Methods, devices and electronic equipment for determining the weight of work vehicles

Abstract

This invention relates to the field of data processing technology, providing a method, apparatus, and electronic device for determining the weight of a work vehicle. By acquiring multiple sets of current operating condition information of the work vehicle and filtering them to determine target operating condition information that meets the driving stability requirements, the invention excludes operating condition information from non-stable driving conditions, avoiding inaccurate weight identification caused by determining the vehicle weight under non-stable driving conditions, thus improving the accuracy of work vehicle weight identification. Based on the target operating condition information, the corresponding target resistance interference coefficient is queried from a preset resistance interference coefficient database. The weight of the work vehicle is determined based on a preset dynamic model, the target operating condition information, and its corresponding target resistance interference coefficient. This method considers the impact of resistance caused by operating conditions during driving on the determination of the work vehicle weight, resulting in a more realistic weight that better reflects the actual situation, further improving the accuracy of work vehicle weight identification.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method, apparatus, and electronic device for determining the weight of a work vehicle. Background Technology

[0002] As specialized tools, work vehicles typically need to travel between various work sites to perform operations. If the shifting timing is not adjusted according to the vehicle's operating conditions, it will inevitably lead to excessive shifting shock, or even slippage on slopes due to power loss. Therefore, timely assessment of vehicle weight during operation is crucial for various aspects of driving stability, shifting smoothness, and safety.

[0003] In existing technologies, the weight of the work vehicle is estimated based on the dynamic performance of the vehicle's transmission system during the process of disengagement and engagement. The current slope is determined based on the location in the downloaded map, and the weight is calculated again. The weight information is then fused using the Kalman filter method.

[0004] However, in real-world scenarios, operating vehicles may be working in environments with poor signal coverage, making it difficult to guarantee the real-time availability of downloaded map information. Optimizing the estimated vehicle weight based on lagging information will reduce the accuracy of vehicle weight identification. On the other hand, the operation of components by machinery such as concrete mixers can significantly impact vehicle weight identification, and ignoring the operating information of these machines will also reduce the accuracy of vehicle weight identification. Summary of the Invention

[0005] This invention provides a method for determining the weight of a work vehicle, which solves the defects in the prior art that optimize the estimated vehicle weight based on downloaded map information and ignore the working information of the work machinery, resulting in a decrease in the accuracy of vehicle weight identification, and achieves accurate determination of the weight information of the work vehicle.

[0006] This invention provides a method for determining the weight of a work vehicle, comprising:

[0007] Acquire multiple sets of current operating status information of the work vehicle within a preset time period;

[0008] Among the multiple sets of current operating condition information, the target operating condition information that meets the driving stability conditions is determined;

[0009] Based on the target operating condition information, the corresponding target resistance interference coefficient is queried from the preset resistance interference coefficient database;

[0010] The weight of the operating vehicle is determined based on the preset dynamic model, the target working condition information, and the corresponding target resistance interference coefficient.

[0011] According to a method for determining the weight of a work vehicle provided by the present invention, the current working condition information includes the accelerator pedal opening, driving speed, driving acceleration, and motor torque of the work vehicle;

[0012] Among the multiple sets of current operating condition information, the target operating condition information that meets the driving stability conditions is determined, including:

[0013] The accelerator pedal opening is compared with a preset accelerator pedal opening threshold to determine the accelerator pedal opening enable condition.

[0014] The driving speed enabling condition is determined by comparing the driving speed with a preset driving speed threshold range.

[0015] The driving acceleration enable condition is determined by comparing the driving acceleration with a preset driving acceleration threshold.

[0016] The motor torque enabling condition is determined by comparing the motor torque with a preset motor torque threshold.

[0017] Based on the accelerator pedal opening enable condition, the driving speed enable condition, the driving acceleration enable condition, and the motor torque enable condition, the target driving condition information is selected from multiple sets of current driving condition information.

[0018] According to a method for determining the weight of a work vehicle provided by the present invention, the step of determining target working condition information from multiple sets of current working condition information based on the accelerator pedal opening enabling condition, the driving speed enabling condition, the driving acceleration enabling condition, and the motor torque enabling condition includes:

[0019] When the accelerator pedal opening is greater than the accelerator pedal opening threshold, the driving acceleration is within the driving speed threshold range, the driving acceleration is greater than the driving acceleration threshold, and the motor torque is greater than the motor torque threshold, the current operating condition information is determined as the target operating condition information.

[0020] According to the method for determining the weight of a work vehicle provided by the present invention, the preset resistance interference coefficient database is obtained in the following manner:

[0021] Obtain the actual load information of the operating vehicle;

[0022] The estimated load information of the working vehicle is measured based on different working condition information, including road condition information and working vehicle working information.

[0023] Based on the estimated load information and the actual load information of the operating vehicle, the resistance interference coefficient corresponding to the working condition information is determined.

[0024] A database of resistance interference coefficients is established based on the resistance interference coefficients corresponding to different operating conditions.

[0025] According to the present invention, a method for determining the weight of a work vehicle is provided, wherein the current working condition information includes current road condition information and current work vehicle working information;

[0026] The step of querying the corresponding target resistance interference coefficient in a preset resistance interference coefficient database based on the current operating condition information includes:

[0027] In the resistance interference coefficient database, the working condition information that is consistent with the current road condition information and the current working vehicle information is determined as the target working condition information;

[0028] The resistance interference coefficient corresponding to the target operating condition information is determined as the target resistance interference coefficient.

[0029] According to the present invention, a method for determining the weight of a work vehicle is provided, wherein the target working condition information includes motor torque, gearbox transmission ratio, main reduction transmission ratio, wheel radius, vehicle slope angle, frontal area of ​​the work vehicle, acceleration of the work vehicle, and relative wind speed.

[0030] The step of determining the weight of the operating vehicle based on the preset dynamic model, the target working condition information, and its corresponding target resistance interference coefficient includes:

[0031] The target operating condition information, including motor torque, gearbox transmission ratio, main reduction transmission ratio, wheel radius, vehicle slope angle, frontal area of ​​the operating vehicle, acceleration of the operating vehicle, relative wind speed, and the target drag interference coefficient, is input into the preset dynamic model to determine the weight of the operating vehicle to be optimized corresponding to the target operating condition information.

[0032] The average weight of the work vehicle to be optimized corresponding to the target working condition information is calculated, and the average value is determined as the weight of the work vehicle.

[0033] The present invention also provides a device for determining the weight of a work vehicle, comprising:

[0034] The acquisition unit is used to acquire multiple sets of current working condition information of the operating vehicle within a preset time period;

[0035] The filtering unit is used to determine the target operating condition information that meets the driving stability conditions from multiple sets of the current operating condition information;

[0036] The query unit is used to query the corresponding target resistance interference coefficient in a preset resistance interference coefficient database based on the target working condition information.

[0037] The determining unit is used to determine the weight of the operating vehicle based on a preset dynamic model, the target working condition information and its corresponding target resistance interference coefficient.

[0038] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of any of the above-described methods for determining the weight of a work vehicle.

[0039] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for determining the weight of a work vehicle as described above.

[0040] The present invention also provides a work vehicle, including a control unit for implementing the steps of the work vehicle weight determination method as described in any of the above embodiments.

[0041] The method, apparatus, and electronic device for determining the weight of a work vehicle provided by this invention acquire multiple sets of current operating condition information of the work vehicle and filter them to determine target operating condition information that meets the driving stability conditions. This excludes operating condition information of the work vehicle under non-stable driving conditions, avoiding inaccurate weight identification caused by determining the weight of the work vehicle under non-stable driving conditions, and improving the accuracy of work vehicle weight identification. Based on the target operating condition information, the corresponding target resistance interference coefficient is queried from a preset resistance interference coefficient database. The weight of the work vehicle is determined based on a preset dynamic model, the target operating condition information, and its corresponding target resistance interference coefficient. This method considers the impact of resistance caused by operating conditions during driving on the determination of the work vehicle weight, resulting in a work vehicle weight that is more consistent with the actual situation and improving the accuracy of work vehicle weight identification. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating the method for determining the weight of a work vehicle provided by the present invention;

[0044] Figure 2 This is a schematic diagram of the process for determining the weight of the work vehicle provided by the present invention;

[0045] Figure 3 This is a schematic diagram of the structure of the work vehicle weight determination device provided by the present invention;

[0046] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0048] This invention provides a method for determining the weight of a work vehicle, such as... Figure 1 As shown, it includes:

[0049] S11. Obtain multiple sets of current operating condition information of the work vehicle within a preset time period;

[0050] S12. Among the multiple sets of current operating condition information, determine the target operating condition information that meets the driving stability conditions;

[0051] S13. Based on the target working condition information, query the corresponding target resistance interference coefficient in the preset resistance interference coefficient database;

[0052] S14. Determine the weight of the operating vehicle based on the preset dynamic model, the target working condition information and its corresponding target resistance interference coefficient.

[0053] Specifically, the types of operating vehicles are not limited. Operating vehicles can include, but are not limited to, excavators, cranes, pile drivers, mixers, and other vehicles used in construction, road construction, mining, water conservancy, emergency rescue, and other operations.

[0054] The preset time period can be set according to actual needs. For example, it can be set to collect 10 sets of current working condition information within 1 second. The current working condition information may include, but is not limited to, road condition information around the working vehicle and the working information of the working vehicle. Road condition information includes, but is not limited to, road surface type, such as smooth cement road, dirt road, gravel road, etc. The working information of the working vehicle may include, but is not limited to, accelerator pedal opening, driving speed, driving acceleration, motor torque, gearbox transmission ratio (e.g., different gears in the gearbox correspond to different transmission ratios), final drive ratio, wheel radius, vehicle slope angle, frontal area of ​​the working vehicle, acceleration of the working vehicle, and operating parameters of working components (e.g., whether the mixer tank of the mixer truck is open, mixing speed), etc.

[0055] Based on driving stability conditions, target driving condition information is obtained by filtering from the current driving condition information. Driving condition information under non-stable driving conditions such as vehicle jerking, shaking, bumping, and rolling is excluded. The target driving condition information that meets the timing of vehicle weight estimation is determined, so that the weight of the working vehicle can be accurately determined in the future, avoiding the impact of non-stable driving conditions on the accuracy of determining the weight of the working vehicle.

[0056] Since the weight of the work vehicle is determined while it is in motion, the resistance encountered during travel will inevitably affect the determination of its weight. Therefore, resistance interference coefficients corresponding to different working conditions can be pre-calibrated, and a resistance interference coefficient database can be established. By using this database, the target resistance interference coefficient corresponding to the target working condition can be retrieved, reducing the time spent on ad-hoc determination of the resistance interference coefficient and improving the efficiency of determining the work vehicle's weight.

[0057] In this embodiment of the invention, multiple sets of current operating condition information of the working vehicle are acquired, and target operating condition information that meets the driving stability conditions is selected from them. This excludes operating condition information of the working vehicle under non-stable driving conditions, avoiding inaccurate vehicle weight identification caused by determining the vehicle weight under non-stable driving conditions, and improving the accuracy of vehicle weight identification. Based on the target operating condition information, the corresponding target resistance interference coefficient is queried from a preset resistance interference coefficient database. Based on the preset dynamic model, the target operating condition information and its corresponding target resistance interference coefficient, the weight of the working vehicle is determined. This takes into account the impact of resistance caused by operating conditions during driving on the determination of the working vehicle weight, and the obtained working vehicle weight is more consistent with the actual situation, improving the accuracy of working vehicle weight identification.

[0058] According to a method for determining the weight of a work vehicle provided by the present invention, the current working condition information includes the accelerator pedal opening, driving speed, driving acceleration, and motor torque of the work vehicle;

[0059] Step S12 includes:

[0060] S21. Based on the comparison between the accelerator pedal opening degree and the preset accelerator pedal opening degree threshold, determine the accelerator pedal opening degree enable condition.

[0061] S22. Determine the driving speed enabling condition by comparing the driving speed with the preset driving speed threshold range;

[0062] S23. Based on the comparison between the driving acceleration and the preset driving acceleration threshold, determine the driving acceleration enabling condition;

[0063] S24. Based on the comparison between the motor torque and the preset motor torque threshold, determine the motor torque enabling condition;

[0064] S25. Based on the accelerator pedal opening enable condition, the driving speed enable condition, the driving acceleration enable condition, and the motor torque enable condition, select the target driving condition information from multiple sets of current driving condition information.

[0065] Specifically, vehicle weight is a slow variable. Generally, it is considered normal for the vehicle weight to remain unchanged during a start-stop cycle. The vehicle weight is only re-estimated after restarting from a stationary state, and this estimate is retained until the next recalculation. Therefore, estimating the weight after the vehicle starts, combined with parameters from when it is in motion, yields a more accurate value.

[0066] Specifically, step S25 can be:

[0067] When the accelerator pedal opening is greater than the accelerator pedal opening threshold, the driving acceleration is within the driving speed threshold range, the driving acceleration is greater than the driving acceleration threshold, and the motor torque is greater than the motor torque threshold, the current operating condition information is determined as the target operating condition information.

[0068] In this embodiment of the invention, the driving stability conditions are refined into accelerator pedal opening enable condition, driving speed enable condition, driving acceleration enable condition, and motor torque enable condition. By comprehensively considering information from multiple dimensions such as accelerator pedal opening, driving speed, driving acceleration, and motor torque, it is determined whether the working vehicle is in a driving stable state. Based on the working condition information under the driving stable state, a more accurate vehicle weight can be obtained.

[0069] According to the method for determining the weight of a work vehicle provided by the present invention, a preset database of resistance interference coefficients is obtained in the following manner:

[0070] S31. Obtain the actual load information of the operating vehicle;

[0071] S32. Measure the estimated load information of the work vehicle based on different working condition information, wherein the working condition information includes road condition information and work vehicle working information;

[0072] S33. Determine the resistance interference coefficient corresponding to the working condition information based on the estimated load information of the working vehicle and the actual load information of the working vehicle.

[0073] S34. Establish the resistance interference coefficient database based on the resistance interference coefficients corresponding to different working conditions.

[0074] Specifically, in one example, the operating vehicle is a cement mixer truck. It is known that the empty truck weighs 14.6 tons, the half-loaded truck weighs 22 tons, and the fully loaded truck weighs 31 tons. Road condition information can include smooth cement roads, untreated dirt roads, and rough gravel roads. The vehicle can be set to have its mixing tank open or closed, and information such as accelerator pedal opening and gear position can also be set.

[0075] The operating vehicle was selected as unloaded, in first gear, with the mixing tank not turned on, and the accelerator pedal open at 30%-40%. The weight of the vehicle was measured five times under this condition, and the average value was taken. The estimated load of the operating vehicle was 16.2 tons. Under this condition, based on the estimated and actual load information, the drag interference coefficient K was determined to be 16.2 / 14.6 = 1.109. This operating condition information and the corresponding drag interference coefficient K were input into the drag interference coefficient database. Similarly, the corresponding drag interference coefficients were determined based on different operating conditions and input into the drag interference coefficient database.

[0076] In this embodiment of the invention, a drag interference coefficient is determined based on the actual load information of the working vehicle and the estimated load information of the vehicle measured based on different working conditions. A drag interference coefficient database is established based on the drag interference coefficients corresponding to different working conditions, enabling the management of drag interference coefficients corresponding to different working conditions. This facilitates subsequent querying of drag interference coefficients based on actual working conditions, improving the efficiency of determining the weight of the working vehicle.

[0077] According to the present invention, a method for determining the weight of a work vehicle is provided, wherein the current working condition information includes current road condition information and current work vehicle working information;

[0078] Step S13 includes:

[0079] S41. In the resistance interference coefficient database, the working condition information that is consistent with the current road condition information and the current working vehicle working information is determined as the target working condition information;

[0080] S42. The resistance interference coefficient corresponding to the target working condition information is determined as the target resistance interference coefficient.

[0081] Specifically, continuing the previous example, in the drag interference coefficient database, based on the current road conditions and the current working information of the operating vehicle, the matching working condition information can be queried, and it can be determined as the target working condition information. The drag interference coefficient corresponding to the target working condition information is then determined as the target drag interference coefficient.

[0082] In this embodiment, based on the current road conditions and the current working information of the vehicle, the target resistance interference coefficient can be quickly and accurately queried and matched in the resistance interference coefficient database, which facilitates the subsequent determination of the weight of the vehicle and improves the efficiency and accuracy of determining the weight of the vehicle.

[0083] According to the present invention, a method for determining the weight of a work vehicle is provided, wherein the target working condition information includes motor torque, gearbox transmission ratio, main reduction transmission ratio, wheel radius, vehicle slope angle, frontal area of ​​the work vehicle, acceleration of the work vehicle, and relative wind speed.

[0084] Step S14 includes:

[0085] S51. Input the motor torque, gearbox transmission ratio, main reduction transmission ratio, wheel radius, vehicle slope angle, frontal area of ​​the work vehicle, acceleration of the work vehicle and relative wind speed, as well as the target drag interference coefficient of the target working condition information into the preset dynamic model to determine the weight of the work vehicle to be optimized corresponding to the target working condition information.

[0086] Specifically, according to the vehicle longitudinal dynamics formula (1):

[0087] ∑F=F f +F w +F i +F j (1)

[0088] Further rewritten as formula (2):

[0089]

[0090] Where F represents the total resistance, F f F represents rolling resistance. w F represents air resistance. i F represents slope resistance. j T represents acceleration resistance. tq Indicates motor torque, i g Indicates the gearbox ratio, i o Indicates the main reduction gear ratio, η T Let r represent the motor efficiency, m represent the wheel radius, g represent the gravitational constant, f represent the rolling resistance coefficient, α represent the vehicle's ramp angle, and C represent the vehicle's acceleration. D The value represents the air drag coefficient, A represents the frontal area of ​​the vehicle, and u represents the air drag coefficient. a The relative wind speed between the working vehicle and the wind is represented by δ, the rotational mass conversion factor of the working vehicle is represented by a, and the acceleration of the working vehicle is represented by a.

[0091] Among them, the motor torque can be received through the CAN bus of the work vehicle, the slope angle can be determined through the internal sensor of the TCU of the work vehicle, the relative wind speed can be obtained through the anemometer configured on the work vehicle, and other parameters are fixed parameters of the vehicle, which can be determined by means including but not limited to querying the factory information and the user manual of the work vehicle.

[0092] Introducing the target resistance interference coefficient K, and further transforming formula (2), the mass m of the vehicle to be optimized, which is to be solved, is expressed as formula (3):

[0093]

[0094] The weight of the vehicle to be optimized can be determined based on the mass m of the vehicle to be optimized and the gravitational constant g.

[0095] S52. Calculate the average weight of the work vehicle to be optimized corresponding to the target working condition information, and determine the average value as the weight of the work vehicle.

[0096] Specifically, after determining the weight of the vehicle to be optimized corresponding to the target working condition information, a sliding average method can be used to increase the accuracy of the vehicle weight calculation results. Optionally, the weights of the vehicles to be optimized corresponding to each target working condition information can be stored sequentially in an array with elements initialized to zero and a capacity of n, in the order they are obtained. During storage, the first element of the array is deleted each time, the remaining elements are shifted forward one position, and the weight of the vehicle to be optimized is placed at the end of the array. After all the weights of the vehicles to be optimized are placed in the array, the non-zero elements in the array are added together, the sum is divided by the number of non-zero elements, and the average of all the weights of the vehicles to be optimized is calculated. This average is then used as the weight of the vehicle to be optimized.

[0097] In this embodiment of the invention, the motor torque, gearbox transmission ratio, final drive ratio, wheel radius, vehicle ramp angle, frontal area of ​​the work vehicle, acceleration of the work vehicle, relative wind speed, and target drag interference coefficient are input into a preset dynamic model to determine the weight of the work vehicle to be optimized corresponding to the target working condition information, thus obtaining a dynamically compatible weight of the work vehicle to be optimized. The average weight of the work vehicle to be optimized corresponding to the target working condition information is calculated and used as the weight of the work vehicle, improving the accuracy of determining the weight of the work vehicle and resulting in a more accurate weight.

[0098] In one example based on the above embodiments, the process for determining the weight of the work vehicle is as follows: Figure 2As shown. The process includes: establishing a drag interference coefficient database; deploying a dynamic model based on the drag interference coefficient and operating condition information; determining the target operating condition information from the current operating condition information of the working vehicle based on the accelerator pedal opening enable condition, driving speed enable condition, driving acceleration enable condition, and motor torque enable condition; selecting the target drag interference coefficient corresponding to the target operating condition information from the drag interference coefficient database; substituting the target operating condition information and the target drag interference coefficient into the dynamic model to solve for the weight of the working vehicle to be optimized; calculating the average value of the weight of the working vehicle to be optimized by sliding motion to determine the weight of the working vehicle; and outputting the weight of the working vehicle.

[0099] The following describes the vehicle weight determination device provided by the present invention. The vehicle weight determination device described below and the vehicle weight determination method described above can be referred to in correspondence.

[0100] The present invention also provides a device for determining the weight of a work vehicle, such as... Figure 3 As shown, it includes:

[0101] Acquisition unit 31 is used to acquire multiple sets of current working condition information of the working vehicle within a preset time period;

[0102] The filtering unit 32 is used to determine the target operating condition information that meets the driving stability conditions from multiple sets of the current operating condition information;

[0103] The query unit 33 is used to query the corresponding target resistance interference coefficient in a preset resistance interference coefficient database based on the target working condition information.

[0104] The determining unit 34 is used to determine the weight of the operating vehicle based on the preset dynamic model, the target working condition information and its corresponding target resistance interference coefficient.

[0105] In this embodiment of the invention, multiple sets of current operating condition information of the working vehicle are acquired, and target operating condition information that meets the driving stability conditions is selected from them. This excludes operating condition information of the working vehicle under non-stable driving conditions, avoiding inaccurate vehicle weight identification caused by determining the vehicle weight under non-stable driving conditions, and improving the accuracy of vehicle weight identification. Based on the target operating condition information, the corresponding target resistance interference coefficient is queried from a preset resistance interference coefficient database. Based on the preset dynamic model, the target operating condition information and its corresponding target resistance interference coefficient, the weight of the working vehicle is determined. This takes into account the impact of resistance caused by operating conditions during driving on the determination of the working vehicle weight, and the obtained working vehicle weight is more consistent with the actual situation, improving the accuracy of working vehicle weight identification.

[0106] According to the weight determination device for work vehicles provided by the present invention, the current working condition information includes the accelerator pedal opening, driving speed, driving acceleration and motor torque of the work vehicle;

[0107] Filtering unit 32 is specifically used for:

[0108] The accelerator pedal opening is compared with a preset accelerator pedal opening threshold to determine the accelerator pedal opening enable condition.

[0109] The driving speed enabling condition is determined by comparing the driving speed with a preset driving speed threshold range.

[0110] The driving acceleration enable condition is determined by comparing the driving acceleration with a preset driving acceleration threshold.

[0111] The motor torque enabling condition is determined by comparing the motor torque with a preset motor torque threshold.

[0112] Based on the accelerator pedal opening enable condition, the driving speed enable condition, the driving acceleration enable condition, and the motor torque enable condition, the target driving condition information is selected from multiple sets of current driving condition information.

[0113] According to the weight determination device for work vehicles provided by the present invention, the screening unit 32 is specifically used for:

[0114] When the accelerator pedal opening is greater than the accelerator pedal opening threshold, the driving acceleration is within the driving speed threshold range, the driving acceleration is greater than the driving acceleration threshold, and the motor torque is greater than the motor torque threshold, the current operating condition information is determined as the target operating condition information.

[0115] According to the weight determination device for work vehicles provided by the present invention, the query unit 33 is further configured to:

[0116] Obtain the actual load information of the operating vehicle;

[0117] The estimated load information of the working vehicle is measured based on different working condition information, including road condition information and working vehicle working information.

[0118] Based on the estimated load information and the actual load information of the operating vehicle, the resistance interference coefficient corresponding to the working condition information is determined.

[0119] A database of resistance interference coefficients is established based on the resistance interference coefficients corresponding to different operating conditions.

[0120] According to the vehicle weight determination device provided by the present invention, the current working condition information includes current road condition information and current working vehicle information;

[0121] Query unit 33 is specifically used for:

[0122] In the resistance interference coefficient database, the working condition information that is consistent with the current road condition information and the current working vehicle information is determined as the target working condition information;

[0123] The resistance interference coefficient corresponding to the target operating condition information is determined as the target resistance interference coefficient.

[0124] According to the vehicle weight determination device provided by the present invention, the target working condition information includes motor torque, gearbox transmission ratio, main reduction transmission ratio, wheel radius, vehicle slope angle, vehicle frontal area, vehicle acceleration, and relative wind speed.

[0125] Unit 34 is specifically used for:

[0126] The target operating condition information, including motor torque, gearbox transmission ratio, main reduction transmission ratio, wheel radius, vehicle slope angle, frontal area of ​​the operating vehicle, acceleration of the operating vehicle, relative wind speed, and the target drag interference coefficient, is input into the preset dynamic model to determine the weight of the operating vehicle to be optimized corresponding to the target operating condition information.

[0127] The average weight of the work vehicle to be optimized corresponding to the target working condition information is calculated, and the average value is determined as the weight of the work vehicle.

[0128] The present invention also provides a work vehicle, including a control unit, for executing a method for determining the weight of the work vehicle. The method includes: acquiring multiple sets of current working condition information of the work vehicle within a preset time period; determining target working condition information that meets driving stability conditions from the multiple sets of current working condition information; querying a corresponding target drag interference coefficient in a preset drag interference coefficient database based on the target working condition information; and determining the weight of the work vehicle based on a preset dynamic model, the target working condition information and its corresponding target drag interference coefficient.

[0129] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4As shown, the electronic device may include a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a method for determining the weight of a work vehicle. This method includes: acquiring multiple sets of current working condition information of the work vehicle within a preset time period; determining target working condition information that meets driving stability conditions from the multiple sets of current working condition information; querying the corresponding target drag interference coefficient in a preset drag interference coefficient database based on the target working condition information; and determining the weight of the work vehicle based on a preset dynamic model, the target working condition information, and its corresponding target drag interference coefficient.

[0130] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part 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 the present invention. 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.

[0131] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the method for determining the weight of a work vehicle provided by the above methods, the method comprising: acquiring multiple sets of current working condition information of the work vehicle within a preset time period; determining target working condition information that meets driving stability conditions from the multiple sets of current working condition information; querying the corresponding target resistance interference coefficient in a preset resistance interference coefficient database according to the target working condition information; and determining the weight of the work vehicle according to a preset dynamic model, the target working condition information and its corresponding target resistance interference coefficient.

[0132] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described methods for determining the weight of a work vehicle. The method includes: acquiring multiple sets of current operating condition information of the work vehicle within a preset time period; determining target operating condition information that satisfies driving stability conditions from the multiple sets of current operating condition information; querying a corresponding target resistance interference coefficient in a preset resistance interference coefficient database based on the target operating condition information; and determining the weight of the work vehicle based on a preset dynamics model, the target operating condition information, and its corresponding target resistance interference coefficient.

[0133] The device embodiments described above are merely illustrative. 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 modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0134] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications 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 the present invention.

Claims

1. A method of determining the weight of a work vehicle, characterized by, The method comprises the following steps: obtaining a plurality of sets of current working condition information of the working vehicle within a preset time period; determining target working condition information that meets the driving stability condition from the plurality of sets of current working condition information, wherein the driving stability condition comprises an acceleration pedal opening degree enabling condition, a driving speed enabling condition, a driving acceleration enabling condition, and a motor torque enabling condition; querying a corresponding target resistance disturbance coefficient from a preset resistance disturbance coefficient database according to the target working condition information, wherein the preset resistance disturbance coefficient database is obtained by the following method: obtaining actual load information of the working vehicle; measuring estimated load information of the working vehicle based on different working condition information, wherein the working condition information comprises road condition information and working vehicle working information, and the working vehicle working information comprises an acceleration pedal opening degree, a driving speed, a driving acceleration, a motor torque, a transmission ratio, a main reduction ratio, a wheel radius, a vehicle slope angle, a working vehicle windward area, and working component operating parameters; determining the resistance disturbance coefficient corresponding to the working condition information according to the estimated load information of the working vehicle and the actual load information of the working vehicle; and establishing the resistance disturbance coefficient database according to the resistance disturbance coefficients corresponding to different working condition information; determining the weight of the working vehicle according to a preset dynamics model, the target working condition information, and the target resistance disturbance coefficient corresponding to the target working condition information.

2. The work vehicle weight determination method of claim 1, wherein, The current working condition information comprises an acceleration pedal opening degree, a driving speed, a driving acceleration, and a motor torque of the working vehicle. The target working condition information that meets the driving stability condition is determined from the plurality of sets of current working condition information by the following steps: comparing the acceleration pedal opening degree with a preset acceleration pedal opening degree threshold value to determine the acceleration pedal opening degree enabling condition; comparing the driving speed with a preset driving speed threshold value interval to determine the driving speed enabling condition; comparing the driving acceleration with a preset driving acceleration threshold value to determine the driving acceleration enabling condition; comparing the motor torque with a preset motor torque threshold value to determine the motor torque enabling condition; determining the target working condition information from the plurality of sets of current working condition information according to the acceleration pedal opening degree enabling condition, the driving speed enabling condition, the driving acceleration enabling condition, and the motor torque enabling condition.

3. The work vehicle weight determination method of claim 2, wherein, The target working condition information is determined from the plurality of sets of current working condition information according to the acceleration pedal opening degree enabling condition, the driving speed enabling condition, the driving acceleration enabling condition, and the motor torque enabling condition by the following steps: in the case where the acceleration pedal opening degree is greater than the acceleration pedal opening degree threshold value, the driving speed is within the driving speed threshold value interval, the driving acceleration is greater than the driving acceleration threshold value, and the motor torque is greater than the motor torque threshold value, the current working condition information is determined as the target working condition information.

4. The work vehicle weight determination method of claim 1, wherein, The current working condition information comprises current road condition information and current working vehicle working information. The corresponding target resistance disturbance coefficient is queried from the preset resistance disturbance coefficient database according to the current working condition information by the following steps: In the resistance interference coefficient database, working condition information consistent with the current road condition information and the current working vehicle working information is determined as target working condition information; A resistance interference coefficient corresponding to the target working condition information is determined as a target resistance interference coefficient.

5. The method of claim 1, wherein, The target working condition information includes motor torque, gearbox transmission ratio, main reduction transmission ratio, wheel radius, vehicle slope angle, working vehicle windward area, driving acceleration, and relative wind speed; The method further includes: The motor torque, gearbox transmission ratio, main reduction transmission ratio, wheel radius, vehicle slope angle, working vehicle windward area, driving acceleration, and relative wind speed of the target working condition information, and the target resistance interference coefficient are input into the preset dynamics model to determine a to-be-optimized working vehicle weight corresponding to the target working condition information; The to-be-optimized working vehicle weight corresponding to the target working condition information is averaged, and the average value is determined as the working vehicle weight.

6. A work vehicle weight determination apparatus characterized by, The method further includes: An acquisition unit is configured to acquire a plurality of sets of current working condition information of a working vehicle within a preset time period; A screening unit is configured to determine, from the plurality of sets of current working condition information, target working condition information that satisfies a driving stability condition, the driving stability condition including an acceleration pedal opening degree enabling condition, a driving speed enabling condition, a driving acceleration enabling condition, and a motor torque enabling condition; A query unit is configured to query, according to the target working condition information, a corresponding target resistance interference coefficient from a preset resistance interference coefficient database, the preset resistance interference coefficient database being obtained by: acquiring actual working vehicle load information; measuring estimated working vehicle load information based on different working condition information, the working condition information including road condition information and working vehicle working information, the working vehicle working information including an acceleration pedal opening degree, a driving speed, a driving acceleration, a motor torque, a gearbox transmission ratio, a main reduction transmission ratio, a wheel radius, a vehicle slope angle, a working vehicle windward area, and a working component operating parameter; determining a resistance interference coefficient corresponding to the working condition information according to the estimated working vehicle load information and the actual working vehicle load information; and establishing the resistance interference coefficient database according to resistance interference coefficients corresponding to different working condition information; A determination unit is configured to determine a working vehicle weight according to a preset dynamics model, the target working condition information, and the target resistance interference coefficient corresponding to the target working condition information.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the working vehicle weight determination method of any one of claims 1 to 5 when executing the program.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the working vehicle weight determination method of any one of claims 1 to 5.

9. A work vehicle characterized by, The control unit is configured to implement the steps of the working vehicle weight determination method of any one of claims 1 to 5.

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