A vehicle load determination method and device, electronic equipment and storage medium

Abstract

The application provides a vehicle load determination method and device, electronic equipment and a storage medium. The determination method comprises: for each air spring of a target vehicle, determining the load of the corresponding wheel of the air spring based on the determined vehicle condition of the target vehicle and the obtained environmental air pressure, environmental temperature, gas pressure and spring length of the air spring of the target vehicle in the current environment; and determining the vehicle body load of the target vehicle based on the load of the corresponding wheel of each air spring. The technical solution provided by the application can determine the vehicle body load of the target vehicle according to the vehicle condition of the target vehicle, the environmental air pressure and environmental temperature of the current environment, the gas pressure and spring length of each air spring, so as to reduce the load error of the vehicle and improve the accuracy of determining the vehicle load.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method, apparatus, electronic device and storage medium for determining vehicle load. Background Technology

[0002] With the development of suspension technology, air spring systems can adjust vehicle height or spring stiffness according to road conditions and vehicle speed, greatly improving ride comfort and gaining increasing market recognition and favor. As a key component connecting the vehicle body and the control arms, the air spring control unit can read the gas pressure within the spring through the gas distribution valve and the spring elongation from the suspension height sensor. This allows for the estimation of vehicle load, which is then transmitted to other control units and used as control parameters to influence vehicle control.

[0003] Currently, the methods for measuring loads on commercial vehicle air suspensions mainly involve measuring and evaluating the pressure, expansion, and direction of motion of the air springs. However, the load sensing accuracy is not high when the vehicle is in environments such as high temperature, high altitude, or low temperature. For passenger car air springs, the load is smaller compared to commercial vehicles, so the accuracy requirements are higher. Therefore, how to improve the accuracy of determining vehicle loads has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method, device, electronic device and storage medium for determining vehicle load, which can determine the vehicle body load of the target vehicle based on the vehicle condition, the current ambient air pressure and temperature, the gas pressure and spring length of each air spring, thereby reducing the vehicle's load sensing error, improving the accuracy of determining the vehicle load, and thus bringing a more comfortable driving experience to the occupants of the vehicle.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, embodiments of this application provide a method for determining vehicle load, the method comprising:

[0007] Obtain the speed of the target vehicle and determine the vehicle condition based on the speed.

[0008] Obtain the ambient air pressure and ambient temperature of the target vehicle's current environment;

[0009] Obtain the gas pressure and spring length of each air spring in the target vehicle;

[0010] For each air spring of the target vehicle, the load on the wheel corresponding to the air spring is determined based on the vehicle condition, the ambient air pressure and temperature of the current environment of the target vehicle, the gas pressure of the air spring and the spring length.

[0011] The vehicle body load is determined based on the load of each air spring corresponding to the wheel.

[0012] Furthermore, the load on the wheel corresponding to the air spring is determined through the following steps:

[0013] The pressure that the air spring can withstand is determined based on the ambient air pressure, ambient temperature and gas pressure of the target vehicle's current environment.

[0014] Based on a pre-set first mapping object, the buffer block support force corresponding to the spring length of the air spring is determined; wherein, the first mapping object records the mapping relationship between the spring length of the air spring and the buffer block support force of the air spring.

[0015] The frictional force corresponding to the spring length of the air spring is determined according to a pre-set second mapping object; wherein, the second mapping object records the mapping relationship between the spring length of the air spring and the frictional force of the air spring;

[0016] Based on the condition of the target vehicle, determine the load factor of the target vehicle, and determine the target friction force of the air spring by multiplying the load factor and the friction force of the air spring.

[0017] The sum of the target friction force of the air spring, the pressure that the air spring bears, and the support force of the air spring's buffer block is determined as the load on the wheel corresponding to the air spring.

[0018] Furthermore, the pressure that the air spring can withstand is determined through the following steps:

[0019] The difference between the gas pressure of the air spring and the ambient air pressure of the target vehicle's current environment is determined as the target pressure of the air spring.

[0020] Based on a pre-set third mapping object, the target pressure of the air spring, the spring length of the air spring, and the cross-sectional area of ​​the air spring corresponding to the ambient temperature of the target vehicle's current environment are determined; wherein, the third mapping object records the mapping relationship between the target pressure of the air spring, the spring length of the air spring, the ambient temperature of the target vehicle's current environment, and the cross-sectional area of ​​the air spring.

[0021] The product of the target pressure of the air spring and the cross-sectional area of ​​the air spring is determined as the pressure that the air spring can withstand.

[0022] Furthermore, the condition of the target vehicle is determined through the following steps:

[0023] If the target vehicle's speed is zero and the target vehicle is in neutral or park, the vehicle's condition is determined to be static.

[0024] If the target vehicle's speed is greater than zero and the target vehicle's gear is not in neutral or park, the target vehicle's condition is determined to be dynamic.

[0025] Furthermore, the step of determining the load factor of the target vehicle based on its condition includes:

[0026] Based on the vehicle condition of the target vehicle, determine whether the vehicle condition of the target vehicle is dynamic;

[0027] If the target vehicle's condition is dynamic, then the load factor of the target vehicle is set to zero;

[0028] If the target vehicle is not in dynamic condition, then the vehicle body adjustment direction is determined; if the vehicle body adjustment direction is upward, then the load coefficient of the target vehicle is determined to be a positive target coefficient; if the vehicle body adjustment direction is downward, then the load coefficient of the target vehicle is determined to be a negative target coefficient.

[0029] Furthermore, the step of determining the vehicle body load based on the load of each air spring corresponding to the wheel includes:

[0030] Based on the load of each air spring corresponding to the wheel, the sum of the loads of each air spring corresponding to the wheel of the target vehicle is determined as the body load of the target vehicle.

[0031] Furthermore, after determining the vehicle body load of the target vehicle, the determination method further includes:

[0032] If the target vehicle is in dynamic condition, then the average length of each air spring in the target vehicle over a preset time period is determined.

[0033] For each air spring of the target vehicle, the load on the wheel corresponding to the air spring is updated based on the average length of the air spring and the obtained gas pressure of the air spring.

[0034] The vehicle body load is updated based on the load of the wheel corresponding to each updated air spring.

[0035] Secondly, embodiments of this application also provide a vehicle load determination device, the determination device comprising:

[0036] The first acquisition module is used to acquire the driving speed of the target vehicle and determine the vehicle condition based on the driving speed.

[0037] The second acquisition module is used to acquire the ambient air pressure and ambient temperature of the current environment of the target vehicle.

[0038] The third acquisition module is used to acquire the gas pressure and spring length of each air spring in the target vehicle;

[0039] The processing module is used to determine the load on the wheel corresponding to each air spring of the target vehicle based on the vehicle condition, the ambient air pressure and temperature of the current environment of the target vehicle, the gas pressure of the air spring and the spring length.

[0040] The determination module is used to determine the body load of the target vehicle based on the load of the wheel corresponding to each air spring.

[0041] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the vehicle load determination method described above are performed.

[0042] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the vehicle load determination method described above.

[0043] This application provides a method, apparatus, electronic device, and storage medium for determining vehicle load. The method includes: acquiring the driving speed of a target vehicle; determining the vehicle condition based on the driving speed; acquiring the ambient air pressure and ambient temperature of the current environment of the target vehicle; acquiring the gas pressure and spring length of each air spring of the target vehicle; for each air spring of the target vehicle, determining the load of the wheel corresponding to that air spring based on the vehicle condition, the ambient air pressure and ambient temperature of the current environment of the target vehicle, and the gas pressure and spring length of that air spring; and determining the vehicle body load based on the load of the wheel corresponding to each air spring.

[0044] Thus, by adopting the technical solution provided in this application, the vehicle body load of the target vehicle can be determined based on the vehicle condition, the current ambient air pressure and temperature, the gas pressure and spring length of each air spring. This can reduce the vehicle's load sensing error, improve the accuracy of determining the vehicle load, and thus bring a more comfortable driving experience to the occupants.

[0045] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating a method for determining vehicle load according to an embodiment of this application is shown;

[0048] Figure 2 A flowchart illustrating another method for determining vehicle load provided in an embodiment of this application is shown;

[0049] Figure 3 One of the structural diagrams of a vehicle load determination device provided in an embodiment of this application is shown;

[0050] Figure 4 This is a second structural diagram of a vehicle load determination device provided in an embodiment of this application;

[0051] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0053] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0054] In order to enable those skilled in the art to use the content of this application, and in combination with the specific application scenario of "determining vehicle load", the following implementation method is given. For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application.

[0055] The methods, apparatus, electronic devices, or computer-readable storage media described in this application can be applied to any scenario where vehicle load needs to be determined. This application does not limit the specific application scenario. Any scheme that uses a vehicle load determination method, apparatus, electronic device, and storage medium provided in this application is within the protection scope of this application.

[0056] Based on this, this application proposes a method, apparatus, electronic device, and storage medium for determining vehicle load. The method includes: acquiring the driving speed of a target vehicle; determining the vehicle condition of the target vehicle based on the driving speed; acquiring the ambient air pressure and ambient temperature of the current environment in which the target vehicle is located; acquiring the gas pressure and spring length of each air spring of the target vehicle; for each air spring of the target vehicle, determining the load of the wheel corresponding to that air spring based on the vehicle condition of the target vehicle, the ambient air pressure and ambient temperature of the current environment in which the target vehicle is located, the gas pressure and spring length of that air spring; and determining the vehicle body load of the target vehicle based on the load of the wheel corresponding to each air spring.

[0057] Thus, by adopting the technical solution provided in this application, the vehicle body load of the target vehicle can be determined based on the vehicle condition, the current ambient air pressure and temperature, the gas pressure and spring length of each air spring. This can reduce the vehicle's load sensing error, improve the accuracy of determining the vehicle load, and thus bring a more comfortable driving experience to the occupants.

[0058] To facilitate understanding of this application, the technical solutions provided in this application will be described in detail below with reference to specific embodiments.

[0059] Please see Figure 1 , Figure 1 A flowchart illustrating a method for determining vehicle load provided in an embodiment of this application is shown below. Figure 1 As shown, the determination method includes:

[0060] S101. Obtain the driving speed of the target vehicle, and determine the vehicle condition of the target vehicle based on the driving speed;

[0061] It should be noted that this determination method can be applied to the air spring control unit of the vehicle's electronically controlled air spring system (ECAS).

[0062] In this step, the condition of the target vehicle is determined through the following steps:

[0063] S1011. If the target vehicle's speed is zero and the target vehicle is in neutral or park, the vehicle condition is determined to be static.

[0064] S1012. If the target vehicle's speed is greater than zero and the target vehicle's gear is not in neutral or park, the target vehicle's condition is determined to be dynamic.

[0065] In this step, the vehicle's condition is identified based on the vehicle's CAN signal or sensor signals. If the target vehicle's speed is 0 kph and its current gear signal is N (neutral) or P (park), it is considered static; otherwise, it is considered dynamic. Here, the vehicle's CAN signal or sensor signals include, but are not limited to, vehicle speed signals, gear signals, ambient temperature sensor signals, altitude sensor signals, pressure sensor signals, and altitude signals.

[0066] S102. Obtain the ambient air pressure and ambient temperature of the target vehicle's current environment;

[0067] In this step, the ambient air pressure and ambient temperature of the target vehicle's current environment are determined by the altitude signal. Here, the ambient air pressure corresponding to the altitude of the target vehicle's current environment can be determined by querying a pre-set mapping table of altitude and ambient air pressure. The altitude error can be controlled within ±100 meters. The ambient temperature can be collected by a temperature sensor.

[0068] For example, a mapping table of altitude and ambient air pressure can be shown in Table 1:

[0069] Table 1 - Mapping Table of Altitude and Ambient Air Pressure

[0070] h / m p / kPa h / m p / kPa h / m p / kPa 0 101.3 4000 61.6 8000 35.6 1000 89.9 5000 54.0 9000 30.7 2000 79.5 6000 47.2 10000 26.4 3000 70.1 7000 41.0 11000 22.6

[0071] Here, the ambient air pressure can also be collected through the air pressure sensor on the controller.

[0072] S103. Obtain the gas pressure and spring length of each air spring in the target vehicle;

[0073] In this step, the gas pressure inside each air spring is collected and recorded by the pressure sensor on the gas distribution valve of each air spring of the target vehicle. The collection and recording of air spring gas pressure is mainly done after the target vehicle's height needs to be maintained or adjusted, and after the inflation / deflation of each air spring is completed. If no adjustment command is given, it means that the current gas pressure inside the air spring does not need adjustment and is consistent with the previously recorded gas pressure, which can be directly used for load sensing calculation. For example, when the valves of the four air springs need to be opened to inflate or deflate during height adjustment or maintenance, when the left front valve is closed, the current gas pressure is recorded as the left front pressure value; when the right front valve is closed, the current gas pressure is recorded as the right front pressure value; when the left rear valve is closed, the current gas pressure is recorded as the left rear pressure value; and when the right rear valve is closed, the current gas pressure is recorded as the right rear pressure value.

[0074] It should be noted that the spring length of the air spring can be collected by the height sensor of each air spring. The height sensor collects the vehicle height of the four wheels, performs on-vehicle calibration, and obtains the distance between the wheel center and the wheel arch of the corresponding wheel. The spring length of the corresponding air spring is obtained from this distance. The spring length of the air spring corresponding to each wheel is determined based on the vehicle height, and the vehicle load is estimated. The height sensor signal can be a PSI5 signal, a PWM signal, or an analog signal.

[0075] S104. For each air spring of the target vehicle, based on the vehicle condition, the ambient air pressure and temperature of the current environment of the target vehicle, the gas pressure of the air spring and the spring length, determine the load of the wheel corresponding to the air spring.

[0076] For the step of determining the load on the wheel corresponding to the air spring, please refer to [link / reference needed]. Figure 2 , Figure 2 A flowchart illustrating another method for determining vehicle load provided in this application embodiment, as shown below. Figure 2 As shown, the load on the wheel corresponding to the air spring is determined by the following steps:

[0077] S201. Determine the pressure that the air spring can withstand based on the ambient air pressure, ambient temperature and gas pressure of the air spring in the current environment of the target vehicle.

[0078] In this step, the pressure that the air spring can withstand is determined through the following steps:

[0079] S2011. The difference between the gas pressure of the air spring and the ambient air pressure of the target vehicle's current environment is determined as the target pressure of the air spring.

[0080] In this step, the difference between the gas pressure of the air spring collected by the pressure sensor in step S103 and the ambient air pressure obtained in step S102 is determined as the target pressure of the air spring, as shown in the following formula:

[0081] P c =P r -P a ;

[0082] Among them, P c For target pressure; P r P represents the gas pressure of the air spring. a This refers to ambient air pressure.

[0083] S2012. Based on the pre-set third mapping object, determine the target pressure of the air spring, the spring length of the air spring, and the cross-sectional area of ​​the air spring corresponding to the ambient temperature of the target vehicle's current environment.

[0084] In this step, the third mapping object can be either a mapping table or a mapping diagram, recording the mapping relationship between the target pressure of the air spring, the spring length of the air spring, the ambient temperature of the target vehicle, and the cross-sectional area of ​​the air spring. For example, the corresponding cross-sectional area of ​​the air spring can be obtained from the three-dimensional lookup table (third mapping object) of the air spring length, target pressure, ambient temperature, and cross-sectional area of ​​the air spring, as shown in the following mapping relationship:

[0085] A = f(P) c L s ,T);

[0086] Where A is the cross-sectional area of ​​the air spring; f is the mapping relationship of the cross-sectional area; P c The target pressure for the air spring; L s is the length of the air spring; T is the ambient temperature of the target vehicle's current environment.

[0087] S2013. The product of the target pressure of the air spring and the cross-sectional area of ​​the air spring is determined as the bearing pressure of the air spring.

[0088] In this step, the air spring's bearing pressure is determined based on the cross-sectional area of ​​the air spring determined in step S2012 and the target pressure of the air spring determined in step S2011, using the following formula:

[0089] F s =P c ×A;

[0090] Among them, F s The pressure that the air spring can withstand; P c denoted as , where A is the target pressure of the air spring; and A is the cross-sectional area of ​​the air spring.

[0091] S202. Determine the buffer block support force corresponding to the spring length of the air spring according to the pre-set first mapping object;

[0092] In this step, the first mapping object can be either a mapping table or a mapping diagram, recording the mapping relationship between the spring length of the air spring and the buffer block support force of the air spring; here, the buffer block support force corresponding to the spring length can be determined in the first mapping object based on the spring length obtained in step S103; here, the mapping relationship of the first mapping object is as follows:

[0093] Fd =h(L s );

[0094] Among them, F d L represents the supporting force of the air spring's buffer block; h represents the mapping relationship of the buffer block's supporting force; s This is the length of the air spring.

[0095] S203. Determine the friction force corresponding to the spring length of the air spring based on the pre-set second mapping object;

[0096] In this step, the second mapping object can be either a mapping table or a mapping diagram, recording the mapping relationship between the spring length and the friction force of the air spring. Here, the second mapping object can obtain the friction force under ideal conditions for different spring lengths through DMU simulation, and determine the friction force corresponding to the spring length based on the spring length obtained in step S103. Here, the mapping relationship of the second mapping object is as follows:

[0097] F m =g(L s );

[0098] Among them, F m The frictional force of the air spring is represented by g; the mapping relationship of the frictional force is represented by L. s This is the length of the air spring.

[0099] S204. Based on the vehicle condition of the target vehicle, determine the load coefficient of the target vehicle, and determine the product of the load coefficient and the friction force of the air spring as the target friction force of the air spring.

[0100] This step, determining the load factor of the target vehicle based on its condition, includes:

[0101] S2041. Based on the vehicle condition of the target vehicle, determine whether the vehicle condition of the target vehicle is dynamic;

[0102] S2042. If the target vehicle's condition is dynamic, then the load factor of the target vehicle is set to zero.

[0103] S2043. If the vehicle condition of the target vehicle is not dynamic, then determine the vehicle body adjustment direction; if the vehicle body adjustment direction is upward, then determine the load coefficient of the target vehicle as a positive target coefficient; if the vehicle body adjustment direction is downward, then determine the load coefficient of the target vehicle as a negative target coefficient.

[0104] For example, when the target vehicle is static, the load coefficient represents the adjustment direction. If the vehicle body is adjusted upward, the load coefficient is a positive target coefficient, such as 1; if the vehicle body is adjusted downward, the load coefficient is a negative target coefficient, such as -1; when the target vehicle is in a dynamic state, the load coefficient is 0.

[0105] Here, the product of the load coefficient and the frictional force of the air spring is determined as the target frictional force of the air spring, as shown in the following formula:

[0106] F e =λ×F m ;

[0107] Among them, F e λ represents the target friction force of the air spring; λ is the load coefficient of the target vehicle; F m This refers to the frictional force of the air spring.

[0108] S205. The sum of the target friction force of the air spring, the pressure that the air spring bears, and the support force of the air spring's buffer block is determined as the load of the wheel corresponding to the air spring.

[0109] In this step, the load on the wheel corresponding to the air spring is determined as follows:

[0110] F = F s +F d +F e ;

[0111] F = (P r -P a )×f(P c L s ,T)+h(L s )+λ×g(L s );

[0112] Where F is the load on the wheel corresponding to the air spring, F s The pressure that the air spring can withstand; F d The buffer block supporting the air spring; F e The target friction force of the air spring.

[0113] S105. Determine the body load of the target vehicle based on the load of the wheel corresponding to each air spring.

[0114] This step, which involves determining the vehicle body load based on the load of each air spring corresponding to the wheel, includes:

[0115] S1051. Based on the load of each air spring corresponding to the wheel, the sum of the loads of each air spring corresponding to the wheel of the target vehicle is determined as the body load of the target vehicle.

[0116] In this step, the air spring control unit can transmit the vehicle load to other control units as control parameters to control the vehicle's attitude. For example, the air spring control unit estimates the vehicle load by collecting the gas pressure in the four air springs from the suspension height sensors of the four wheels and the pressure sensor signals in the gas distribution valve, as well as the vehicle's CAN signal or sensor signals including altitude, ambient air pressure sensor signal, and ambient temperature sensor signal. This method can reduce the sensing error when determining the vehicle load and output the vehicle load to the vehicle diagnostic control unit and the electronic shock absorber control unit for optimized control, bringing a more comfortable driving experience to the driver and passengers.

[0117] Here, after determining the vehicle's body load, the determination method also includes:

[0118] 1) If the target vehicle is in dynamic condition, determine the average length of each air spring of the target vehicle over a preset time period.

[0119] In this step, when the target vehicle is static, the spring length of each air spring in the target vehicle is the real-time spring length; when the target vehicle is dynamic, the spring length of each air spring in the target vehicle is the average spring length after the target vehicle has been driving for a period of time.

[0120] 2) For each air spring of the target vehicle, update the load on the wheel corresponding to the air spring based on the average length of the air spring and the obtained gas pressure of the air spring.

[0121] 3) Update the vehicle body load according to the load of the wheel corresponding to each updated air spring.

[0122] In this step, as the target vehicle is driving, the wheels will bounce depending on the road surface, causing the vehicle height to fluctuate. At this time, the average value of the height sensor is collected. If the height adjustment occurs during dynamic driving, it indicates that the vehicle load and the gas pressure in the air spring are not matched. An inflation / deflation operation is required to achieve balance. In this case, the spring length of the current air spring needs to be re-estimated. The estimation method is to calculate the average spring length over a period of time and the gas pressure collected by the pressure sensor when the solenoid valve of the corresponding air spring is closed during height adjustment. The load of the corresponding wheel of the air spring is then recalculated to calibrate the previously determined vehicle load.

[0123] Specifically, during the dynamic driving of the target vehicle, the vehicle body load is calibrated by processing the height signal collected by the height sensor. When the target vehicle is in dynamic condition, the height sensor data is collected to calculate the average spring length of the air spring within a fixed time period (preset time). Here, the number of calibrations can be preset according to actual needs. During the calibration process, the calculation can be repeated multiple times (preset calibration number). After removing outliers, the average of these multiple calculation results is taken as the spring length of the air spring. The spring length and the gas pressure collected by the pressure sensor when the target vehicle's height is adjusted and the solenoid valve of the corresponding air spring is closed are used to calibrate the load of the corresponding wheel of the air spring to update the vehicle body load. Through dynamic calibration, the load estimation accuracy is improved.

[0124] This application provides a method for determining vehicle load, the method comprising: acquiring the driving speed of a target vehicle; determining the vehicle condition of the target vehicle based on the driving speed; acquiring the ambient air pressure and ambient temperature of the current environment in which the target vehicle is located; acquiring the gas pressure and spring length of each air spring of the target vehicle; for each air spring of the target vehicle, determining the load of the wheel corresponding to the air spring based on the vehicle condition of the target vehicle, the ambient air pressure and ambient temperature of the current environment in which the target vehicle is located, the gas pressure and spring length of the air spring; and determining the vehicle body load of the target vehicle based on the load of the wheel corresponding to each air spring.

[0125] Thus, by adopting the technical solution provided in this application, the vehicle body load of the target vehicle can be determined based on the vehicle condition, the current ambient air pressure and temperature, the gas pressure and spring length of each air spring. This can reduce the vehicle's load sensing error, improve the accuracy of determining the vehicle load, and thus bring a more comfortable driving experience to the occupants.

[0126] Based on the same concept, this application also provides a vehicle load determination device corresponding to the vehicle load determination method provided in the above embodiment. Since the principle of the device in this application is similar to the vehicle load determination method in the above embodiment, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0127] Please see Figure 3 , Figure 4 , Figure 3 This is one of the structural diagrams of a vehicle load determination device provided in an embodiment of this application. Figure 4 This is a second structural diagram of a vehicle load determination device provided in an embodiment of this application. Figure 3 As shown, the determining device 310 includes:

[0128] The first acquisition module 311 is used to acquire the driving speed of the target vehicle and determine the vehicle condition of the target vehicle based on the driving speed.

[0129] The second acquisition module 312 is used to acquire the ambient air pressure and ambient temperature of the current environment of the target vehicle.

[0130] The third acquisition module 313 is used to acquire the gas pressure and spring length of each air spring of the target vehicle;

[0131] The processing module 314 is used to determine the load on the wheel corresponding to each air spring of the target vehicle based on the vehicle condition, the ambient air pressure and temperature of the current environment of the target vehicle, the gas pressure and spring length of the air spring.

[0132] The determination module 315 is used to determine the body load of the target vehicle based on the load of the wheel corresponding to each air spring.

[0133] Optionally, when determining the load on the wheel corresponding to the air spring, the processing module 314 is specifically used for:

[0134] The pressure that the air spring can withstand is determined based on the ambient air pressure, ambient temperature and gas pressure of the target vehicle's current environment.

[0135] Based on a pre-set first mapping object, the buffer block support force corresponding to the spring length of the air spring is determined; wherein, the first mapping object records the mapping relationship between the spring length of the air spring and the buffer block support force of the air spring.

[0136] The frictional force corresponding to the spring length of the air spring is determined according to a pre-set second mapping object; wherein, the second mapping object records the mapping relationship between the spring length of the air spring and the frictional force of the air spring;

[0137] Based on the condition of the target vehicle, determine the load factor of the target vehicle, and determine the target friction force of the air spring by multiplying the load factor and the friction force of the air spring.

[0138] The sum of the target friction force of the air spring, the pressure that the air spring bears, and the support force of the air spring's buffer block is determined as the load on the wheel corresponding to the air spring.

[0139] Optionally, when determining the pressure that the air spring can withstand, the processing module 314 is specifically used for:

[0140] The difference between the gas pressure of the air spring and the ambient air pressure of the target vehicle's current environment is determined as the target pressure of the air spring.

[0141] Based on a pre-set third mapping object, the target pressure of the air spring, the spring length of the air spring, and the cross-sectional area of ​​the air spring corresponding to the ambient temperature of the target vehicle's current environment are determined; wherein, the third mapping object records the mapping relationship between the target pressure of the air spring, the spring length of the air spring, the ambient temperature of the target vehicle's current environment, and the cross-sectional area of ​​the air spring.

[0142] The product of the target pressure of the air spring and the cross-sectional area of ​​the air spring is determined as the pressure that the air spring can withstand.

[0143] Optionally, when the first acquisition module 311 is used to determine the vehicle condition of the target vehicle, the first acquisition module 311 is specifically used for:

[0144] If the target vehicle's speed is zero and the target vehicle is in neutral or park, the vehicle's condition is determined to be static.

[0145] If the target vehicle's speed is greater than zero and the target vehicle's gear is not in neutral or park, the target vehicle's condition is determined to be dynamic.

[0146] Optionally, when the processing module 314 is used to determine the load factor, the processing module 314 is specifically used for:

[0147] Based on the vehicle condition of the target vehicle, determine whether the vehicle condition of the target vehicle is dynamic;

[0148] If the target vehicle's condition is dynamic, then the load factor of the target vehicle is set to zero;

[0149] If the target vehicle is not in dynamic condition, then the vehicle body adjustment direction is determined; if the vehicle body adjustment direction is upward, then the load coefficient of the target vehicle is determined to be a positive target coefficient; if the vehicle body adjustment direction is downward, then the load coefficient of the target vehicle is determined to be a negative target coefficient.

[0150] Optionally, the determining module 315 is specifically used for:

[0151] Based on the load of each air spring corresponding to the wheel, the sum of the loads of each air spring corresponding to the wheel of the target vehicle is determined as the body load of the target vehicle.

[0152] Optional, such as Figure 4As shown, the determining device 310 further includes a calibration module 316, which is used for:

[0153] If the target vehicle is in dynamic condition, then the average length of each air spring in the target vehicle over a preset time period is determined.

[0154] For each air spring of the target vehicle, the load on the wheel corresponding to the air spring is updated based on the average length of the air spring and the obtained gas pressure of the air spring.

[0155] The vehicle body load is updated based on the load of the wheel corresponding to each updated air spring.

[0156] This application provides a vehicle load determination device, comprising: a first acquisition module for acquiring the driving speed of a target vehicle and determining the vehicle condition based on the driving speed; a second acquisition module for acquiring the ambient air pressure and ambient temperature of the current environment of the target vehicle; a third acquisition module for acquiring the gas pressure and spring length of each air spring of the target vehicle; a processing module for determining the load of the wheel corresponding to each air spring of the target vehicle based on the vehicle condition, the ambient air pressure and ambient temperature of the current environment of the target vehicle, and the gas pressure and spring length of the air spring; and a determination module for determining the vehicle body load based on the load of the wheel corresponding to each air spring.

[0157] Thus, by adopting the technical solution provided in this application, the vehicle body load of the target vehicle can be determined based on the vehicle condition, the current ambient air pressure and temperature, the gas pressure and spring length of each air spring. This can reduce the vehicle's load sensing error, improve the accuracy of determining the vehicle load, and thus bring a more comfortable driving experience to the occupants.

[0158] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0159] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530. When the machine-readable instructions are executed by the processor 510, they can perform the operations described above. Figure 1 as well as Figure 2The steps of the method for determining vehicle load in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0160] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 as well as Figure 2 The steps of the method for determining vehicle load in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0161] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0162] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0163] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0165] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0166] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of determining a load of a vehicle, characterized by, The determination method includes: Obtain the speed of the target vehicle and determine the vehicle condition based on the speed. Obtain the ambient air pressure and ambient temperature of the target vehicle's current environment; Obtain the gas pressure and spring length of each air spring in the target vehicle; For each air spring of the target vehicle, the load on the wheel corresponding to the air spring is determined based on the vehicle condition, the ambient air pressure and temperature of the current environment of the target vehicle, the gas pressure of the air spring and the spring length. The load on the wheel corresponding to the air spring is determined by the following steps: The pressure that the air spring can withstand is determined based on the ambient air pressure, ambient temperature and gas pressure of the target vehicle's current environment. Based on a pre-set first mapping object, the buffer block support force corresponding to the spring length of the air spring is determined; wherein, the first mapping object records the mapping relationship between the spring length of the air spring and the buffer block support force of the air spring. The frictional force corresponding to the spring length of the air spring is determined according to a pre-set second mapping object; wherein, the second mapping object records the mapping relationship between the spring length of the air spring and the frictional force of the air spring; Based on the condition of the target vehicle, determine the load factor of the target vehicle, and determine the target friction force of the air spring by multiplying the load factor and the friction force of the air spring. The sum of the target friction force of the air spring, the pressure that the air spring bears, and the support force of the air spring's buffer block is determined as the load on the wheel corresponding to the air spring. The pressure that the air spring can withstand is determined by the following steps: The difference between the gas pressure of the air spring and the ambient air pressure of the target vehicle's current environment is determined as the target pressure of the air spring. Based on a pre-set third mapping object, the target pressure of the air spring, the spring length of the air spring, and the cross-sectional area of ​​the air spring corresponding to the ambient temperature of the target vehicle's current environment are determined; wherein, the third mapping object records the mapping relationship between the target pressure of the air spring, the spring length of the air spring, the ambient temperature of the target vehicle's current environment, and the cross-sectional area of ​​the air spring. The product of the target pressure of the air spring and the cross-sectional area of ​​the air spring is determined as the pressure that the air spring can withstand. The vehicle body load is determined based on the load of each air spring corresponding to the wheel.

2. The determination method according to claim 1, characterized in that, The condition of the target vehicle is determined by the following steps: If the target vehicle's speed is zero and the target vehicle is in neutral or park, the vehicle's condition is determined to be static. If the target vehicle's speed is greater than zero and the target vehicle's gear is not in neutral or park, the target vehicle's condition is determined to be dynamic.

3. The determination method according to claim 1, characterized in that, The step of determining the load factor of the target vehicle based on its condition includes: Based on the vehicle condition of the target vehicle, determine whether the vehicle condition of the target vehicle is dynamic; If the target vehicle's condition is dynamic, then the load factor of the target vehicle is set to zero; If the target vehicle is not in dynamic condition, then the vehicle body adjustment direction is determined; if the vehicle body adjustment direction is upward, then the load coefficient of the target vehicle is determined to be a positive target coefficient; if the vehicle body adjustment direction is downward, then the load coefficient of the target vehicle is determined to be a negative target coefficient.

4. The determination method according to claim 1, characterized in that, The step of determining the vehicle body load based on the load of each air spring corresponding to the wheel includes: Based on the load of each air spring corresponding to the wheel, the sum of the loads of each air spring corresponding to the wheel of the target vehicle is determined as the body load of the target vehicle.

5. The determination method according to claim 1, characterized in that, After determining the vehicle body load of the target vehicle, the determination method further includes: If the target vehicle is in dynamic condition, then the average length of each air spring in the target vehicle over a preset time period is determined. For each air spring of the target vehicle, the load on the wheel corresponding to the air spring is updated based on the average length of the air spring and the obtained gas pressure of the air spring. The vehicle body load is updated based on the load of the wheel corresponding to each updated air spring.

6. A vehicle load determination apparatus characterized by comprising: The determining device includes: The first acquisition module is used to acquire the driving speed of the target vehicle and determine the vehicle condition based on the driving speed. The second acquisition module is used to acquire the ambient air pressure and ambient temperature of the current environment of the target vehicle. The third acquisition module is used to acquire the gas pressure and spring length of each air spring in the target vehicle; The processing module is used to determine the load on the wheel corresponding to each air spring of the target vehicle based on the vehicle condition, the ambient air pressure and temperature of the current environment of the target vehicle, the gas pressure of the air spring and the spring length. When determining the load on the wheel corresponding to the air spring, the processing module is specifically used for: The pressure that the air spring can withstand is determined based on the ambient air pressure, ambient temperature and gas pressure of the target vehicle's current environment. Based on a pre-set first mapping object, the buffer block support force corresponding to the spring length of the air spring is determined; wherein, the first mapping object records the mapping relationship between the spring length of the air spring and the buffer block support force of the air spring. The frictional force corresponding to the spring length of the air spring is determined according to a pre-set second mapping object; wherein, the second mapping object records the mapping relationship between the spring length of the air spring and the frictional force of the air spring; Based on the condition of the target vehicle, determine the load factor of the target vehicle, and determine the target friction force of the air spring by multiplying the load factor and the friction force of the air spring. The sum of the target friction force of the air spring, the pressure that the air spring bears, and the support force of the air spring's buffer block is determined as the load on the wheel corresponding to the air spring. When determining the pressure that the air spring can withstand, the processing module is specifically used for: The difference between the gas pressure of the air spring and the ambient air pressure of the target vehicle's current environment is determined as the target pressure of the air spring. Based on a pre-set third mapping object, the target pressure of the air spring, the spring length of the air spring, and the cross-sectional area of ​​the air spring corresponding to the ambient temperature of the target vehicle's current environment are determined; wherein, the third mapping object records the mapping relationship between the target pressure of the air spring, the spring length of the air spring, the ambient temperature of the target vehicle's current environment, and the cross-sectional area of ​​the air spring. The product of the target pressure of the air spring and the cross-sectional area of ​​the air spring is determined as the pressure that the air spring can withstand. The determination module is used to determine the body load of the target vehicle based on the load of the wheel corresponding to each air spring.

7. An electronic device, comprising: include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the method for determining vehicle load as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method for determining vehicle load as described in any one of claims 1 to 5.

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