Vehicle load acquisition method, device, equipment and medium

Abstract

The present application provides a vehicle load acquisition method, device, equipment and medium. The method includes: based on the engine ignition state and the vehicle driving state, confirming whether to initialize the vehicle load, wherein the engine ignition state is used to indicate whether the engine is turned off, and the vehicle driving state is used to indicate whether the vehicle is stationary; if it is confirmed that the vehicle load is initialized, then after completing the load initialization, the vehicle is started and the enabling status data of the vehicle is obtained; based on the enabling status data of the vehicle, confirming whether to obtain the dynamic parameters of the vehicle, and if so, obtaining the current load of the vehicle based on the dynamic parameters; if the current load of the vehicle is within a preset range, outputting the current load of the vehicle. The method of the present application improves the accuracy of obtaining vehicle load.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, equipment and medium for obtaining vehicle load. Background Art

[0002] Vehicle weight is a critical parameter for the entire vehicle, especially in the commercial vehicle sector, where the difference between empty and fully loaded vehicle weights is significant. Commercial vehicles using electronically controlled automatic mechanical transmissions (AMTs) require accurate starting gear determination based on vehicle weight to recommend the appropriate gear to the driver. Inaccurate weight values ​​can lead to inappropriate gear recommendations, resulting in difficulty starting, rolling on hills, and gear cycling, hindering normal vehicle operation and, in severe cases, causing accidents. Therefore, accurate and real-time weight calculation is crucial.

[0003] Currently, there are two methods for determining vehicle weight. One involves installing additional sensors on the vehicle to detect and estimate the vehicle's weight. However, this method not only takes up space on the vehicle body and increases vehicle manufacturing costs, but also suffers from low accuracy. The other method, which is convenient to use, calculates weight using a vehicle dynamics model, but also suffers from low accuracy due to noise interference.

[0004] Therefore, it is urgent to propose an accurate method for obtaining vehicle load. Summary of the Invention

[0005] The present application provides a vehicle load acquisition method, device, equipment and medium to solve the problem that the existing method of acquiring vehicle load is not accurate enough.

[0006] In a first aspect, the present application provides a method for obtaining vehicle load, comprising:

[0007] Determining whether to perform load initialization on the vehicle based on an engine ignition state and a vehicle driving state, wherein the engine ignition state is used to indicate whether the engine is turned off, and the vehicle driving state is used to indicate whether the vehicle is stationary;

[0008] If it is confirmed that the vehicle is to be loaded and initialized, after completing the loading and initialization, the vehicle is started and the enabling state data of the vehicle is obtained;

[0009] determining whether to obtain the dynamic parameters of the vehicle according to the enabling state data of the vehicle, and if so, obtaining the current load of the vehicle according to the dynamic parameters;

[0010] If the current load of the vehicle is within a preset range, the current load of the vehicle is output.

[0011] In one possible implementation, determining whether to initialize the vehicle load based on the engine ignition state and the vehicle driving state includes:

[0012] If the engine ignition state is an off state and the vehicle driving state is a stationary state, obtaining the first time and the current time when the vehicle enters the off state and the stationary state;

[0013] Obtaining a difference between the current moment and the first moment, and determining whether the difference is greater than or equal to a preset time threshold;

[0014] If it is confirmed that the difference is greater than or equal to the preset time threshold, it is confirmed that the vehicle load is initialized.

[0015] In a possible implementation, the determining whether to obtain the dynamic parameters of the vehicle according to the enabling state data of the vehicle includes:

[0016] If the engine current torque, vehicle acceleration, and current vehicle speed in the vehicle's enabling status data are all within their respective preset ranges, and the vehicle target gear in the vehicle's enabling status data reaches the predetermined gear, and the brake pedal signal in the vehicle's enabling status data indicates that the vehicle is not braked, and the vehicle curve value in the vehicle's enabling status data indicates that the vehicle is traveling in a straight line, then it is confirmed that the vehicle's dynamic parameters have been obtained.

[0017] In one possible implementation, the current engine torque, vehicle acceleration, and current vehicle speed in the vehicle's enabling state data are all within respective preset ranges, including:

[0018] If the current torque of the engine is greater than the preset torque threshold, confirming that the current torque of the engine is within a preset range;

[0019] If the vehicle acceleration is greater than a preset acceleration threshold, confirming that the vehicle acceleration is within a preset range;

[0020] If the current vehicle speed is greater than a preset lower speed threshold and less than a preset upper speed threshold, then confirming that the current vehicle speed is within a preset range;

[0021] The target gear position of the vehicle in the enabling state data of the vehicle reaches a predetermined gear position, including:

[0022] If the target gear position of the vehicle is equal to the current gear position of the vehicle and is a forward gear, confirming that the target gear position of the vehicle reaches a predetermined gear position;

[0023] The vehicle curve value in the enabling state data of the vehicle indicates that the vehicle is traveling in a straight line, including:

[0024] If the vehicle curve value is less than a preset curve angle, it is confirmed that the vehicle curve value indicates that the vehicle is traveling in a straight line.

[0025] In a possible implementation, obtaining the current load of the vehicle according to the dynamic parameter includes:

[0026] Using the vehicle's load and speed at the previous moment as inputs to an unscented Kalman filter equation group to obtain the vehicle's current load;

[0027] Before using the vehicle's load and speed at a previous moment as inputs to the unscented Kalman filter equations, the method further includes:

[0028] Obtaining the current speed of the vehicle based on the vehicle's previous speed, acceleration, and the difference between the previous speed and the current speed;

[0029] Obtaining a state equation for updating the vehicle's load according to the current load, the vehicle speed, the vehicle's load at a previous moment, and process noise;

[0030] An observation equation for updating the load of the vehicle is obtained based on the load at the current moment, the vehicle speed at the current moment, the load of the vehicle at a previous moment, and observed noise.

[0031] In a possible implementation, before obtaining the current load of the vehicle according to the dynamic parameters, the method further includes:

[0032] Obtaining a first power parameter based on the clutch transmission torque, final reduction ratio, transmission gear ratio, and transmission mechanical efficiency of the vehicle at a previous moment;

[0033] obtaining a second power parameter according to the wheel radius of the vehicle at a previous moment;

[0034] Obtaining a first load coefficient according to the first power parameter and the second power parameter;

[0035] Obtaining a second load coefficient according to the gravitational acceleration, rolling resistance coefficient, and ramp angle of the vehicle at a previous moment;

[0036] Obtaining a third load coefficient based on the air resistance coefficient, frontal area, air density, acceleration, and vehicle speed of the vehicle at a previous moment;

[0037] obtaining a fourth load coefficient according to the gravitational acceleration and the ramp angle of the vehicle at a previous moment;

[0038] The load of the vehicle at a previous moment is obtained according to the first load coefficient, the second load coefficient, the third load coefficient, and the fourth load coefficient.

[0039] In a possible implementation, if the current load of the vehicle is within a preset range, outputting the current load of the vehicle includes:

[0040] If the current load is less than the upper load limit of the vehicle and greater than the lower load limit, confirm and output the current load of the vehicle;

[0041] If the current load of the vehicle is not within a preset range, the method further includes:

[0042] If the current load is greater than or equal to the upper load limit of the vehicle, confirm and output the upper load limit of the vehicle;

[0043] If the current load is less than or equal to the lower load limit of the vehicle, the lower load limit of the vehicle is confirmed and output.

[0044] In a second aspect, the present application provides a vehicle load acquisition device, comprising:

[0045] a confirmation module, configured to confirm whether to initialize the vehicle load based on an engine ignition state and a vehicle driving state, wherein the engine ignition state is used to indicate whether the engine is turned off, and the vehicle driving state is used to indicate whether the vehicle is stationary;

[0046] an acquisition module, configured to, if it is confirmed that the vehicle is to be loaded and initialized, start the vehicle after completing the load initialization, and acquire the enabling state data of the vehicle;

[0047] a processing module, configured to determine whether to obtain the dynamic parameters of the vehicle according to the enabling state data of the vehicle, and if so, to obtain the current load of the vehicle according to the dynamic parameters;

[0048] The output module is configured to output the current load of the vehicle if the current load of the vehicle is within a preset range.

[0049] In a third aspect, the present application provides a vehicle weight acquisition device, comprising: at least one processor and a memory;

[0050] The memory stores computer-executable instructions;

[0051] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the vehicle load acquisition method as described above.

[0052] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle load acquisition method as described above.

[0053] The present application provides a vehicle load acquisition method, device, equipment and medium, which confirm whether to initialize the vehicle load based on the engine ignition status and the vehicle driving status, wherein the engine ignition status is used to indicate whether the engine is turned off, and the vehicle driving status is used to indicate whether the vehicle is stationary; if it is confirmed that the vehicle load is initialized, then after completing the load initialization, the vehicle is started and the enabling status data of the vehicle is obtained; based on the enabling status data of the vehicle, it is confirmed whether to obtain the dynamic parameters of the vehicle, and if so, the current load of the vehicle is obtained based on the dynamic parameters; if the current load of the vehicle is within a preset range, the current load of the vehicle is output.

[0054] In the above method, in order to ensure that the timing of load initialization is accurate enough, two states are confirmed at the same time, including the engine ignition state and the vehicle driving state. When both states meet the conditions, the load initialization is confirmed; after the load is initialized, the vehicle is started, and when the vehicle's enabling status data meets the enabling conditions, the current load of the vehicle is updated through the dynamic parameters, and when it is confirmed that the current load is within the preset range, the current load is output and reported to the driver or other on-board modules in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0056] Figure 1 A schematic diagram of a scenario for obtaining vehicle load provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 1 ;

[0058] Figure 3 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 2 ;

[0059] Figure 4 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 3 ;

[0060] Figure 5 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 4 ;

[0061] Figure 6 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 5 ;

[0062] Figure 7 A diagram of a vehicle load acquisition device provided by an embodiment of the present invention;

[0063] Figure 8 A hardware diagram of a vehicle load acquisition device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0065] Vehicles equipped with AMT rely on an electronically controlled automatic shifting system to complete vehicle shifting; in order to implement a good shifting strategy, the AMT controller needs to combine the driver's driving intention with the actual vehicle conditions to make the best response; for example, in automatic mode, when the accelerator is engaged, the vehicle will automatically increase or decrease gears based on the uphill and downhill conditions and the overall mass of the vehicle; when the user brakes, the gear will be automatically downshifted.

[0066] That is to say, the gear shifting strategy planned by the AMT controller needs to refer to the overall mass of the vehicle. If the current overall mass of the vehicle is not estimated accurately enough, the gear selection after the gear shift will not be accurate enough, resulting in a poor driving experience for the driver.

[0067] Existing methods for obtaining vehicle load either require additional sensors to be installed on the vehicle to detect and estimate the vehicle load, or use dynamic models to calculate the load. The former requires the addition of additional sensors, which increases the vehicle structure and is not very accurate. The latter does not take into account sufficient noise interference or important environmental factors that affect the calculation of vehicle load, resulting in inaccurate vehicle load results.

[0068] Therefore, this application proposes a vehicle load acquisition method that can improve accuracy.

[0069] The following describes how the vehicle load acquisition method of the present application is implemented with reference to the accompanying drawings and specific embodiments.

[0070] Figure 1 A schematic diagram of a vehicle load acquisition scenario provided in an embodiment of the present application. Figure 1 As shown, the system includes: a vehicle;

[0071] The vehicle includes sensors and processors for collecting and processing various vehicle status information, including engine ignition status, vehicle driving status, vehicle enable status data, and vehicle dynamic parameters. An unscented Kalman filter is also embedded to update the vehicle's load in real time.

[0072] Among them, the load parameters and speed parameters of the equation group used to construct the unscented Kalman filter can be obtained according to the sensor and processor;

[0073] When the engine ignition status and vehicle driving status both indicate that the vehicle is in a completely stationary state, the vehicle load can be initialized; after the load is initialized, the vehicle's dynamic load acquisition is confirmed based on the vehicle's enabled status data; the vehicle's enabled status data includes the engine's current torque, vehicle acceleration, current vehicle speed, vehicle target gear, brake pedal signal, and vehicle curve value. When these parameters meet the settings at the same time, the acquisition of dynamic parameters for calculating the vehicle's load can be started; after acquisition, the current load of the vehicle is obtained by constructing an unscented Kalman filter and output.

[0074] Under the condition of fully considering the initialization conditions and the selection of each enabling state data, the current load of the vehicle is confirmed and obtained, thereby ensuring the accuracy of the vehicle load acquisition.

[0075] Figure 2 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 1 .like Figure 2 As shown, the method includes:

[0076] S201. Determine whether to perform load initialization on the vehicle based on an engine ignition state and a vehicle driving state, wherein the engine ignition state is used to indicate whether the engine is turned off, and the vehicle driving state is used to indicate whether the vehicle is stationary.

[0077] In order to fit the actual scenario of vehicle use, the engine ignition status and vehicle driving status are selected as conditions for confirming whether the vehicle load is initialized; the engine ignition status is used to indicate whether the engine is turned off, that is, the engine describes whether the vehicle is started (or stationary). The vehicle driving status is used to confirm whether the vehicle is stationary through parameters such as whether the vehicle is displaced or whether the speed is zero. If both states indicate that the vehicle is stationary, the vehicle load can be initialized.

[0078] S202: If it is confirmed that the vehicle is to be loaded and initialized, the vehicle is started after the load initialization is completed, and the enabling status data of the vehicle is obtained.

[0079] If it has been confirmed that the vehicle load can be initialized, then after the load initialization is completed, start the vehicle to update the vehicle status and obtain the enabling status data used to confirm whether to update the current load, including the engine's current torque, vehicle acceleration, current vehicle speed, vehicle target gear, brake pedal signal, and vehicle curve value. The selection of these enabling status data fully considers the vehicle's driving environment to ensure that the vehicle load can be accurately obtained under braking, curves, etc.

[0080] While ensuring that the actual driving scenario is met, select multiple enabled status data to confirm whether to start obtaining the current load:

[0081] For example, if the engine current torque, vehicle acceleration, and current vehicle speed in the vehicle's enabling status data are all within their respective preset ranges, and the vehicle target gear in the vehicle's enabling status data reaches the predetermined gear, and the brake pedal signal in the vehicle's enabling status data indicates that the vehicle is not braked, and the vehicle curve value in the vehicle's enabling status data indicates that the vehicle is traveling in a straight line, then it is confirmed that the dynamic parameters of the vehicle are obtained.

[0082] To calculate the current load of the vehicle, the vehicle needs to be in a suitable state and the possible states of the vehicle during actual driving must be considered. Here, the current engine torque, vehicle acceleration, current speed, vehicle target gear, brake pedal signal, and vehicle curve value are selected as enabling state data. When all these enabling state data are working in the preset state, it is confirmed that the current load can be obtained.

[0083] S203: Determine whether to obtain the dynamic parameters of the vehicle according to the enabling state data of the vehicle, and if so, obtain the current load of the vehicle according to the dynamic parameters.

[0084] This application selects multiple enabling state data. When it is determined that all enabling state data simultaneously meet preset conditions, the current load acquisition process of this application can be initiated, thereby starting to obtain the vehicle's dynamic parameters. The vehicle's dynamic parameters are the parameters required for constructing a vehicle longitudinal dynamics model, including powertrain mechanical efficiency, slope angle, wheel radius, gravitational acceleration, etc.

[0085] S204: If the current load of the vehicle is within a preset range, output the current load of the vehicle.

[0086] After obtaining the current load of the vehicle, it is not output directly. First, confirm whether it is within the preset range. If it is within the preset range, the current load of the vehicle can be output directly; if the current load is not within the preset range, the driver of the vehicle can also be reminded that the vehicle is overweight.

[0087] In an embodiment of the present application, in order to ensure that the timing of load initialization is sufficiently accurate, two states are confirmed at the same time, including the engine ignition state and the vehicle driving state. When both states meet the conditions, the load initialization is confirmed; after the load is initialized, the vehicle is started, and when the vehicle's enabling status data meets the enabling conditions, the current load of the vehicle is updated through the dynamic parameters, and when it is confirmed that the current load is within the preset range, the current load is output and reported to the driver or other vehicle modules in a timely manner.

[0088] Figure 3 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 2 .like Figure 3 As shown, the method includes:

[0089] S301: If the engine ignition state is the ignition-off state and the vehicle driving state is the stationary state, obtain the first time and the current time when the vehicle enters the ignition-off state and the stationary state.

[0090] The engine ignition state includes an engine-off state and an ignition state. If the engine is in the engine-off state, it indicates that the vehicle is not moving. The vehicle driving state includes stationary, accelerating, decelerating, starting, and braking. The processor on the vehicle can confirm whether the vehicle is stationary by confirming whether the vehicle is moving and whether the current vehicle speed and acceleration are both zero. If the vehicle is not moving or the current vehicle speed and acceleration are both zero, it can be confirmed that the vehicle is stationary, that is, the vehicle driving state indicates that the vehicle is stationary. If the vehicle maintains both the engine-off state and the stationary state, it indicates that the vehicle is stable.

[0091] The vehicle needs to remain in the off state and stationary state for a period of time before it can be confirmed that the vehicle is suitable for load initialization; therefore, it is also necessary to obtain the maintenance time of the vehicle in the off state and stationary state. First, obtain the specific time from the first moment the vehicle just entered the off state and stationary state to the current moment, and then obtain the maintenance time based on the first moment and the current moment.

[0092] S302: Obtain a difference between the current moment and the first moment, and confirm whether the difference is greater than or equal to a preset time threshold.

[0093] The difference between the current moment and the first moment is the maintenance time, and the relationship between the maintenance time and the preset time threshold is confirmed. If this maintenance time is greater than or equal to the preset time threshold, it means that the vehicle's stabilization time is sufficient and the set target has been achieved; for example, the preset time threshold can be set to 600 seconds.

[0094] S303: If it is confirmed that the difference is greater than or equal to the preset time threshold, confirm to initialize the load of the vehicle.

[0095] If the difference (maintenance time) is greater than or equal to the preset time threshold, it means that the time has come to initialize the vehicle's load, and the load initialization can be confirmed to start; if the difference is less than the preset time threshold, it means that the vehicle has insufficient stabilization time, and the load initialization will not start until the appropriate time arrives.

[0096] In an embodiment of the present application, by confirming that the engine ignition status indication is the off state and the vehicle driving status indication is the stationary state, and the vehicle maintains these two states for more than a certain time, it can be confirmed that the vehicle load is initialized, ensuring that the vehicle load is initialized in the best actual situation.

[0097] Figure 4 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 3 .like Figure 4 As shown, the method includes:

[0098] S401: If the current engine torque is greater than a preset torque threshold, confirm that the current engine torque is within a preset range.

[0099] The current engine torque is one of the selected enabling state data. When the current engine torque is greater than the preset torque threshold, the vehicle's operating response is good, confirming that the current engine torque is within the preset range; for example, the preset torque threshold is set to 30% of the vehicle's maximum torque.

[0100] S402: If the vehicle acceleration is greater than a preset acceleration threshold, confirm that the vehicle acceleration is within a preset range.

[0101] Vehicle acceleration is one of the selected enabling state data. The vehicle enters the acceleration phase. During the acceleration process, the vehicle speed changes. The vehicle speed has an impact on the load acquisition, so it needs to be taken into account. When the vehicle acceleration is greater than the preset acceleration threshold, confirm that the vehicle acceleration is within the preset range; for example, the preset acceleration threshold is set to 0.2m / s 2 .

[0102] S403: If the current vehicle speed is greater than a preset lower speed threshold and less than a preset upper speed threshold, confirm that the current vehicle speed is within a preset range.

[0103] The current vehicle speed is one of the selected enabling status data. The vehicle speed is too fast or too slow, which is not suitable for vehicle load acquisition. Therefore, a lower speed threshold and an upper speed threshold are set for the current vehicle speed. If the current vehicle speed is within the upper and lower speed thresholds, it is confirmed that the current vehicle speed is within the preset range; for example, the preset lower speed threshold is set to 10km / h, and the preset upper speed threshold is set to 60km / h.

[0104] S404: If the target gear position of the vehicle is equal to the current gear position of the vehicle and is a forward gear, confirm that the target gear position of the vehicle reaches a predetermined gear position.

[0105] The vehicle target gear is one of the selected enabling status data. If the current gear has reached the target gear and is in the forward gear, that is, the vehicle is in a forward-moving state, then the vehicle target gear is confirmed to have reached the predetermined gear, that is, it is set to be when the vehicle is moving forward before considering subsequent vehicle load acquisition.

[0106] S405: If the vehicle curve value is less than a preset curve angle, confirm that the vehicle curve value indicates that the vehicle is traveling in a straight line.

[0107] The vehicle curve value is one of the selected enabling state data. When the vehicle is turning, it is not suitable to obtain the vehicle load, so a preset curve angle is set to confirm whether the vehicle is traveling in a straight line; when the vehicle curve value is less than the preset curve angle, the vehicle is traveling in a straight line; for example, the preset curve angle is set to 10 degrees.

[0108] When all selected enabling status data meet the above preset conditions, it is confirmed that the subsequent vehicle load acquisition of this application can be entered.

[0109] In the embodiment of the present application, multiple enabling status data are integrated, and the actual driving environment of the vehicle is fully considered to confirm that the subsequent vehicle load acquisition should be confirmed at the best time to ensure the accuracy of data acquisition.

[0110] Figure 5 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 4 .like Figure 5 As shown, the method includes:

[0111] S501. Obtain the vehicle speed at the current moment according to the vehicle speed at the previous moment, the acceleration at the previous moment, and the difference between the previous moment and the current moment.

[0112] The calculation formula for obtaining the current speed of the vehicle is:

[0113]

[0114] in, is the vehicle’s current speed, is the vehicle’s speed at the last moment, is the difference between the previous moment and the current moment, is the vehicle's acceleration at the previous moment.

[0115] S502: Obtain and update a state equation for the vehicle's load based on the current load, the vehicle speed, the vehicle's load at a previous moment, and process noise.

[0116] The state equation for updating the vehicle's load is:

[0117]

[0118] in,

[0119]

[0120] in, is the state matrix at the current moment, is the state matrix at the previous moment, is the process noise, is the vehicle's current load, is the vehicle’s current speed, is the vehicle's load at the last moment, is the vehicle’s speed at the last moment, is the difference between the previous moment and the current moment, is the vehicle's acceleration at the last moment, is the matrix symbol;

[0121] Since the load is a constant for a vehicle, the load of the vehicle at the current moment is consistent with the load of the vehicle at the previous moment.

[0122] S503 , obtaining and updating an observation equation for the vehicle's load based on the current load, the vehicle speed at the current moment, the vehicle's load at a previous moment, and observed noise.

[0123] The observation equation for updating the vehicle's load is:

[0124]

[0125] in,

[0126]

[0127] in, is the observation value at the current moment, is the observation matrix at the current moment, is the observation noise, is the state matrix at the current moment (see the above steps for its specific content).

[0128] After constructing the equations for the unscented Kalman filter, it can be used to update the vehicle load in real time:

[0129] For example, the vehicle's load and speed at the last moment are used as inputs to the unscented Kalman filter equations to obtain the vehicle's current load.

[0130] The vehicle's previous load and speed can be obtained by filtering through the last unscented Kalman filter. By inputting both into the unscented Kalman filter equation group (unscented Kalman filter), the vehicle's current load can be obtained.

[0131] When making predictions through Kalman filtering, initialization, prediction update, and observation update are required:

[0132] 1. Initialization includes: giving the initial value of the state vector , initial value of state covariance , initial value of system noise covariance , initial value of observation noise covariance ;

[0133] 2. Prediction update includes: generating 2b+1 Sigma sampling point sets for state prediction and their corresponding weights:

[0134]

[0135] in, is the first sampling point of the previous moment, is the 2nd to 2b+1th sampling point of the previous moment, is the predicted value of the state matrix at the previous moment (this value is obtained by mapping the state matrix at the current moment), is the state covariance at the previous moment, are the semi-positive definite matrix coefficients;

[0136]

[0137] in, is the first weight, is the first second weight, is the first weight of the i-th element, is the i-th second weight, is the first weight coefficient, is the second weight coefficient;

[0138] The formula for calculating the predicted state mean is:

[0139]

[0140] in, is the mean value of the predicted state at the current moment;

[0141] The formula for calculating the covariance matrix is:

[0142]

[0143] in, is the state covariance matrix at the current moment, T is the transpose symbol, is the noise at the current moment.

[0144] 3. Observation update

[0145] Generate a point set for observation updating:

[0146]

[0147] in, is the first sampling point at the current moment, is the 2nd to 2b+1th sampling point at the current moment, is the predicted value of the state matrix at the current moment (this value is obtained by mapping the state matrix at the current moment), is the state covariance at the current moment;

[0148] Compute the observed mean:

[0149]

[0150] in, is the mean value of observations at the current moment, is the observation value at the current moment, is the observation matrix at the current moment;

[0151] Calculate the gain:

[0152]

[0153] in, is the gain at the current moment, is the noise at the current moment;

[0154] Finally, the system state and covariance matrix are updated according to the above calculated values ​​to obtain the current load, and used in the load calculation at the next moment;

[0155] The system status is:

[0156]

[0157] The covariance matrix is:

[0158] .

[0159] After predicting the vehicle's current load, we need to determine how to output it:

[0160] For example, if the current load is less than the upper load limit of the vehicle and greater than the lower load limit, confirm and output the current load of the vehicle;

[0161] If the current load is greater than or equal to the upper load limit of the vehicle, the upper load limit of the vehicle is confirmed and output; if the current load is less than or equal to the lower load limit of the vehicle, the lower load limit of the vehicle is confirmed and output.

[0162] If the current load is within the upper and lower load limits of the vehicle, that is, it is less than the upper load limit of the vehicle and greater than the lower load limit of the vehicle, the current load is directly output; if the current load is greater than the upper load limit of the vehicle, the upper load limit of the vehicle is output, and an overload prompt is given; if the current load is less than the lower load limit of the vehicle, the lower load limit of the vehicle is output, and a prompt is given that the lower load limit has not been reached.

[0163] If any of the enabling status data is not satisfied, the Kalman filter filtering is not started directly, and it is directly confirmed whether the vehicle load at the last moment is within the upper and lower load limits of the vehicle.

[0164] In the embodiment of the present application, the vehicle's load and speed at the last moment are filtered through a Kalman filter to accurately obtain the vehicle's current load.

[0165] Figure 6 A schematic diagram of a vehicle load acquisition method provided in an embodiment of the present application Figure 5 .like Figure 6 As shown, the method includes:

[0166] S601: Obtain a first power parameter based on the clutch transmission torque, the final reduction ratio, the transmission gear ratio, and the mechanical efficiency of the transmission system of the vehicle at a previous moment.

[0167] The first power parameter is obtained by multiplying the clutch transmission torque, the final reduction ratio, the transmission gear ratio, and the mechanical efficiency of the transmission system of the vehicle at the previous moment.

[0168] S602: Obtain a second power parameter according to the wheel radius of the vehicle at a previous moment.

[0169] The wheel radius of the vehicle at the previous moment is used as the second dynamic parameter.

[0170] S603: Obtain a first load coefficient according to the first power parameter and the second power parameter.

[0171] Divide the first power parameter by the second power parameter to obtain the first load coefficient. The formula is:

[0172]

[0173] in, Transfer torque to the clutch at the previous moment; Main reduction ratio; is the gear ratio of the transmission; is the mechanical efficiency of the transmission system; r is the wheel radius.

[0174] S604: Obtain a second load coefficient based on the gravitational acceleration, rolling resistance coefficient, and ramp angle of the vehicle at a previous moment.

[0175] Get the second load factor The formula is:

[0176]

[0177] in, is the rolling resistance coefficient; is the slope angle at the previous moment; g is the acceleration due to gravity; cos is the cosine function.

[0178] S605: Obtain a third load coefficient based on the air resistance coefficient, frontal area, air density, acceleration, and vehicle speed of the vehicle at a previous moment.

[0179] Get the third load factor The formula is:

[0180]

[0181] in, is the vehicle's air resistance coefficient; is the frontal area of ​​the vehicle; is the air density; The vehicle speed at the previous moment.

[0182] S606: Obtain a fourth load coefficient based on the gravitational acceleration and ramp angle of the vehicle at a previous moment.

[0183] Get the fourth load factor The formula is:

[0184]

[0185] Where sin is the sine function.

[0186] S607. Obtain the load of the vehicle at a previous moment based on the first load coefficient, the second load coefficient, the third load coefficient, and the fourth load coefficient.

[0187] Get the vehicle's last load The formula is:

[0188]

[0189] Where a is the acceleration at the previous moment.

[0190] In the formula of this embodiment, the clutch transmission torque is obtained by the clutch position and the clutch torque transmission characteristic curve, the acceleration and slope angle are obtained by the vehicle sensor, the vehicle speed is the real-time data collected from the CAN line, and the other parameters are all vehicle-specific parameters or constants.

[0191] In the embodiment of the present application, a model for obtaining the vehicle's load at the previous moment is established through the longitudinal dynamics model, so that the subsequent unscented Kalman filter can have a model for obtaining the data at the previous moment.

[0192] Figure 7 A diagram of a vehicle load acquisition device provided by an embodiment of the present invention, such as Figure 7 As shown, the device includes: a confirmation module 701, an acquisition module 702, a processing module 703 and an output module 704;

[0193] The confirmation module 701 is used to confirm whether to initialize the vehicle load based on the engine ignition state and the vehicle driving state, wherein the engine ignition state is used to indicate whether the engine is turned off, and the vehicle driving state is used to indicate whether the vehicle is stationary.

[0194] The confirmation module 701 is further configured to obtain a first time and a current time when the vehicle enters the engine-off state and the vehicle-stationary state if the engine-ignition state is the engine-off state and the vehicle-driving state is the vehicle-stationary state;

[0195] Obtaining a difference between the current moment and the first moment, and determining whether the difference is greater than or equal to a preset time threshold;

[0196] If it is confirmed that the difference is greater than or equal to the preset time threshold, it is confirmed that the vehicle load is initialized.

[0197] The acquisition module 702 is configured to, if it is confirmed that the vehicle is to be loaded and initialized, start the vehicle after completing the loading and initialization, and acquire the enabling status data of the vehicle.

[0198] The processing module 703 is configured to determine whether to obtain the dynamic parameters of the vehicle according to the enabling state data of the vehicle, and if so, to obtain the current load of the vehicle according to the dynamic parameters.

[0199] The processing module 703 is also used to confirm the acquisition of the dynamic parameters of the vehicle if the engine current torque, vehicle acceleration, and current vehicle speed in the vehicle's enabling status data are all within their respective preset ranges, and the vehicle target gear in the vehicle's enabling status data reaches the predetermined gear, and the brake pedal signal in the vehicle's enabling status data indicates that the vehicle is not braked, and the vehicle curve value in the vehicle's enabling status data indicates that the vehicle is traveling in a straight line.

[0200] The processing module 703 is further configured to ensure that the current engine torque, vehicle acceleration, and current vehicle speed in the vehicle's enabling state data are within respective preset ranges, including:

[0201] If the current engine torque is greater than a preset torque threshold, confirming that the current engine torque is within a preset range;

[0202] If the vehicle acceleration is greater than a preset acceleration threshold, confirming that the vehicle acceleration is within a preset range;

[0203] If the current vehicle speed is greater than a preset lower speed threshold and less than a preset upper speed threshold, then confirming that the current vehicle speed is within a preset range;

[0204] The target gear position of the vehicle in the enabling state data of the vehicle reaches a predetermined gear position, including:

[0205] If the target gear position of the vehicle is equal to the current gear position of the vehicle and is a forward gear, confirming that the target gear position of the vehicle reaches a predetermined gear position;

[0206] The vehicle curve value in the enabling state data of the vehicle indicates that the vehicle is traveling in a straight line, including:

[0207] If the vehicle curve value is less than a preset curve angle, it is confirmed that the vehicle curve value indicates that the vehicle is traveling in a straight line.

[0208] The output module 704 is configured to output the current load of the vehicle if the current load of the vehicle is within a preset range.

[0209] The output module 704 is further configured to confirm and output the current load of the vehicle if the current load is less than the upper load limit of the vehicle and greater than the lower load limit;

[0210] If the current load of the vehicle is not within a preset range, the method further includes:

[0211] If the current load is greater than or equal to the upper load limit of the vehicle, confirm and output the upper load limit of the vehicle;

[0212] If the current load is less than or equal to the lower load limit of the vehicle, the lower load limit of the vehicle is confirmed and output.

[0213] The present application also provides a vehicle load acquisition device, comprising: at least one processor and a memory;

[0214] The memory stores computer-executable instructions;

[0215] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs a vehicle load acquisition method.

[0216] Figure 8 This is a hardware diagram of the vehicle load acquisition device provided by an embodiment of the present invention. Figure 8 As shown, the vehicle weight acquisition device 80 provided in this embodiment includes: at least one processor 801 and a memory 802. The device 80 also includes a communication component 803. The processor 801, the memory 802 and the communication component 803 are connected via a bus 804.

[0217] During the specific implementation process, at least one processor 801 executes the computer-executable instructions stored in the memory 802, so that at least one processor 801 executes the above vehicle load acquisition method.

[0218] The specific implementation process of the processor 801 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0219] In the above Figure 8 In the illustrated embodiment, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0220] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage.

[0221] A bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0222] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the vehicle load acquisition method as described above is implemented.

[0223] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The computer-readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0224] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0225] The division of units described above is merely a logical functional division. In actual implementation, other divisions may be employed. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. Furthermore, any coupling or direct coupling or communication connection shown or discussed between units may be an indirect coupling or communication connection via an interface, device, or unit, and may be electrical, mechanical, or other.

[0226] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0227] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0228] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion 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 for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0229] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0230] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A vehicle load acquisition method, characterized in that: include: Determining whether to perform load initialization on the vehicle based on an engine ignition state and a vehicle driving state, wherein the engine ignition state is used to indicate whether the engine is turned off, and the vehicle driving state is used to indicate whether the vehicle is stationary; If it is confirmed that the vehicle is to be loaded and initialized, after completing the loading and initialization, the vehicle is started and the enabling state data of the vehicle is obtained; determining whether to obtain the dynamic parameters of the vehicle according to the enabling state data of the vehicle, and if so, obtaining the current load of the vehicle according to the dynamic parameters; If the current load of the vehicle is within a preset range, outputting the current load of the vehicle; The obtaining of the current load of the vehicle according to the dynamic parameters includes: Using the vehicle's load and speed at the previous moment as inputs to an unscented Kalman filter equation group to obtain the vehicle's current load; Before using the vehicle's load and speed at a previous moment as inputs to the unscented Kalman filter equations, the method further includes: Obtaining the current speed of the vehicle based on the vehicle's previous speed, acceleration, and the difference between the previous speed and the current speed; Obtaining a state equation for updating the vehicle's load according to the current load, the vehicle speed, the vehicle's load at a previous moment, and process noise; Obtaining an observation equation for updating the vehicle's load based on the current load, the vehicle speed, the vehicle's load at a previous moment, and observed noise; Before obtaining the current load of the vehicle according to the dynamic parameters, the method further includes: Obtaining a first power parameter based on the clutch transmission torque, final reduction ratio, transmission gear ratio, and transmission mechanical efficiency of the vehicle at a previous moment; obtaining a second power parameter according to the wheel radius of the vehicle at a previous moment; Obtaining a first load coefficient according to the first power parameter and the second power parameter; Obtaining a second load coefficient according to the gravitational acceleration, rolling resistance coefficient, and ramp angle of the vehicle at a previous moment; Obtaining a third load coefficient based on the air resistance coefficient, frontal area, air density, acceleration, and vehicle speed of the vehicle at a previous moment; obtaining a fourth load coefficient according to the gravitational acceleration and the ramp angle of the vehicle at a previous moment; Obtaining the load of the vehicle at a previous moment according to the first load coefficient, the second load coefficient, the third load coefficient, and the fourth load coefficient; If the current load of the vehicle is within a preset range, outputting the current load of the vehicle includes: If the current load is less than the upper load limit of the vehicle and greater than the lower load limit, confirm and output the current load of the vehicle; If the current load of the vehicle is not within a preset range, the method further includes: If the current load is greater than or equal to the upper load limit of the vehicle, confirm and output the upper load limit of the vehicle; If the current load is less than or equal to the lower load limit of the vehicle, the lower load limit of the vehicle is confirmed and output.

2. The method according to claim 1, characterized in that The step of determining whether to initialize the vehicle load based on the engine ignition state and the vehicle driving state includes: If the engine ignition state is an off state and the vehicle driving state is a stationary state, obtaining the first time and the current time when the vehicle enters the off state and the stationary state; Obtaining a difference between the current moment and the first moment, and determining whether the difference is greater than or equal to a preset time threshold; If it is confirmed that the difference is greater than or equal to the preset time threshold, it is confirmed that the vehicle load is initialized.

3. The method according to claim 1, characterized in that The determining whether to obtain the dynamic parameters of the vehicle according to the enabling state data of the vehicle includes: If the engine current torque, vehicle acceleration, and current vehicle speed in the vehicle's enabling status data are all within their respective preset ranges, and the vehicle target gear in the vehicle's enabling status data reaches the predetermined gear, and the brake pedal signal in the vehicle's enabling status data indicates that the vehicle is not braked, and the vehicle curve value in the vehicle's enabling status data indicates that the vehicle is traveling in a straight line, then it is confirmed that the vehicle's dynamic parameters have been obtained.

4. The method according to claim 3, characterized in that The current engine torque, vehicle acceleration, and current vehicle speed in the vehicle's enabling state data are all within their respective preset ranges, including: If the current torque of the engine is greater than the preset torque threshold, confirming that the current torque of the engine is within a preset range; If the vehicle acceleration is greater than a preset acceleration threshold, confirming that the vehicle acceleration is within a preset range; If the current vehicle speed is greater than a preset lower speed threshold and less than a preset upper speed threshold, then confirming that the current vehicle speed is within a preset range; The target gear position of the vehicle in the enabling state data of the vehicle reaches a predetermined gear position, including: If the target gear position of the vehicle is equal to the current gear position of the vehicle and is a forward gear, confirming that the target gear position of the vehicle reaches a predetermined gear position; The vehicle curve value in the enabling state data of the vehicle indicates that the vehicle is traveling in a straight line, including: If the vehicle curve value is less than a preset curve angle, it is confirmed that the vehicle curve value indicates that the vehicle is traveling in a straight line.

5. A vehicle load acquisition device using the vehicle load acquisition method according to any one of claims 1 to 4, characterized in that: include: a confirmation module, configured to confirm whether to initialize the vehicle load based on an engine ignition state and a vehicle driving state, wherein the engine ignition state is used to indicate whether the engine is turned off, and the vehicle driving state is used to indicate whether the vehicle is stationary; an acquisition module, configured to, if it is confirmed that the vehicle is to be loaded and initialized, start the vehicle after completing the load initialization, and acquire the enabling state data of the vehicle; a processing module, configured to determine whether to obtain the dynamic parameters of the vehicle according to the enabling state data of the vehicle, and if so, to obtain the current load of the vehicle according to the dynamic parameters; The output module is configured to output the current load of the vehicle if the current load of the vehicle is within a preset range.

6. A vehicle load acquisition device, characterized in that: include: at least one processor and memory; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the vehicle load acquisition method according to any one of claims 1 to 4.

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

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