Vehicle mass real-time estimation method and system based on dynamics analysis during gear shifting

Abstract

The application discloses a kind of real-time estimation method and system of whole vehicle mass based on dynamics analysis during gear shifting, method includes the following steps: S1, the real-time running data and basic parameters of vehicle are collected;S2, whether vehicle is in gear shifting state according to real-time running data;S3, the vehicle state at gear shifting time is analyzed dynamically, and the whole vehicle mass is obtained;S4, the whole vehicle mass is returned to server and is saved;S5, the whole vehicle mass at gear shifting time is repeatedly collected and average is calculated.The method of the application distinguishes the real acceleration of the vehicle and the engine acceleration by analyzing the dynamics during gear shifting, improves the accuracy of the whole vehicle mass estimation, relies on the vehicle intelligent networking system, does not need to install additional sensors, is suitable for most commercial vehicles, reduces the cost and increases the practicability.

Description

TECHNICAL FIELD

[0001] The application relates to a whole vehicle mass real-time estimation method and system based on dynamic analysis during gear shifting, and belongs to the technical field of vehicle identification. BACKGROUND

[0002] The whole vehicle mass estimation algorithm is of great significance to vehicles without installed weight sensors, and can be used for various research and analysis, such as overload warning, vehicle use state monitoring and the like. At present, the whole vehicle mass estimation methods at home and abroad mainly include the following kinds:

[0003] I. Calculation method based on sensor signals. According to the positions of the sensors, the method can be divided into two research directions. (1) Road weighing technology. The method is mainly based on road sensors, such as a weight system, and calculates the whole vehicle mass by measuring the deformation of the road. The advantage of the method is that the measurement is relatively accurate, and the disadvantage is that the weighing station is fixed, and the whole vehicle mass of vehicles not passing through the weighing station cannot be obtained. (2) Vehicle self-measurement of load. The method is based on pressure sensors installed on vehicles, such as measuring tire pressure and sensor deformation, to predict and estimate. The disadvantage of the method is that the sensor is expensive, the equipment is prone to aging, and the vehicle cost and the later maintenance cost are increased.

[0004] II. Estimation and prediction method based on data. According to the different research algorithms, the method can be divided into two kinds. (1) Machine learning method, such as the long short-term memory network model LSTM method. The method can only analyze the data after the vehicle runs, and cannot calculate in real time. (2) According to the longitudinal dynamics characteristics of the vehicle motion, such as the recursive least squares method based on the forgetting factor and the estimation algorithm based on the extended Kalman filter. The method requires a large amount of data and high precision, which leads to more data acquisition cost, and the large amount of calculation also increases the estimation difficulty. SUMMARY

[0005] In order to solve the above problems, the application provides a whole vehicle mass real-time estimation method and system based on dynamic analysis during gear shifting, which can improve the accuracy of whole vehicle mass prediction and reduce the cost.

[0006] The technical scheme adopted by the application to solve the technical problems is:

[0007] On the one hand, the application provides a whole vehicle mass real-time estimation method based on dynamic analysis during gear shifting, which comprises the following steps:

[0008] S1, collecting real-time running data and basic parameters of the vehicle;

[0009] S2, judging whether the vehicle is in the gear shifting state according to the real-time running data;

[0010] S3 performs dynamic analysis on the vehicle's state at the moment of gear shift to obtain the vehicle's mass;

[0011] S4 transmits the overall vehicle quality back to the server and saves it;

[0012] S5, repeatedly collect the vehicle mass at the gear shift moment and calculate the average value.

[0013] As one possible implementation of this embodiment, the collection of real-time operating data and basic parameters of the vehicle includes:

[0014] Real-time operating data includes time, vehicle speed, engine speed, engine torque, and gear position;

[0015] Basic parameters include wheel mass and wheel radius.

[0016] As one possible implementation of this embodiment, the step of determining whether the vehicle is in a shifting state based on real-time operating data includes:

[0017] Determine whether the vehicle's real-time operating data is continuous and whether the vehicle speed is greater than 20 km / h;

[0018] Acceleration and acceleration gradient are calculated in real time based on vehicle speed;

[0019] The system determines whether the vehicle is in a shifting state based on the acceleration, the gradient of acceleration change, and the changes in the gear signal.

[0020] As one possible implementation of this embodiment, determining whether the vehicle is in a shifting state based on the acceleration, the acceleration change gradient, and the change in the gear signal includes: if the acceleration decreases by more than 0.5 m / s² within 2 seconds or less. 2 If the acceleration gradient changes by more than 1 after recovery, and the gear signal changes within the corresponding time period, then the vehicle is determined to be in a gear shifting state.

[0021] As one possible implementation of this embodiment, the step of performing dynamic analysis on the vehicle state at the moment of gear shift to obtain the vehicle mass includes:

[0022] During gear shifting, the forces acting on the drive shaft wheels are driving force, wheel inertial force, and engine inertial force.

[0023] The formula for calculating driving force is:

[0024]

[0025]

[0026] In the formula This refers to engine torque. is the transmission coefficient, is the wheel radius, is the engine speed, is the vehicle speed;

[0027] The wheel inertia force calculation formula is:

[0028]

[0029] In the formula is the wheel inertia torque, is the angular acceleration, is the wheel radius, is the wheel mass, is the actual acceleration of the vehicle, since Cannot be calculated, it is simplified calculation;

[0030] The engine inertia force calculation formula is:

[0031]

[0032] Wherein is the engine inertia torque, is a constant value 3.2kgm 2 ;

[0033] The force analysis on the driving wheel obtains the vehicle mass:

[0034] =

[0035]

[0036] Wherein is the total weight of the vehicle, is the force set including driving force, wheel inertia force and engine inertia force, is the vehicle speed acceleration generated by the engine, is the real acceleration of the vehicle in driving, is the acceleration of the vehicle inertia when shifting.

[0037] As a possible implementation manner of the embodiment, the vehicle mass is returned to the server and saved, comprising: judging whether the vehicle mass exists in the server, if the vehicle mass exists, calculating the average of the current vehicle mass and the existing vehicle mass and then saving, and if the vehicle mass does not exist, directly saving the current vehicle mass.

[0038] As a possible implementation manner of the embodiment, the vehicle mass at the shifting time is repeatedly collected and the average is calculated, comprising:

[0039] The shifting state is repeatedly captured, and the obtained vehicle mass is returned to the server for average calculation;

[0040] After the number of gear shifts exceeds 5 times, the average value calculated in the server is taken as the final vehicle mass.

[0041] On the other hand, the embodiment of the present application provides a vehicle mass real-time estimation system based on dynamic analysis during gear shifting, comprising:

[0042] A data acquisition module acquires real-time running data and basic parameters of the vehicle.

[0043] A gear shift judgment module is used to judge whether the vehicle is in gear shift state according to the real-time running data.

[0044] A vehicle mass calculation module is used to perform dynamic analysis on the vehicle state at the gear shift moment to obtain the vehicle mass.

[0045] A data return module is used to return the vehicle mass to the server and save it.

[0046] A vehicle mass detection module is used to repeatedly acquire the vehicle mass at the gear shift moment and calculate the average value.

[0047] In a third aspect, the embodiment of the present application provides a computer device, comprising a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the AGV simulation device runs, the processor and the memory communicate through the bus, and the processor executes the machine readable instructions to perform the steps of any one of the above-mentioned vehicle mass real-time estimation methods based on dynamic analysis during gear shifting.

[0048] In a fourth aspect, the embodiment of the present application provides a readable storage medium, the storage medium stores a computer program, and the computer program is executed by the processor to perform the steps of any one of the above-mentioned vehicle mass real-time estimation methods based on dynamic analysis during gear shifting.

[0049] The technical scheme of the embodiment of the present application can have the following beneficial effects:

[0050] The present application relies on the vehicle-mounted intelligent networking system, and performs dynamic analysis on the vehicle during gear shifting based on the real-time data collected during vehicle operation. The method can be embedded in the intelligent networking system to perform real-time calculation of the vehicle mass, without the need for additional installation of vehicle-mounted sensors, thereby saving the manufacturing cost. Since the method can be applied to most commercial vehicles, the calculation cost of other methods is saved.

[0051] The application can realize real-time monitoring of the load of the vehicle during transportation through the evaluation of the whole vehicle mass, has great reference significance for overload warning, vehicle transportation management of the vehicle fleet, etc., can provide decision support for after-sales through analysis of the influence of different loads on the service life of vehicle parts, and can also analyze the performance of the vehicle under different loads.

[0052] The method distinguishes the real acceleration of the vehicle and the engine acceleration, greatly improves the accuracy of the whole vehicle mass estimation, relies on the vehicle intelligent networking system, does not need to additionally install sensors, is suitable for most load commercial vehicles, reduces the cost, and increases the practicability. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 is a flowchart of a whole vehicle mass real-time estimation method based on dynamics analysis during gear shifting according to an exemplary embodiment;

[0054] Figure 2 is a schematic diagram of a whole vehicle mass real-time estimation system based on dynamics analysis during gear shifting according to an exemplary embodiment;

[0055] Figure 3 is a flowchart of a whole vehicle mass real-time detection process using the system according to an exemplary embodiment. DETAILED DESCRIPTION

[0056] The application will be further described below in combination with the drawings and embodiments:

[0057] In order to clearly illustrate the technical features of the present application, the following will describe the present application in detail through specific embodiments, and in combination with the drawings. The following disclosure provides many different embodiments or examples to implement the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described in the following. In addition, the present application can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. The present application omits the description of well-known components and processing techniques and processes to avoid unnecessary limitation of the present application.

[0058] As shown in Figure 1 , the whole vehicle mass real-time estimation method based on dynamics analysis during gear shifting provided by the embodiment of the present application comprises the following steps:

[0059] S1, collecting real-time running data and basic parameters of the vehicle;

[0060] S2, judging whether the vehicle is in gear shifting state according to the real-time running data;

[0061] S3 performs dynamic analysis on the vehicle's state at the moment of gear shift to obtain the vehicle's mass;

[0062] S4 transmits the overall vehicle quality back to the server and saves it;

[0063] S5, repeatedly collect the vehicle mass at the gear shift moment and calculate the average value.

[0064] As one possible implementation of this embodiment, the collection of real-time operating data and basic parameters of the vehicle includes:

[0065] Real-time operating data includes time, vehicle speed, engine speed, engine torque, and gear position;

[0066] Basic parameters include wheel mass and wheel radius.

[0067] As one possible implementation of this embodiment, the step of determining whether the vehicle is in a shifting state based on real-time operating data includes:

[0068] Determine whether the vehicle's real-time operating data is continuous and whether the vehicle speed is greater than 20 km / h;

[0069] Acceleration and acceleration gradient are calculated in real time based on vehicle speed;

[0070] The system determines whether the vehicle is in a shifting state based on the acceleration, the gradient of acceleration change, and the changes in the gear signal.

[0071] As one possible implementation of this embodiment, determining whether the vehicle is in a shifting state based on the acceleration, the acceleration change gradient, and the change in the gear signal includes: if the acceleration decreases by more than 0.5 m / s² within 2 seconds or less. 2 If the acceleration gradient changes by more than 1 after recovery, and the gear signal changes within the corresponding time period, then the vehicle is determined to be in a gear shifting state.

[0072] As one possible implementation of this embodiment, the step of performing dynamic analysis on the vehicle state at the moment of gear shift to obtain the vehicle mass includes:

[0073] During gear shifting, the forces acting on the drive shaft wheels are driving force, wheel inertial force, and engine inertial force.

[0074] The formula for calculating driving force is:

[0075]

[0076]

[0077] In the formula This refers to engine torque. For transmission coefficient, For wheel radius, For engine speed, For vehicle speed;

[0078] The wheel inertia force calculation formula is:

[0079]

[0080] In the formula For wheel inertia torque, For angular acceleration, For wheel radius, For wheel mass, For vehicle actual acceleration, since Cannot be calculated, it is simplified calculation;

[0081] The engine inertia force calculation formula is:

[0082]

[0083] Where For engine inertia torque, for constant value 3.2kgm 2 ;

[0084] The force analysis on the driving wheel obtains the vehicle mass:

[0085] =

[0086]

[0087] Where For vehicle total weight, For force set including driving force, wheel inertia force and engine inertia force, For engine generated vehicle speed acceleration, For real acceleration of vehicle driving, For vehicle inertia generated acceleration when shifting.

[0088] As a possible implementation manner of the embodiment, the vehicle mass back to the server and saved, comprising: judging whether the vehicle mass exists in the server, if the vehicle mass exists, calculating the average of the current vehicle mass and the existing vehicle mass and then saving, if not, directly saving the current vehicle mass.

[0089] As a possible implementation manner of the embodiment, the repeatedly collecting the vehicle mass at the shifting time and calculating the average, comprising:

[0090] Repeatedly capturing the shifting state, and returning the obtained vehicle mass to the server for average calculation;

[0091] After the number of gear shifts exceeds 5 times, the average value calculated in the server is taken as the final vehicle mass.

[0092] As shown in Figure 2 The embodiment of the application provides a vehicle mass real-time estimation system based on gear shift period dynamics analysis, which comprises:

[0093] A data acquisition module is arranged to acquire real-time running data and basic parameters of the vehicle.

[0094] A gear shift judgment module is arranged to judge whether the vehicle is in a gear shift state according to the real-time running data.

[0095] A vehicle mass calculation module is arranged to perform dynamics analysis on the vehicle state at the gear shift moment to obtain the vehicle mass.

[0096] A data return module is arranged to return the vehicle mass to a server and save the vehicle mass.

[0097] A vehicle mass detection module is arranged to repeatedly acquire the vehicle mass at the gear shift moment and calculate an average value.

[0098] As shown in Figure 3 The process of real-time estimation of the vehicle mass by using the system comprises the following steps:

[0099] Step 1: Acquiring real-time running data and basic parameters of the vehicle.

[0100] The real-time running data of the vehicle is acquired through the vehicle intelligent communication system, wherein the real-time running data comprises a time stamp, a vehicle speed, a direction, an altitude, a rotating speed, a torque / torque percentage, a gear, an accelerator and the like in the vehicle running process, the data used in the application comprises time, vehicle speed, rotating speed, torque / torque percentage and gear, the acquisition frequency is 10 Hz, and the basic parameters comprise a wheel mass and a wheel radius.

[0101] Step 2: Judging whether the vehicle is in a gear shift state according to the real-time running data.

[0102] It is judged whether the real-time running data of the vehicle is continuous data and the vehicle speed is greater than 20 km / h.

[0103] The acceleration and the acceleration change gradient are calculated, and it is judged whether the vehicle is in a gear shift state according to the acceleration, the acceleration change gradient and the change state of the gear signal.

[0104] If the above change is large, for example, the deceleration increases by 0.5 m / s 2The lower level is recovered within 2s after the deceleration, and the change gradient of the deceleration is changed by more than 1, then rapidly decreases to maintain a gentle change, then decreases again, then increases to about 0, and the whole process is completed within 2s, so it is considered that the vehicle may have gear shifting, at this time, the gear shifting data is continuously monitored, if the gear signal indeed changes within the 2s, the estimation is started.

[0105] Step 3: Perform dynamic analysis on the vehicle state at the gear shifting time to obtain the whole vehicle mass;

[0106] The vehicle state at the gear shifting time is immediately analyzed after capturing the instant of gear shifting. The acceleration of the vehicle during the gear shifting process is not generated by the engine, so the real acceleration of the vehicle and the engine acceleration can be distinguished. During the gear shifting process, the driving shaft and the wheel are mainly subjected to driving force, wheel inertia force and engine inertia force,

[0107] The driving force calculation formula is:

[0108]

[0109]

[0110] In the formula, is the engine torque, is the wheel radius, is the transmission coefficient, is the engine speed, is the vehicle speed;

[0111] The wheel inertia force calculation formula is:

[0112]

[0113] In the formula, is the wheel inertia torque, is the angular acceleration, is the wheel radius, is the wheel mass, is the actual acceleration of the vehicle, since cannot be calculated, it is simplified for calculation;

[0114] The engine inertia force calculation formula is:

[0115]

[0116] In the formula, is the engine inertia torque, which is a constant value of 3.2 kgm 2 ;

[0117] The force analysis on the driving wheel obtains the whole vehicle mass:

[0118] =

[0119]

[0120] wherein is the total weight of the vehicle, is the force set including driving force, wheel inertia force and engine inertia force, is the vehicle speed acceleration generated by the engine, is the real acceleration of the vehicle in driving, is the acceleration generated by the inertia of the vehicle during gear shifting.

[0121] Step 4: return the vehicle mass to the server and save it;

[0122] The foregoing algorithm is embedded in the intelligent transmission system and installed on the vehicle. After the foregoing data is obtained, the algorithm performs real-time calculation and judgment. After the vehicle mass is calculated, the vehicle mass is sent to the server together with other data and saved. It is judged whether the vehicle mass exists in the server. If the vehicle mass exists, the current data is calculated with the existing vehicle mass to obtain an average value and then saved. If the vehicle mass does not exist, the current vehicle mass is directly saved.

[0123] Step 5: repeat the collection of the vehicle mass at the gear shifting time and calculate the average value;

[0124] The gear shifting time is continuously captured and the average value is calculated. The algorithm remains in a continuous capturing state. Once the gear shifting state is entered again, the calculation is performed again. After the calculation is completed, the obtained vehicle mass is averaged with the previous vehicle mass to obtain the latest vehicle mass, which is returned to the database. Until the gear shifting state capturing is completed 5 times in a driving process, the algorithm is silent and no longer performs calculation. The vehicle mass at this time is the final estimated result. The method has been verified to have a precision of more than 90% for a 40t maximum load AMT vehicle.

[0125] In a third aspect, a computer device includes a processor, a memory and a bus. The memory stores machine readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory through the bus. The processor executes the machine readable instructions to perform the steps of any of the above-mentioned vehicle mass real-time estimation methods based on gear shifting dynamics analysis.

[0126] The computer device provided by the embodiment of the present application comprises a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the device is running, the processor and the memory communicate through the bus, the processor executes the machine readable instructions to execute the steps of any one of the above-mentioned vehicle mass real-time estimation methods based on the analysis of power kinetics during gear shifting.

[0127] Specifically, the memory and the processor can be general memory and processor, which are not specifically limited here, and when the processor runs the computer program stored in the memory, the steps of any one of the above-mentioned vehicle mass real-time estimation methods based on the analysis of power kinetics during gear shifting can be executed.

[0128] Those skilled in the art can understand that the structure of the computer device does not constitute a limitation on the computer device, and can include more or fewer components than the illustration, or combine certain components, or split certain components, or different component arrangements.

[0129] In some embodiments, the computer device can further include a touch screen which can be used to display a graphical user interface (e.g., a start interface of an application) and receive a user operation for the graphical user interface (e.g., a start operation for the application). The touch screen can include a display panel and a touch panel. The display panel can be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), or the like. The touch panel can collect a contact or non-contact operation of a user thereon or therearound and generate a preset operation instruction, for example, an operation of the user using a finger, a stylus, or any suitable object or accessory on or near the touch panel. In addition, the touch panel can include a touch detection device and a touch controller. The touch detection device detects a touch position and posture of the user and detects a signal generated by the touch operation and transmits the signal to the touch controller. The touch controller receives the touch information from the touch detection device, converts the touch information into information that can be processed by a processor, and sends the information to the processor. The touch controller can also receive a command from the processor and execute the command. In addition, the touch panel can be implemented in various types such as a resistive type, a capacitive type, an infrared type, and a surface acoustic wave type, or any technology developed in the future. Further, the touch panel can cover the display panel. The user can operate on or near the touch panel covering the display panel according to the graphical user interface displayed on the display panel. After the touch panel detects the operation thereon or therearound, the touch panel transmits the operation to the processor to determine a user input. Then, the processor provides a corresponding visual output on the display panel in response to the user input. In addition, the touch panel and the display panel can be implemented as two independent components or integrated.

[0130] Corresponding to the above-mentioned application starting method, the embodiment of the present application further provides a storage medium, which stores a computer program. When the computer program is run by a processor, the steps of any one of the above-mentioned real-time vehicle mass estimation methods based on dynamic analysis during gear shifting are executed.

[0131] The application starting device provided by the embodiment of the present application can be specific hardware on a device or software or firmware installed on the device, etc. The device provided by the embodiment of the present application has the same implementation principle and technical effects as the above-mentioned method embodiments. For brevity and conciseness, the part not mentioned in the device embodiment is referred to the corresponding content in the above-mentioned method embodiments. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-mentioned system, device, and unit is referred to the corresponding process in the above-mentioned method embodiments, which will not be described herein.

[0132] Those skilled in the art will appreciate that embodiments of the application can be practiced in a method, system, or computer program product. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, and the like) embodying computer readable program code.

[0133] In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. The embodiments described above are merely schematic, and should not be construed as limiting the present application. For example, the division of the modules is merely logical function division, and there can be another division manner in actual implementation; for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the modules can be indirect coupling or communication connection through some interfaces, or electrical, mechanical or other forms.

[0134] The modules illustrated as separated components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules, i.e., can be located in one place, or can be distributed on a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments.

[0135] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application rather than limiting them, and although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, and any modification or equivalent replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A method for real-time estimation of vehicle mass based on dynamic analysis during gear shifting, characterized in that, Includes the following steps: S1 collects real-time operating data and basic parameters of the vehicle; S2 determines whether the vehicle is in a shifting state based on real-time operating data; S3 performs dynamic analysis on the vehicle's state at the moment of gear shift to obtain the vehicle's mass; S4 transmits the overall vehicle quality back to the server and saves it; S5, repeatedly collect the vehicle mass at each gear shift and calculate the average value; The dynamic analysis of the vehicle state at the moment of gear shift to obtain the vehicle mass includes: During gear shifting, the forces acting on the drive shaft wheels are driving force, wheel inertial force, and engine inertial force. The formula for calculating driving force is: In the formula This refers to engine torque. For transmission coefficient, Engine speed, For vehicle speed, The radius of the wheel; The formula for calculating the inertial force of a wheel is: In the formula For the wheel's inertial torque, Angular acceleration, For the wheel radius, This is the actual acceleration of the vehicle, due to If it cannot be calculated, simplify the calculation; The formula for calculating engine inertial force is: in The engine's inertial torque is a constant value of 3.2 kgm. 2 ; The total vehicle mass is obtained by performing a force analysis at the drive wheels: = in This refers to the total weight of the vehicle. The force set includes driving force, wheel inertial force, and engine inertial force. The vehicle acceleration generated by the engine. This represents the actual acceleration of a vehicle while it is in motion. This refers to the acceleration caused by the vehicle's inertia during gear shifting.

2. The method for real-time estimation of vehicle mass based on dynamic analysis during gear shifting as described in claim 1, characterized in that, The real-time operating data and basic parameters of the collected vehicles include: Real-time operating data includes time, vehicle speed, engine speed, engine torque, and gear position; Basic parameters include wheel mass and wheel radius.

3. The method for real-time estimation of vehicle mass based on dynamic analysis during gear shifting as described in claim 1, characterized in that, The step of determining whether the vehicle is in a shifting state based on real-time operating data includes: Determine whether the real-time running data is continuous and the vehicle speed is greater than 20km / h; Acceleration and acceleration gradient are calculated in real time based on vehicle speed; The system determines whether the vehicle is in a shifting state based on the acceleration, the gradient of acceleration change, and the changes in the gear signal.

4. The method for real-time estimation of vehicle mass based on dynamic analysis during gear shifting as described in claim 3, characterized in that, The method of determining whether the vehicle is in a shifting state based on acceleration, acceleration change gradient, and gear signal changes includes: if the acceleration decreases by more than 0.5 m / s² within 2 seconds or less. 2 If the acceleration gradient changes by more than 1 after recovery, and the gear signal changes within the corresponding time period, then the vehicle is determined to be in a gear shifting state.

5. The method for real-time estimation of vehicle mass based on dynamic analysis during gear shifting as described in claim 1, characterized in that, The step of transmitting and saving the vehicle weight back to the server includes: determining whether the vehicle weight exists in the server; if the vehicle weight exists, calculating the average value between the current vehicle weight and the existing vehicle weight before saving; if the vehicle weight does not exist, saving the current vehicle weight directly.

6. The method for real-time estimation of vehicle mass based on dynamic analysis during gear shifting as described in claim 1, characterized in that, The process of repeatedly collecting the vehicle mass at each gear shift and calculating the average value includes: Repeatedly capture the gear shifting state and send the obtained vehicle mass back to the server for average calculation; After more than 5 gear shifts, the vehicle mass calculated from the average value stored on the server will be used as the final vehicle mass.

7. A real-time vehicle mass estimation system based on dynamic analysis during gear shifting, characterized in that, The system is used to implement the method of claim 1, and the system comprises: The data acquisition module collects real-time operating data and basic parameters of the vehicle; The shift detection module is used to determine whether the vehicle is in a shifting state based on real-time operating data; The vehicle mass calculation module is used to perform dynamic analysis on the vehicle state at the moment of gear shift to obtain the vehicle mass; The data feedback module is used to send the vehicle's overall quality back to the server and save it. The vehicle quality inspection module is used to repeatedly collect the vehicle quality at the gear shift point and calculate the average value.

8. A computer device, characterized in that, The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions that the processor can execute. When the computer device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of a real-time vehicle mass estimation method based on dynamic analysis during gear shifting as described in any one of claims 1-6.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of a real-time vehicle mass estimation method based on dynamic analysis during gear shifting as described in any one of claims 1-6.

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