire braking force, thereby ensuring the functionality and performance of the intelligent driving system even without an acceleration sensor. Attached Figure Description

[0066] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 This is a schematic diagram of an application environment provided in an embodiment of this application;

[0068] Figure 2 This is a flowchart illustrating a vehicle weight estimation method provided in an embodiment of this application;

[0069] Figure 3 This is a flowchart illustrating a vehicle weight estimation method provided in an embodiment of this application;

[0070] Figure 4 This is a flowchart illustrating a vehicle weight estimation method provided in an embodiment of this application;

[0071] Figure 5 This is a schematic diagram of the structure of a vehicle weight estimation device provided in an embodiment of this application;

[0072] Figure 6 This is a hardware structure block diagram of a server for a vehicle weight estimation method provided in an embodiment of this application. Detailed Implementation

[0073] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0074] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0075] Please see Figure 1 , Figure 1 This is a schematic diagram of an application environment provided in an embodiment of this application, including a vehicle control system 101 and a vehicle mass estimation module 102. The vehicle mass estimation module 102, in response to a vehicle mass update request, determines the current vehicle mass based on the vehicle speed and the integral of the vehicle's motor driving force over a certain period of time according to a dynamic formula, and sends the determined vehicle mass to the vehicle control system 101. The vehicle control system 101, based on the received vehicle mass, converts the requirement to determine vehicle acceleration into a requirement to determine vehicle braking force, obtains the vehicle braking force from force sensors inside the vehicle, and compares the two, thereby achieving a real-time and accurate response to acceleration and deceleration requests.

[0076] Specifically, in response to the vehicle mass estimation module 102, the acquisition status and timing time are initialized. The acquisition status is set to "to be acquired" and the timing time is set to the initial time. If the vehicle driving status meets the timing conditions, the time when the vehicle driving status meets the timing conditions is determined as the first time. The first time is equal to the initial time, and timing is started based on the initial time to update the timing time. If the acquisition status is "to be acquired", the first vehicle speed is determined. The first vehicle speed is the speed when the vehicle driving status meets the timing conditions. If the timing time reaches the second time, the integral of the motor driving force from the first time to the second time is calculated to obtain the current integral value. If the difference between the second time and the first time is equal to the preset time interval, the current integral value is determined as the target integral value. The second vehicle speed is determined. The second vehicle speed is the speed when the timing time reaches the second time. The current vehicle mass is determined based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0077] In this embodiment, the vehicle control system 101 is the vehicle's original control system.

[0078] As an optional implementation, the vehicle control system 101 may be a control system without intelligent driving functions, which does not have an acceleration sensor or has a low accuracy of the acceleration sensor. By setting a vehicle mass estimation module 102 in the vehicle, it can be equipped with the ability to accurately respond to acceleration and deceleration requests, thereby adding intelligent driving functions to the vehicle control system 101.

[0079] As an optional implementation, the vehicle control system 101 can also be a control system with intelligent driving functions. The corresponding vehicle mass estimation module 102 can serve as a redundant backup for the acceleration sensor in the vehicle control system 101, acting as a replacement in case of acceleration sensor failure to ensure the normal operation of the vehicle control system 101 and improve its robustness. The vehicle mass estimation module 102 can also serve as a feedforward control loop for the acceleration sensor, improving the response speed of the vehicle control system 101.

[0080] In this embodiment, the vehicle mass estimation module 102 can be a software algorithm built into the vehicle control system 101; or it can be a separate hardware module that interacts with the vehicle control system 101 through data communication.

[0081] The following describes a specific embodiment of a vehicle weight estimation method according to this application. Figure 2This is a flowchart illustrating a vehicle weight estimation method provided in an embodiment of this application. This specification provides the method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual system or server product execution, the method can be executed sequentially according to the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment). Specifically, as shown... Figure 2 As shown, the method may include:

[0082] S201: In response to the vehicle quality update requirement, initialize the acquisition status and timer.

[0083] In this embodiment of the application, the acquisition status is set to pending acquisition, and the timing time is set to the initial time, thus completing the initialization of the acquisition status and the timing time.

[0084] In this embodiment of the application, the acquisition status indicates whether the current vehicle mass has been acquired. Specifically, "to be acquired" indicates that the vehicle mass has not been acquired, and "acquired" indicates that the vehicle mass has been acquired.

[0085] As an optional implementation, a demand flag can be set to indicate the acquisition status. Optionally, a demand flag of 0 indicates that the acquisition status is pending, and a demand flag of 1 indicates that the acquisition status is acquired. Although not shown, the demand flag can also be set to any other usable value to indicate different acquisition statuses.

[0086] As an optional implementation, the initial time can be set to 0, which facilitates the accumulation of subsequent time.

[0087] As an optional implementation, step S201: in response to the vehicle quality update requirement, before initializing the acquisition status and timing, setting the acquisition status to pending acquisition, and setting the timing to the initial time, may further include:

[0088] If the conditions for vehicle quality renewal are met, a vehicle quality renewal requirement will be generated.

[0089] As an optional implementation, the vehicle weight update conditions include: door opening and closing; and / or, trunk door opening and closing.

[0090] The opening and closing of car doors, or the opening and closing of the trunk door, indicates that the occupants and items in the vehicle may change, which may lead to a change in the overall vehicle weight. In this case, it is necessary to update the overall vehicle weight, and correspondingly, generate an overall vehicle weight update request to further execute the steps of determining the overall vehicle weight.

[0091] S203: If the vehicle's driving state meets the timing conditions, the time when the vehicle's driving state meets the timing conditions is determined as the first time; the first time is equal to the initial time, and timing is updated based on the initial time.

[0092] In this embodiment of the application, the mass of the vehicle is estimated based on the impulse formula in the dynamic formula, as shown in the following formula (1):

[0093]

[0094] Where m is the current vehicle mass, V t2 V is the vehicle speed at time t2. t1 F is the vehicle speed at time t1. 电机 For the driving force of the motor, F 风阻 For wind resistance, F 道路 For road resistance.

[0095] In formula (1), V t2 V t1 and F 电机 All of these can be directly obtained through sensors inside the vehicle, while F 风阻 and F 道路 The mass of a vehicle will vary depending on weather and road conditions and cannot be directly obtained from sensors. Clearly, only under specific conditions where wind resistance and road resistance can be ignored, i.e., when timing conditions are met, can formula (1) be simplified to formula (2), allowing the vehicle mass to be determined directly from data obtained from sensors within the vehicle. Specifically, formula (2) is as follows:

[0096]

[0097] As an optional implementation, the timing conditions include: the vehicle is traveling in a straight line, the vehicle is in forward gear, the vehicle speed is within a preset speed range, the vehicle motor torque is greater than a preset torque, and the vehicle is operating under preset conditions.

[0098] As an optional implementation, the preset speed range can be a speed range of 7m / s-14m / s.

[0099] As an optional implementation, the preset torque can be 50 N·m.

[0100] As an optional implementation, the preset operating conditions can be any conditions other than ABS (Anti-lock Braking System), ESC (Electronic Stability Control System), and TCS (Traction Control System).

[0101] S205: If the acquisition status is pending, determine the first vehicle speed.

[0102] In this embodiment, the first vehicle speed is the speed when the vehicle's driving state meets the timing condition, that is, the speed of the vehicle at the first time, which is V in the above formula (2). t1 The first time is t1 in formula (2).

[0103] In this embodiment of the application, when the acquisition status is "pending acquisition", it indicates that V in formula (2) t1 The speed has not yet been acquired. At this point, it is necessary to obtain the speed at the beginning of the timing process through the speed sensor, which is the speed at which the vehicle's driving state meets the timing conditions.

[0104] S207: If the timing reaches the second time, calculate the integral of the motor driving force from the first time to the second time to obtain the current integral value.

[0105] In this embodiment of the application, after calculating the integral of the motor driving force from the first time point to the second time point and obtaining the current integral value, the acquisition status is set to acquired, thereby indicating the first speed, i.e., V. t1 V has already been obtained and does not need to be obtained again in subsequent steps. t1 .

[0106] S209: If the difference between the second time and the first time is equal to the preset time interval, the current integral value is determined as the target integral value.

[0107] In this embodiment, if the difference between the second time and the first time is equal to the preset time interval, it indicates that the timing has met the time requirement in formula (2). At this time, the second time is t2 in formula (2), and the integral of the motor driving force from the first time to the second time is t2.

[0108] S211: Determine the second speed.

[0109] In this embodiment, the second vehicle speed is the vehicle speed when the timing reaches the second time. When the second time is t2 in formula (2), the vehicle speed at the second time corresponds to V in formula (2). t2 .

[0110] S213: Determine the current vehicle mass based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0111] In this embodiment of the application, according to steps S205 to S211, all parameter values ​​in formula (2) except for the current vehicle mass m have been obtained, namely the first vehicle speed, the second vehicle speed and the target integral value. Substituting the first vehicle speed, the second vehicle speed and the target integral value into formula (2) will yield the current vehicle mass m.

[0112] As an optional implementation method, Figure 3This document illustrates a flowchart of a vehicle weight estimation method provided in an embodiment of this application. Figure 3 As shown, after setting the acquisition status to acquired, it can also include:

[0113] S301: If the difference between the second time and the first time is less than the preset time interval, the vehicle driving status meets the timing condition, and the acquisition status is acquired, the timing is updated based on the second time.

[0114] In this embodiment of the application, if the difference between the second time and the first time is less than the preset time interval, it indicates that the timing time does not meet the time requirement in formula (2), and timing needs to continue, and the motor driving force needs to be integrated.

[0115] In this embodiment, during the time interval from t1 to t2, the vehicle's driving state must meet the timing conditions to ensure that formula (2) holds true throughout the time interval from t1 to t2, thus guaranteeing the accuracy and reliability of the calculated current vehicle mass m. Based on this, after the second time interval is reached, it is determined again whether the vehicle's driving conditions meet the timing conditions. Only when the timing conditions are met will the timing continue based on the second time interval, and the motor driving force will continue to be integrated.

[0116] S303: If the timing reaches the third time, calculate the integral of the motor driving force from the first time to the third time to obtain the updated current integral value.

[0117] In this embodiment of the application, since the acquisition status is "acquired", it indicates that the first speed has been acquired. There is no need to acquire the vehicle speed again through the speed sensor, and the motor driving force can be directly integrated.

[0118] As an optional implementation, after calculating the integral of the motor driving force from the first time to the third time and obtaining the updated current integral value, the acquisition status is set to acquired again. At this time, the acquisition status set to acquired indicates that the current calculation is reliable and effective.

[0119] As an optional implementation method,

[0120] S305: If the difference between the third time and the first time is equal to the preset time interval, the updated current integral value is determined as the target integral value.

[0121] In this embodiment, if the difference between the third time and the first time is equal to the preset time interval, it indicates that the timing has met the time requirement in formula (2). At this time, the third time is t2 in formula (2), and the integral of the motor driving force from the first time to the third time is...

[0122] S307: Determine the third speed.

[0123] In this embodiment, the third vehicle speed is the vehicle speed when the timing reaches the third time. When the third time is t2 in formula (2), the vehicle speed at the third time corresponds to V in formula (2). t2 .

[0124] S309: Determine the current vehicle mass based on the first vehicle speed, the third vehicle speed, and the target integral value.

[0125] In this embodiment of the application, according to the above steps, all parameter values ​​in formula (2) except for the current vehicle mass m have been obtained, namely the first vehicle speed, the third vehicle speed and the target integral value. Substituting the first vehicle speed, the third vehicle speed and the target integral value into formula (2) will yield the current vehicle mass m.

[0126] In this embodiment, steps S301 to S303 are actually a loop of steps S203 to S207 based on the initial time as the second time and the acquisition status as acquired. When the difference between the third time and the first time is less than the preset time interval, it is further determined whether the vehicle driving conditions meet the timing conditions. If the timing conditions are met, steps S203 to S207, i.e., steps S301 to S303, are looped again based on the initial time as the third time and the acquisition status as acquired, until the difference between the corresponding nth time and the first time is equal to the preset time interval. The corresponding current integral value is determined as the target integral value, and the speed at this time is acquired. Then, the current vehicle mass m is determined by combining the first speed.

[0127] As an optional implementation, the difference between the second time, the first time, the third time, and the second time is equal, and all are preset durations. That is, the vehicle driving status is judged once every preset duration. When the vehicle driving status meets the timing conditions, the cycle continues, the timing time is accumulated, and the motor driving force is integrated until the timing duration reaches the preset time interval. The corresponding current integral value is determined as the target integral value, and the speed at this time is obtained. Combined with the first speed, the current vehicle mass m is determined.

[0128] Through the above loop, it can be ensured that the vehicle's driving state always meets the timing conditions throughout the entire timing process, thus ensuring that the calculated current vehicle mass m is accurate and reliable.

[0129] As an optional implementation method, Figure 4 This document illustrates a flowchart of a vehicle weight estimation method provided in an embodiment of this application. Figure 4 As shown, after setting the acquisition status to acquired, it can also include:

[0130] S401: If the difference between the second time and the first time is less than the preset time interval, and the vehicle driving state does not meet the timing conditions, the acquisition state is set to pending acquisition, the timing is stopped, and the timing time is set to the initial time.

[0131] In this embodiment of the application, when the timing duration does not reach the preset time interval, that is, when the difference between the second time or the corresponding other nth time and the first time is less than the preset time interval, the vehicle driving status is judged. If the vehicle driving status does not meet the timing conditions, it indicates that a time period that does not meet the requirements of formula (2) has occurred during this timing process, and this calculation is invalid. Then, the acquisition status is set to pending acquisition, the timing is stopped, and the timing time is set to the initial time.

[0132] S203: If the vehicle's driving state meets the timing conditions, the time when the vehicle's driving state meets the timing conditions is determined as the first time; the first time is equal to the initial time, and timing is updated based on the initial time.

[0133] As an optional implementation, the timing conditions include: the vehicle is traveling in a straight line, the vehicle is in forward gear, the vehicle speed is within a preset speed range, the vehicle motor torque is greater than a preset torque, and the vehicle is operating under preset conditions.

[0134] As an optional implementation, the preset speed range can be a speed range of 7m / s-14m / s.

[0135] As an optional implementation, the preset torque can be 50 N·m.

[0136] As an optional implementation, the preset operating conditions can be any conditions other than ABS (Anti-lock Braking System), ESC (Electronic Stability Control System), and TCS (Traction Control System).

[0137] S205: If the acquisition status is pending, determine the first vehicle speed.

[0138] In this embodiment, the first vehicle speed is the speed when the vehicle's driving state meets the timing condition, that is, the speed of the vehicle at the first time, which is V in the above formula (2). t1 The first time is t1 in formula (2).

[0139] In this embodiment of the application, when the acquisition status is "pending acquisition", it indicates that V in formula (2) t1 The speed has not yet been acquired. At this point, it is necessary to obtain the speed at the beginning of the timing process through the speed sensor, which is the speed at which the vehicle's driving state meets the timing conditions.

[0140] S207: If the timing reaches the second time, calculate the integral of the motor driving force from the first time to the second time to obtain the current integral value.

[0141] In this embodiment of the application, after calculating the integral of the motor driving force from the first time point to the second time point and obtaining the current integral value, the acquisition status is set to acquired, thereby indicating the first speed, i.e., V. t1 V has already been obtained and does not need to be obtained again in subsequent steps. t1 .

[0142] S209: If the difference between the second time and the first time is equal to the preset time interval, the current integral value is determined as the target integral value.

[0143] In this embodiment, if the difference between the second time and the first time is equal to the preset time interval, it indicates that the timing has met the time requirement in formula (2). At this time, the second time is t2 in formula (2), and the integral of the motor driving force from the first time to the second time is t2.

[0144] S211: Determine the second speed.

[0145] In this embodiment, the second vehicle speed is the vehicle speed when the timing reaches the second time. When the second time is t2 in formula (2), the vehicle speed at the second time corresponds to V in formula (2). t2 .

[0146] S213: Determine the current vehicle mass based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0147] In this embodiment of the application, according to steps S205 to S211, all parameter values ​​in formula (2) except for the current vehicle mass m have been obtained, namely the first vehicle speed, the second vehicle speed and the target integral value. Substituting the first vehicle speed, the second vehicle speed and the target integral value into formula (2) will yield the current vehicle mass m.

[0148] The above steps indicate that if the vehicle's driving status does not meet the timing conditions during the timing process, the acquisition status will be set to pending acquisition, timing will be stopped, and the timing time will be set to the initial time until the vehicle's driving status meets the timing conditions again, at which point timing and calculation will restart to ensure that the vehicle quality update requirements are fully responded to.

[0149] As an optional implementation, after calculating and obtaining the current vehicle mass m once, it is determined that the vehicle mass update request response is complete, and the current vehicle mass m is output.

[0150] As an optional implementation, when the vehicle's driving state meets the timing conditions, the current vehicle mass m is calculated multiple times, the average value of the multiple current vehicle mass m is calculated, and the average value is used as the final vehicle mass output, and the completion of the vehicle mass update requirement response is determined.

[0151] As an optional implementation, when the vehicle's driving state meets the timing conditions, the current vehicle mass m is repeatedly calculated until the vehicle's driving state no longer meets the timing conditions. The average value of the current vehicle mass m obtained from multiple repeated calculations is calculated, and this average value is used as the final vehicle mass output. The vehicle mass update requirement response is then determined to be complete.

[0152] This application also provides a vehicle weight estimation device. Figure 5 This is a schematic diagram of the structure of a vehicle weight estimation device provided in an embodiment of this application, as shown below. Figure 5 As shown, the device includes:

[0153] Initialization module 501 is used to respond to the vehicle quality update requirement, initialize the acquisition status and timer, set the acquisition status to pending acquisition, and set the timer to the initial time.

[0154] The timing module 502 is used to determine the time when the vehicle's driving state meets the timing conditions as the first time if the vehicle's driving state meets the timing conditions; the first time is equal to the initial time, and timing is started based on the initial time to update the timing time;

[0155] The first vehicle speed determination module 503 is used to determine the first vehicle speed if the acquisition status is pending; the first vehicle speed is the speed when the vehicle's driving status meets the timing conditions.

[0156] The current integral value determination module 504 is used to calculate the integral of the motor driving force from the first time to the second time if the timing time reaches the second time, and obtain the current integral value.

[0157] The target integral value determination module 505 is used to determine the current integral value as the target integral value if the difference between the second time and the first time is equal to a preset time interval.

[0158] The second vehicle speed determination module 506 is used to determine the second vehicle speed; the second vehicle speed is the vehicle speed when the timing time reaches the second time.

[0159] The vehicle mass determination module 507 is used to determine the current vehicle mass based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0160] As an optional implementation, the device further includes:

[0161] The current integral value determination module 504 is also used to set the acquisition status to acquired.

[0162] As an optional implementation, the device further includes:

[0163] The timing module 502 is also used to update the timing time based on the second time if the difference between the second time and the first time is less than a preset time interval, the vehicle driving state meets the timing condition, and the acquisition status is acquired.

[0164] The current integral value determination module 504 is also used to calculate the integral of the motor driving force from the first time to the third time if the timing time reaches the third time, and obtain the updated current integral value; and set the acquisition status to acquired.

[0165] The target integral value determination module 505 is also used to determine the updated current integral value as the target integral value if the difference between the third time and the first time is equal to a preset time interval.

[0166] The third speed determination module 508 is used to determine the third speed; the third speed is the speed when the timing reaches the third time.

[0167] The vehicle mass determination module 507 is also used to determine the current vehicle mass based on the first vehicle speed, the third vehicle speed, and the target integral value.

[0168] As an optional implementation, the device further includes:

[0169] The timing module 502 is also used to set the acquisition status to pending acquisition, stop timing and set the timing time to the initial time if the difference between the second time and the first time is less than the preset time interval and the vehicle driving status does not meet the timing conditions.

[0170] The timing module 502 is also used to determine the time when the vehicle's driving state meets the timing conditions as the first time if the vehicle's driving state meets the timing conditions; the first time is equal to the initial time, and timing is started based on the initial time to update the timing time;

[0171] The first vehicle speed determination module 503 is used to determine the first vehicle speed if the acquisition status is pending acquisition.

[0172] The current integral value determination module 504 is used to calculate the integral of the motor driving force from the first time to the second time if the timing time reaches the second time, and obtain the updated current integral value.

[0173] The target integral value determination module 505 is used to determine the updated current integral value as the target integral value if the difference between the second time and the first time is equal to a preset time interval.

[0174] The second vehicle speed determination module 506 is used to determine the second vehicle speed;

[0175] The vehicle mass determination module 507 is used to determine the current vehicle mass based on the first vehicle speed, the second vehicle speed, and the target integral value.

[0176] As an optional implementation, the device further includes:

[0177] The update requirement generation module 509 is used to generate a vehicle quality update requirement if the vehicle quality update conditions are met; the vehicle quality update conditions include: door opening and closing; and / or, trunk door opening and closing.

[0178] As an optional implementation, the device further includes:

[0179] The timing module 502 is also used to meet the timing conditions when the vehicle is traveling in a straight line, the vehicle is in forward gear, the vehicle speed is within a preset speed range, the vehicle motor torque is greater than a preset torque, and the vehicle is operating within a preset working condition.

[0180] The apparatus and method embodiments in this invention are based on the same application concept.

[0181] The methods and embodiments provided in this application can be executed on mobile terminals, computer terminals, servers, or similar computing devices. Taking running on a server as an example, Figure 6 This is a hardware structure block diagram of a server for a vehicle weight estimation method provided in an embodiment of this application. For example... Figure 6As shown, the server 600 can vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 610 (CPUs 610 may include, but are not limited to, microprocessors such as MCUs or programmable logic devices such as FPGAs), a memory 630 for storing data, and one or more storage media 620 (e.g., one or more mass storage devices) for storing application programs 623 or data 622. The memory 630 and storage media 620 may be temporary or persistent storage. The program stored in the storage media 620 may include one or more modules, each module may include a series of instruction operations on the server. Furthermore, the CPU 610 may be configured to communicate with the storage media 620 and execute the series of instruction operations stored in the storage media 620 on the server 600. Server 600 may also include one or more power supplies 660, one or more wired or wireless network interfaces 650, one or more input / output interfaces 640, and / or one or more operating systems 621, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0182] The input / output interface 640 can be used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of server 600. In one example, the input / output interface 640 includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the input / output interface 640 may be a radio frequency (RF) module for wireless communication with the Internet.

[0183] Those skilled in the art will understand that Figure 6 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, server 600 may also include... Figure 6 The more or fewer components shown, or having the same Figure 6 The different configurations shown.

[0184] Embodiments of this application also provide a vehicle weight estimation device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement the vehicle weight estimation method.

[0185] The embodiments of this application also provide a storage medium, which can be located in a server to store at least one instruction, at least one program, code set, or instruction set related to implementing a vehicle weight estimation method in the method embodiments. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle weight estimation method provided in the above method embodiments.

[0186] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0187] As can be seen from the embodiments of the vehicle mass estimation method, apparatus, device, and storage medium provided in this application, in response to the vehicle mass update requirement, the acquisition state and timing time are initialized, the acquisition state is set to "to be acquired", and the timing time is set to the initial time; if the vehicle driving state meets the timing conditions, the time when the vehicle driving state meets the timing conditions is determined as the first time; the first time is equal to the initial time, and timing is started based on the initial time to update the timing time; if the acquisition state is "to be acquired", the first vehicle speed is determined; the first vehicle speed is the speed when the vehicle driving state meets the timing conditions; if the timing time reaches the second time, the integral of the motor driving force from the first time to the second time is calculated to obtain the current integral value; if the difference between the second time and the first time is equal to the preset time interval, the current integral value is determined as the target integral value; the second vehicle speed is determined; the second vehicle speed is the vehicle speed when the timing time reaches the second time; the current vehicle mass is determined based on the first vehicle speed, the second vehicle speed, and the target integral value. In this way, the vehicle mass can be accurately estimated, and the requirement to acquire vehicle acceleration can be converted into a requirement to acquire braking force, thereby ensuring the function and performance of the intelligent driving system even without an acceleration sensor.

[0188] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0189] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0190] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0191] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of estimating a gross vehicle mass, characterized by, Be applied to vehicle without acceleration sensor The method comprises: If the vehicle mass update condition is met, generate the vehicle mass update demand; the vehicle mass update condition comprises: The vehicle door is opened and closed; And / or, the trunk door is opened and closed; In response to the vehicle mass update demand, initialize the acquisition state and the timing time, set the acquisition state to be acquired, and set the timing time to be the initial time; The following mass estimation steps are executed in a loop until the current vehicle mass is successfully determined: If the vehicle driving state meets the timing condition and the acquisition state is the acquired, execute the first trigger operation: determine the time when the vehicle driving state meets the timing condition as the first time, set the timing time to the first time, and determine the first vehicle speed; the first vehicle speed is the speed of the vehicle at the first time; the first time is equal to the initial time; the timing condition comprises: the vehicle drives in a straight line, the gear of the vehicle is in the forward gear, the vehicle speed of the vehicle is in the preset speed interval, the motor torque of the vehicle is greater than the preset torque, and the vehicle is in the preset working condition; Start timing and update based on the timing time; If the acquisition state is the acquired, determine the first vehicle speed; the first vehicle speed is the speed of the vehicle when the vehicle driving state meets the timing condition; If the timing time reaches the second time, calculate the integral of the motor driving force from the first time to the second time to obtain the current integral value; set the acquisition state to be acquired; If the difference between the second time and the first time is equal to the preset time interval, determine the current integral value as the target integral value; Determine the second vehicle speed; the second vehicle speed is the vehicle speed when the timing time reaches the second time; Determine the current vehicle mass according to the first vehicle speed, the second vehicle speed and the target integral value; The current vehicle mass is determined according to the first vehicle speed, the second vehicle speed and the target integral value, specifically: the current vehicle mass m is calculated based on a momentum theorem formula ; wherein V2 is the second vehicle speed, V1 is the first vehicle speed, is the target integral value.

2. The method of estimating the vehicle mass according to claim 1, characterized by, After setting the acquisition state to be acquired, it further comprises: If the difference between the second time and the first time is less than the preset time interval, the vehicle driving state meets the timing condition, and the acquisition state is the acquired, time based on the second time to update the timing time; continue to execute the mass estimation step based on the second time, wherein the second time is updated as the new timing starting point to update the timing time; If the timing time reaches the third time, calculate the integral of the motor driving force from the first time to the third time to obtain the updated current integral value; set the acquisition state to be acquired; If the difference between the third time and the first time is equal to the preset time interval, determine the updated current integral value as the target integral value; Determine the third vehicle speed; the third vehicle speed is the vehicle speed when the timing time reaches the third time; Determine the current vehicle mass according to the first vehicle speed, the third vehicle speed and the target integral value.

3. The method of estimating the vehicle mass according to claim 1, characterized by, After setting the acquisition state to be acquired, it further comprises: If the difference between the second time and the first time is less than the preset time interval, and the vehicle driving state does not satisfy the timing condition, interrupting the current mass estimation step, setting the acquisition state as the to-be-acquired, stopping timing and setting the timing time as the initial time; If the vehicle driving state satisfies the timing condition, determining the time when the vehicle driving state satisfies the timing condition as the first time; the first time is equal to the initial time, and timing is started based on the initial time to update the timing time; If the acquisition state is the to-be-acquired, determining the first vehicle speed; If the timing time reaches the second time, calculating the integral of the motor driving force from the first time to the second time to obtain an updated current integral value; If the difference between the second time and the first time is equal to the preset time interval, determining the updated current integral value as the target integral value; Determining the second vehicle speed; Determining the current vehicle mass according to the first vehicle speed, the second vehicle speed and the target integral value.

4. A vehicle mass estimation device characterized by comprising: Applied to a vehicle without an acceleration sensor; The device comprises: An update demand generation module configured to generate a vehicle mass update demand if a vehicle mass update condition is satisfied; the vehicle mass update condition comprises: opening and closing of a vehicle door; and / or opening and closing of a trunk door; An initialization module configured to initialize an acquisition state and a timing time in response to the vehicle mass update demand, set the acquisition state as to-be-acquired, and set the timing time as an initial time; A timing module configured to cyclically execute the following mass estimation steps until the current vehicle mass is successfully determined: if a vehicle driving state satisfies a timing condition and the acquisition state is the to-be-acquired, performing a first triggering operation: determining the time when the vehicle driving state satisfies the timing condition as a first time, setting the timing time as the first time, and determining a first vehicle speed; the first vehicle speed is the speed of the vehicle at the first time; the first time is equal to the initial time; the timing condition comprises: the vehicle drives in a straight line, the gear of the vehicle is in a forward gear, the vehicle speed of the vehicle is in a preset speed interval of 7 m / s to 14 m / s, the motor torque of the vehicle is greater than a preset torque of 50 N*m, and the vehicle runs in a preset working condition except for an anti-lock braking system, an electronic stability control system and a traction control system; and timing is started and updated based on the timing time; A current integral value determination module configured to, if the timing time reaches a second time, calculate the integral of the motor driving force from the first time to the second time to obtain the current integral value; and set the acquisition state as acquired; A target integral value determination module configured to, if the difference between the second time and the first time is equal to a preset time interval, determine the current integral value as a target integral value; A second vehicle speed determination module configured to determine a second vehicle speed; the second vehicle speed is the vehicle speed when the timing time reaches the second time. The whole vehicle mass determination module is configured to determine a current whole vehicle mass according to the first vehicle speed, the second vehicle speed and the target integral value. The device is particularly used for calculating the current vehicle mass m based on the momentum theorem formula , wherein V2 is the second vehicle speed, V1 is the first vehicle speed, is the target integral value.

5. An electronic device, characterized by comprising: The electronic device comprises a processor and a memory, and the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the whole vehicle mass estimation method according to any one of claims 1-3.

6. A computer storage medium, characterized in that The computer storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the whole vehicle mass estimation method according to any one of claims 1-3.

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