Determination method and related device for quality of whole vehicle

Abstract

The invention discloses a vehicle mass determination method and a related device, and the method comprises the steps: detecting the gear of a vehicle, if the gear of the vehicle is a parking gear or a neutral gear, and the duration time is greater than a preset time threshold value, obtaining the actual torque output by an engine, the rotation speed acceleration of the engine, the rotation speed acceleration of an output shaft, the vehicle speed, the vehicle acceleration and the gradient; based on the actual torque output by the engine, the engine speed acceleration and the output shaft speed acceleration, torque analysis can be carried out from the engine end through the whole vehicle transmission torque to obtain the driving force of the wheel end, and then based on the vehicle speed, the whole vehicle acceleration and the gradient, stress analysis can be carried out on the wheel end through whole vehicle dynamics to obtain the driving force of the wheel end. The driving force of the wheel end is obtained, so that the whole vehicle mass of the vehicle is determined. Therefore, on the basis that no additional sensor is added, the whole vehicle mass of the vehicle can be determined through the whole vehicle dynamics and the whole vehicle transmission torque, the accuracy is high, and the production cost of the vehicle is low.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method for determining the mass of a complete vehicle and a related device. Background Art

[0002] Vehicle mass refers to the weight of the vehicle, which is generally used in transmission software control to estimate the acceleration capability of the vehicle, thereby requesting the engine torque to cooperate with the transmission control to achieve the desired acceleration or deceleration control target.

[0003] In the related art, small and medium-sized vehicles generally use a fixed vehicle mass, such as using half-loaded or fully-loaded mass parameters for transmission software control. However, for large vehicles such as trains or vehicles with trailer functions, the range of variation of the vehicle mass is large, and the estimation of the vehicle acceleration capability based only on the fixed vehicle mass is less accurate. Summary of the invention

[0004] In response to the above problems, the present application provides a method for determining the mass of a vehicle and a related device for determining the mass of the vehicle, thereby improving the accuracy of estimating the acceleration capability of the vehicle.

[0005] Based on this, the embodiments of the present application disclose the following technical solutions:

[0006] On the one hand, an embodiment of the present application provides a method for determining vehicle mass, the method comprising:

[0007] Detect the gear position of the vehicle;

[0008] If the gear position of the vehicle is parking gear or neutral gear, and the duration is greater than a preset time threshold, then the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope are obtained;

[0009] The vehicle mass of the vehicle is determined based on the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope.

[0010] Optionally, determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope includes:

[0011] The vehicle mass of the vehicle is calculated according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, and the calculation formula is as follows:

[0012]

[0013] Where m is the vehicle mass, K is the torque coefficient; T eng is the actual torque output by the engine; J eng is the engine inertia; α eng is the engine speed acceleration; i is the speed ratio from the turbine output end to the drive wheel end; η is the planetary gear shaft transmission efficiency; J veh is the inertia of the turbine output end; α out is the output shaft speed acceleration; R r is the tire rolling radius; C w is the air resistance coefficient; A is the frontal area; ρ is the air density; v is the vehicle speed; g is the acceleration due to gravity; θ is the slope; a is the vehicle acceleration; f roll is the rolling friction coefficient.

[0014] Optionally, the method further includes:

[0015] Acquiring a longitudinal acceleration value of the vehicle based on a longitudinal acceleration sensor;

[0016] The slope is determined according to the longitudinal acceleration value of the vehicle and the whole vehicle acceleration.

[0017] Optionally, determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope includes:

[0018] If the vehicle does not satisfy one or more conditions included in the condition set, determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope;

[0019] Among them, the condition set includes a first condition, a second condition, a third condition, a fourth condition, a fifth condition and a sixth condition. The first condition is that the vehicle is identified as being in a slipping state or the electronic stability system of the vehicle is in an activated state. The second condition is that the vehicle is in an active braking activated state or a passive braking activated state. The third condition is that the torque converter clutch included in the vehicle is in an open state. The fourth condition is that the slope is greater than or less than a preset slope threshold. The fifth condition is that the longitudinal acceleration sensor included in the vehicle is faulty. The sixth condition is that the output shaft speed sensor of the vehicle is faulty.

[0020] Optionally, if the gear position of the vehicle is a parking gear position or a neutral gear, and the duration is greater than a first time threshold, then obtaining the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope, including:

[0021] If the gear position of the vehicle is a parking gear position or a neutral gear, and the duration is greater than a first time threshold, the count value is reset to zero, and the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope are obtained while the gear position of the vehicle remains unchanged;

[0022] The determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope includes:

[0023] Determine the undetermined vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, add the undetermined vehicle mass of the vehicle to the vehicle mass set, and update the count value to the count value plus 1;

[0024] If the count value is less than the count threshold, then after a preset time interval, the step of obtaining the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope and subsequent steps are performed when the gear position of the vehicle remains unchanged;

[0025] If the count value is greater than or equal to the count threshold, the vehicle mass of the vehicle is updated based on the pending vehicle mass included in the vehicle mass set.

[0026] Optionally, updating the vehicle mass of the vehicle based on the undetermined vehicle mass included in the vehicle mass set includes:

[0027] Removing the deviation value from the pending vehicle mass included in the vehicle mass set to obtain a corrected vehicle mass set, wherein the deviation value is a pending vehicle mass whose difference with other pending vehicle masses is greater than a preset deviation value, and the other pending vehicle masses are pending vehicle masses in the vehicle mass set excluding the deviation value;

[0028] The vehicle mass of the vehicle is determined based on the undetermined vehicle mass included in the corrected vehicle mass set.

[0029] Optionally, determining the undetermined vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, adding the undetermined vehicle mass of the vehicle to a vehicle mass set, and updating the count value to the count value plus 1, comprises:

[0030] If the pending vehicle mass of the vehicle is within a reasonable mass threshold range, the pending vehicle mass of the vehicle is added to the vehicle mass set, and the count value is updated to the count value plus 1.

[0031] On the other hand, the present application provides a vehicle mass determination device, the device comprising: a detection unit, an acquisition unit and a determination unit;

[0032] The detection unit is used to detect the gear position of the vehicle;

[0033] The acquisition unit is used to acquire the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope if the gear position of the vehicle is the parking gear or the neutral gear and the duration is greater than a preset time threshold;

[0034] The determination unit is used to determine the vehicle mass of the vehicle based on the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope.

[0035] Optionally, the determining unit is specifically configured to:

[0036] The vehicle mass of the vehicle is calculated according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, and the calculation formula is as follows:

[0037]

[0038] Where m is the vehicle mass, K is the torque coefficient; T eng is the actual torque output by the engine; J eng is the engine inertia; α eng is the engine speed acceleration; i is the speed ratio from the turbine output end to the drive wheel end; η is the planetary gear shaft transmission efficiency; J veh is the inertia of the turbine output end; α out is the output shaft speed acceleration; R r is the tire rolling radius; C w is the air resistance coefficient; A is the frontal area; ρ is the air density; v is the vehicle speed; g is the acceleration due to gravity; θ is the slope; a is the vehicle acceleration; f roll is the rolling friction coefficient.

[0039] Optionally, the acquisition unit is further used to:

[0040] Acquiring a longitudinal acceleration value of the vehicle based on a longitudinal acceleration sensor;

[0041] The determining unit is further configured to:

[0042] The slope is determined according to the longitudinal acceleration value of the vehicle and the whole vehicle acceleration.

[0043] Optionally, the determining unit is specifically configured to:

[0044] If the vehicle does not satisfy one or more conditions included in the condition set, determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope;

[0045] Among them, the condition set includes a first condition, a second condition, a third condition, a fourth condition, a fifth condition and a sixth condition. The first condition is that the vehicle is identified as being in a slipping state or the electronic stability system of the vehicle is in an activated state. The second condition is that the vehicle is in an active braking activated state or a passive braking activated state. The third condition is that the torque converter clutch included in the vehicle is in an open state. The fourth condition is that the slope is greater than or less than a preset slope threshold. The fifth condition is that the longitudinal acceleration sensor included in the vehicle is faulty. The sixth condition is that the output shaft speed sensor of the vehicle is faulty.

[0046] Optionally, the acquisition unit is specifically used to:

[0047] If the gear position of the vehicle is a parking gear position or a neutral gear, and the duration is greater than a first time threshold, the count value is reset to zero, and the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope are obtained while the gear position of the vehicle remains unchanged;

[0048] The determining unit is specifically configured to:

[0049] Determine the undetermined vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, add the undetermined vehicle mass of the vehicle to the vehicle mass set, and update the count value to the count value plus 1;

[0050] If the count value is less than the count threshold, then after a preset time interval, the step of obtaining the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope and subsequent steps are performed when the gear position of the vehicle remains unchanged;

[0051] If the count value is greater than or equal to the count threshold, the vehicle mass of the vehicle is updated based on the pending vehicle mass included in the vehicle mass set.

[0052] Optionally, the determining unit is specifically configured to:

[0053] Removing the deviation value from the pending vehicle mass included in the vehicle mass set to obtain a corrected vehicle mass set, wherein the deviation value is a pending vehicle mass whose difference with other pending vehicle masses is greater than a preset deviation value, and the other pending vehicle masses are pending vehicle masses in the vehicle mass set excluding the deviation value;

[0054] The vehicle mass of the vehicle is determined based on the undetermined vehicle mass included in the corrected vehicle mass set.

[0055] Optionally, the determining unit is specifically configured to:

[0056] If the pending vehicle mass of the vehicle is within a reasonable mass threshold range, the pending vehicle mass of the vehicle is added to the vehicle mass set, and the count value is updated to the count value plus 1.

[0057] In another aspect, the present application provides a computer device, the device comprising a processor and a memory:

[0058] The memory is used to store program code and transmit the program code to the processor;

[0059] The processor is used to execute the method described in the above aspects according to the instructions in the program code.

[0060] On the other hand, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method described in the above aspects.

[0061] On the other hand, an embodiment of the present application provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method described in the above aspects.

[0062] The advantages of the above technical solution of this application are:

[0063] The gear position of the vehicle is detected. If the gear position of the vehicle is parking gear or neutral gear, and the duration is greater than the preset time threshold, it means that the probability of the vehicle's mass change is not only large, but also reliable. Therefore, the actual torque output by the engine, the acceleration of the engine speed, the acceleration of the output shaft speed, the vehicle speed, the acceleration of the whole vehicle and the slope are obtained. Based on the actual torque output by the engine, the acceleration of the engine speed and the acceleration of the output shaft speed, the torque analysis can be performed from the engine end through the transmission torque of the whole vehicle to obtain the driving force of the wheel end. Based on the speed, the acceleration of the whole vehicle and the slope, the force analysis of the wheel end can be performed through the dynamics of the whole vehicle to obtain the driving force of the wheel end, so as to determine the vehicle's mass according to the actual torque output by the engine, the acceleration of the engine speed, the acceleration of the output shaft speed, the vehicle speed, the acceleration of the whole vehicle and the slope. Therefore, the vehicle's mass can be determined by the dynamics of the whole vehicle and the transmission torque of the whole vehicle without adding additional sensors, which is not only accurate but also has a low production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0065] Figure 1 A flow chart of a method for determining vehicle mass provided in an embodiment of the present application;

[0066] Figure 2 A schematic diagram of a vehicle force analysis provided in an embodiment of the present application;

[0067] Figure 3 A schematic diagram of a vehicle torque transmission path provided in an embodiment of the present application;

[0068] Figure 4 A schematic diagram of a vehicle mass determination device provided in an embodiment of the present application;

[0069] Figure 5 A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0071] Combine the following Figure 1 , a method for determining the vehicle mass provided in an embodiment of the present application is introduced. Figure 1 The method shown, in one implementation, may be executed by, for example, an electronic control unit (ECU) included in a vehicle. Figure 1 , this figure is a flow chart of a method for determining the vehicle mass provided in an embodiment of the present application, and the method may include S101-S103. Figure 1 The method shown, in one implementation, may be executed by, for example, an electronic control unit (ECU) included in a vehicle.

[0072] S101: Detect the gear position of the vehicle.

[0073] Taking automatic gear as an example, the gear positions of the vehicle include parking gear (P gear), reverse gear (R gear), neutral gear (N gear), and forward gear (D gear). The embodiment of the present application does not specifically limit the method of detecting the gear position of the vehicle, and the gear position of the vehicle can be determined by detecting the position of the vehicle handle, etc.

[0074] S102: If the gear position of the vehicle is parking or neutral, and the duration is greater than a preset time threshold, the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope are obtained.

[0075] If the vehicle's gear is in parking or neutral, the vehicle may stop to load and unload goods, that is, the probability of the vehicle's mass changing is relatively high. Moreover, if the vehicle's gear is in parking or neutral and the duration is greater than the preset time threshold, the reliability will be higher, such as it takes some time to load and unload goods.

[0076] The embodiment of the present application does not specifically limit the size of the preset time threshold, and those skilled in the art can set it according to actual needs.

[0077] It should be noted that the actual torque output by the engine can be obtained through the vehicle controller area network (CAN) signal, the engine speed acceleration can be obtained by derivation of the engine speed in the CAN signal, the output shaft speed acceleration can be obtained by collecting the output shaft speed through the sensor or calculated through the vehicle speed, the vehicle speed can be obtained through the output shaft speed or the wheel speed (collected by the sensor), the vehicle acceleration can be calculated by derivation of the vehicle speed, and the slope can be obtained through the longitudinal acceleration obtained by the longitudinal acceleration sensor and the vehicle acceleration.

[0078] As a possible implementation method, the longitudinal acceleration value of the vehicle can be obtained based on the longitudinal acceleration sensor; the slope is determined according to the longitudinal acceleration value of the vehicle and the acceleration of the whole vehicle. Specifically, it can be expressed as formula (1):

[0079]

[0080] Among them, θ is the slope, a long is the longitudinal acceleration, a is the vehicle acceleration, and g is the acceleration due to gravity.

[0081] S103: Determine the vehicle mass according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope.

[0082] Based on the actual torque output by the engine, the acceleration of the engine speed and the acceleration of the output shaft speed, the torque transmitted by the vehicle can be analyzed from the engine end to obtain the driving force at the wheel end. Then, based on the vehicle speed, the acceleration of the vehicle and the slope, the force analysis of the wheel end can be performed through the vehicle dynamics to obtain the driving force at the wheel end. Based on the driving force at the wheel end, the relationship between the torque analysis from the engine end and the force analysis on the wheel end is established, so as to determine the vehicle mass according to the actual torque output by the engine, the acceleration of the engine speed, the acceleration of the output shaft speed, the vehicle speed, the acceleration of the vehicle and the slope. Therefore, the vehicle mass estimation derived from the vehicle dynamics and the torque transmitted by the vehicle has sufficient theoretical basis and the accuracy of the estimation result is high. Moreover, without adding additional sensors, not only the vehicle cost is saved, but also the variables of the vehicle mass estimation have reliable input, so that the accuracy of the vehicle mass estimation is high.

[0083] As a possible implementation method, the relationship between the torque analysis from the engine end and the force analysis on the wheel end based on the driving force at the wheel end is specifically described below.

[0084] See also Figure 2 , which is a schematic diagram of a vehicle force analysis provided by an embodiment of the present application. Figure 2In the equation, the driving force of the vehicle at the wheel end needs to overcome rolling resistance, slope resistance, air resistance and acceleration resistance, which can be specifically expressed as formula (2):

[0085] F driv =F air +F hill +F acc +F roll

[0086] =0.5C w Aρv 2 +mg sinθ+ma+mgf roll cosθ (2)

[0087] Among them, F driv is the driving force at the wheel end; F air is air resistance; F hill is the slope resistance; F acc is the acceleration resistance; F roll is the rolling resistance; θ is the slope; C w is the air resistance coefficient; A is the frontal area; ρ is the air density; v is the vehicle speed; m is the vehicle mass, g is the gravitational acceleration; a is the vehicle acceleration; f roll is the rolling friction coefficient.

[0088] See also Figure 3 , which is a schematic diagram of a vehicle torque transmission path provided by an embodiment of the present application. Torque analysis from the engine end can be expressed as formula (3):

[0089] T driv =K*T Turb *i*η-J veh α out (3)

[0090] Among them, T driv is the torque at the vehicle's driving wheel end; K is the torque coefficient; T Turb represents the torque at the output end of the torque converter turbine; i is the speed ratio from the turbine output end to the drive wheel end; η is the transmission efficiency of the planetary gear shaft; J veh is the inertia of the turbine output end; α out is the output shaft speed acceleration.

[0091] Based on formula (3), the driving force expression for the wheel end can be obtained, see formula (4) for details:

[0092]

[0093] Among them, F driv is the driving force at the wheel end; K is the torque coefficient; T engis the actual torque output by the engine; J eng is the engine inertia; α eng is the engine speed acceleration; i is the speed ratio from the turbine output end to the drive wheel end; η is the transmission efficiency of the planetary gear shaft; J veh is the inertia of the turbine output end; α out is the output shaft speed acceleration; R r is the tire rolling radius.

[0094] Therefore, based on formula (2) and formula (4), we can get the expression for the vehicle mass, see formula (5) for details:

[0095]

[0096] Where m is the vehicle mass, K is the torque coefficient; T eng The actual torque output by the engine; J eng is the engine inertia; α eng is the engine speed acceleration; i is the speed ratio from the turbine output end to the drive wheel end; η is the transmission efficiency of the planetary gear shaft; J veh is the inertia of the turbine output end; α out is the output shaft speed acceleration; R r is the tire rolling radius; C w is the air resistance coefficient; A is the frontal area; ρ is the air density; v is the vehicle speed; g is the acceleration due to gravity; θ is the slope; a is the vehicle acceleration; f roll is the rolling friction coefficient.

[0097] It can be seen from the above technical solution that the gear position of the vehicle is detected. If the gear position of the vehicle is parking gear or neutral gear, and the duration is greater than the preset time threshold, it means that the probability of the vehicle's mass change is not only large, but also reliable. Therefore, the actual torque output by the engine, the acceleration of the engine speed, the acceleration of the output shaft speed, the vehicle speed, the acceleration of the whole vehicle and the slope are obtained. Based on the actual torque output by the engine, the acceleration of the engine speed and the acceleration of the output shaft speed, the torque analysis can be performed from the engine end through the transmission torque of the whole vehicle to obtain the driving force of the wheel end. Based on the vehicle speed, the acceleration of the whole vehicle and the slope, the force analysis can be performed on the wheel end through the vehicle dynamics to obtain the driving force of the wheel end, so as to determine the vehicle's mass according to the actual torque output by the engine, the acceleration of the engine speed, the acceleration of the output shaft speed, the vehicle speed, the acceleration of the whole vehicle and the slope. Therefore, the vehicle's mass can be determined by the vehicle dynamics and the transmission torque of the whole vehicle without adding additional sensors, which is not only accurate, but also has a low production cost.

[0098] As a possible implementation, in order to ensure the accuracy of the vehicle quality, if it is identified that the vehicle meets one or more conditions in the condition set, it means that the collected parameters are unreliable and S103 is no longer executed. The condition set includes a first condition, a second condition, a third condition, a fourth condition, a fifth condition and a sixth condition. The conditions included in the condition set are described below.

[0099] (1) The first condition is that the vehicle is identified as being in a skidding state or the Electronic Stability Program (ESP) is activated. At this time, the longitudinal acceleration acquired based on the acceleration sensor may be inaccurate.

[0100] (2) The second condition is that the vehicle is in the active braking activation state or the passive braking activation state. In this case, the vehicle will tilt forward or backward, resulting in inaccurate slope measurement.

[0101] (3) The third condition is that the torque converter clutch included in the vehicle is in the open state, and the estimated transmission driving force is less accurate at this time.

[0102] (4) The fourth condition is that the slope is greater than or less than the preset slope threshold. In this case, the influence of the slope on the rolling resistance cannot be ignored.

[0103] (5) The fifth condition is that the longitudinal acceleration sensor included in the vehicle is faulty. In this case, the longitudinal acceleration collected by the acceleration sensor is inaccurate.

[0104] (6) The sixth condition is that the vehicle's output shaft speed sensor is faulty, in which case the output shaft speed acceleration may be inaccurate.

[0105] Therefore, in order to ensure the accuracy of the vehicle mass, if it is identified that the vehicle meets one or more conditions in the condition set, it means that the collected parameters are unreliable, and S103 is no longer executed, strictly limiting the activation conditions of the vehicle mass estimation to improve reliability. It can be understood that the condition set can also include other conditions, which are not specifically limited in this application.

[0106] As a possible implementation method, since the vehicle is in the parking gear or neutral gear for a long time, in order to improve the accuracy of the vehicle mass, the vehicle mass can be estimated multiple times during the time when the vehicle is in the parking gear or neutral gear, thereby obtaining a more accurate vehicle mass. The following is a detailed description.

[0107] S1: Detect the gear position of the vehicle.

[0108] S2: Determine whether the gear position of the vehicle is the parking gear position or the neutral gear. If so, execute S3; if not, execute S1.

[0109] S3: If the gear position of the vehicle is the parking gear position or the neutral gear, and the duration is greater than the first time threshold, the count value is cleared.

[0110] Thus, the timing can be restarted after the vehicle changes the gear state. It should be noted that the vehicle mass has not been updated at this time and still remains the vehicle mass obtained last time.

[0111] S4: When the gear position of the vehicle remains unchanged, the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope are obtained.

[0112] S5: Determine the undetermined vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope.

[0113] As a possible implementation method, the above formula (5) can be used to calculate the undetermined vehicle mass of the vehicle, wherein the undetermined vehicle mass of the vehicle has not yet been used as the final vehicle mass.

[0114] As a possible implementation manner, it can also be determined whether the condition set is currently satisfied. If so, S5 is not executed any more. If not, S5 is continued to be executed.

[0115] S6: Add the undetermined vehicle mass of the vehicle to the vehicle mass set, and update the count value to the count value plus 1.

[0116] Therefore, the vehicle mass set will include at least one undetermined vehicle mass, and each time an undetermined vehicle mass is added to the vehicle mass set, the count value will increase by 1, such as count=count+1.

[0117] As a possible implementation, if the pending vehicle mass of the vehicle is within the reasonable mass threshold range, the pending vehicle mass of the vehicle is added to the vehicle mass set, and the count value is updated to the count value plus 1; if the pending vehicle mass of the vehicle is not within the reasonable mass threshold range, the pending vehicle mass of the vehicle will no longer be added to the vehicle mass set. Therefore, the pending vehicle mass of the vehicle is within the reasonable mass threshold range, that is, reasonable verification ensures the reliability of the subsequent vehicle mass.

[0118] S7: Determine whether the count value is less than the count threshold, if so, execute S8; if not, execute S9.

[0119] In order to ensure the reliability of the vehicle mass, multiple pending vehicle masses may be accumulated, that is, it is determined whether the count value is less than a count threshold.

[0120] S8: If the count value is less than the count threshold, S4 is executed after a preset time interval.

[0121] If the count value is less than the count threshold, it means that the current accumulated pending vehicle mass is insufficient, then after a preset time interval, the required parameters are continuously obtained to calculate the pending vehicle mass.

[0122] S9: If the count value is greater than or equal to the count threshold, the vehicle mass is updated based on the pending vehicle mass included in the vehicle mass set.

[0123] If the count value is greater than or equal to the count threshold, it means that the currently accumulated pending vehicle mass is sufficient, and the vehicle mass of the vehicle can be updated based on the pending vehicle mass included in the vehicle mass set. The obtained vehicle mass can also be updated as the new vehicle mass.

[0124] As a possible implementation method, the deviation value in the pending vehicle mass included in the vehicle mass set can be removed to obtain a corrected vehicle mass set, and the vehicle mass of the vehicle is determined based on the pending vehicle mass included in the corrected vehicle mass set.

[0125] The deviation value is the to-be-determined vehicle mass whose difference with other to-be-determined vehicle masses is greater than the preset deviation value, and the other to-be-determined vehicle masses are the to-be-determined vehicle masses in the vehicle mass set except the deviation value. Thus, the to-be-determined vehicle masses in the vehicle mass set that obviously do not conform to the numerical distribution can be removed to introduce deviations.

[0126] For example, the maximum and minimum values ​​in the vehicle mass set can be removed, and then the vehicle mass of the vehicle can be obtained based on the average value of the remaining undetermined vehicle masses. It can be expressed as formula (6):

[0127]

[0128] Among them, m is the vehicle mass, m_list is the vehicle mass set, and Count is the count value.

[0129] Therefore, the final vehicle mass is output by taking the average value of multiple cycles (a pending vehicle mass is calculated at each preset time interval, which belongs to one cycle), which can ensure the stability of the calculation results.

[0130] In addition to the method for determining the vehicle mass provided in the embodiment of the present application, a device for determining the vehicle mass is also provided, such as Figure 4 As shown, it includes: a detection unit 401, an acquisition unit 402 and a determination unit 403;

[0131] The detection unit 401 is used to detect the gear position of the vehicle;

[0132] The acquisition unit 402 is used to acquire the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope if the gear position of the vehicle is the parking gear or the neutral gear and the duration is greater than a preset time threshold;

[0133] The determination unit 403 is used to determine the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope.

[0134] It can be seen from the above technical solution that the gear position of the vehicle is detected. If the gear position of the vehicle is parking gear or neutral gear, and the duration is greater than the preset time threshold, it means that the probability of the vehicle's mass change is not only large, but also reliable. Therefore, the actual torque output by the engine, the acceleration of the engine speed, the acceleration of the output shaft speed, the vehicle speed, the acceleration of the whole vehicle and the slope are obtained. Based on the actual torque output by the engine, the acceleration of the engine speed and the acceleration of the output shaft speed, the torque analysis can be performed from the engine end through the transmission torque of the whole vehicle to obtain the driving force of the wheel end. Based on the vehicle speed, the acceleration of the whole vehicle and the slope, the force analysis can be performed on the wheel end through the vehicle dynamics to obtain the driving force of the wheel end, so as to determine the vehicle's mass according to the actual torque output by the engine, the acceleration of the engine speed, the acceleration of the output shaft speed, the vehicle speed, the acceleration of the whole vehicle and the slope. Therefore, the vehicle's mass can be determined by the vehicle dynamics and the transmission torque of the whole vehicle without adding additional sensors, which is not only accurate, but also has a low production cost.

[0135] As a possible implementation manner, the determining unit 403 is specifically configured to:

[0136] The vehicle mass of the vehicle is calculated according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, and the calculation formula is as follows:

[0137]

[0138] Where m is the vehicle mass, K is the torque coefficient; T eng is the actual torque output by the engine; J eng is the engine inertia; α eng is the engine speed acceleration; i is the speed ratio from the turbine output end to the drive wheel end; η is the planetary gear shaft transmission efficiency; J veh is the inertia of the turbine output end; α out is the output shaft speed acceleration; R r is the tire rolling radius; C wis the air resistance coefficient; A is the frontal area; ρ is the air density; v is the vehicle speed; g is the acceleration due to gravity; θ is the slope; a is the vehicle acceleration; f roll is the rolling friction coefficient.

[0139] As a possible implementation manner, the obtaining unit 402 is further configured to:

[0140] Acquiring a longitudinal acceleration value of the vehicle based on a longitudinal acceleration sensor;

[0141] The determining unit 403 is further configured to:

[0142] The slope is determined according to the longitudinal acceleration value of the vehicle and the whole vehicle acceleration.

[0143] As a possible implementation manner, the determining unit 403 is specifically configured to:

[0144] If the vehicle does not satisfy one or more conditions included in the condition set, determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope;

[0145] Among them, the condition set includes a first condition, a second condition, a third condition, a fourth condition, a fifth condition and a sixth condition. The first condition is that the vehicle is identified as being in a slipping state or the electronic stability system of the vehicle is in an activated state. The second condition is that the vehicle is in an active braking activated state or a passive braking activated state. The third condition is that the torque converter clutch included in the vehicle is in an open state. The fourth condition is that the slope is greater than or less than a preset slope threshold. The fifth condition is that the longitudinal acceleration sensor included in the vehicle is faulty. The sixth condition is that the output shaft speed sensor of the vehicle is faulty.

[0146] As a possible implementation manner, the obtaining unit 402 is specifically configured to:

[0147] If the gear position of the vehicle is a parking gear position or a neutral gear, and the duration is greater than a first time threshold, the count value is reset to zero, and the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope are obtained while the gear position of the vehicle remains unchanged;

[0148] The determining unit 403 is specifically configured to:

[0149] Determine the undetermined vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, add the undetermined vehicle mass of the vehicle to the vehicle mass set, and update the count value to the count value plus 1;

[0150] If the count value is less than the count threshold, then after a preset time interval, the step of obtaining the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope and subsequent steps are performed when the gear position of the vehicle remains unchanged;

[0151] If the count value is greater than or equal to the count threshold, the vehicle mass of the vehicle is updated based on the pending vehicle mass included in the vehicle mass set.

[0152] As a possible implementation manner, the determining unit 403 is specifically configured to:

[0153] Removing the deviation value from the pending vehicle mass included in the vehicle mass set to obtain a corrected vehicle mass set, wherein the deviation value is a pending vehicle mass whose difference with other pending vehicle masses is greater than a preset deviation value, and the other pending vehicle masses are pending vehicle masses in the vehicle mass set excluding the deviation value;

[0154] The vehicle mass of the vehicle is determined based on the undetermined vehicle mass included in the corrected vehicle mass set.

[0155] As a possible implementation manner, the determining unit 403 is specifically configured to:

[0156] If the pending vehicle mass of the vehicle is within a reasonable mass threshold range, the pending vehicle mass of the vehicle is added to the vehicle mass set, and the count value is updated to the count value plus 1.

[0157] The present application also provides a computer device, see Figure 5 , which shows a structural diagram of a computer device provided in an embodiment of the present application, such as Figure 5 As shown, the device includes a memory 510 and a processor 520:

[0158] The memory 510 is used to store program codes and transmit the program codes to the processor;

[0159] The processor 520 is used to execute any vehicle mass determination method provided in the above embodiments according to the instructions in the program code.

[0160] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, wherein the computer program is used to execute any one of the vehicle mass determination methods provided in the above embodiments.

[0161] The embodiment of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the method for determining the vehicle mass provided in various optional implementations of the above aspects.

[0162] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0163] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0164] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0165] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0166] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining vehicle mass, characterized in that: The method comprises: Detect the gear position of the vehicle; If the gear position of the vehicle is parking gear or neutral gear, and the duration is greater than a preset time threshold, then the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope are obtained; The vehicle mass of the vehicle is determined based on the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope.

2. The method according to claim 1, characterized in that The determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope includes: The vehicle mass of the vehicle is calculated according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, and the calculation formula is as follows: Where m is the vehicle mass, K is the torque coefficient; T eng is the actual torque output by the engine; J eng is the engine inertia; α eng is the engine speed acceleration; i is the speed ratio from the turbine output end to the drive wheel end; η is the planetary gear shaft transmission efficiency; J veh is the inertia of the turbine output end; α out is the output shaft speed acceleration; R r is the tire rolling radius; C w is the air resistance coefficient; A is the frontal area; ρ is the air density; v is the vehicle speed; g is the acceleration due to gravity; θ is the slope; a is the vehicle acceleration; f roll is the rolling friction coefficient.

3. The method according to claim 1, characterized in that The method further comprises: Acquiring a longitudinal acceleration value of the vehicle based on a longitudinal acceleration sensor; The slope is determined according to the longitudinal acceleration value of the vehicle and the whole vehicle acceleration.

4. The method according to claim 1, characterized in that The determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope includes: If the vehicle satisfies one or more conditions included in the condition set, the step of determining the vehicle mass according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope and subsequent steps are no longer performed; Among them, the condition set includes a first condition, a second condition, a third condition, a fourth condition, a fifth condition and a sixth condition. The first condition is that the vehicle is identified as being in a slipping state or the electronic stability system of the vehicle is in an activated state. The second condition is that the vehicle is in an active braking activated state or a passive braking activated state. The third condition is that the torque converter clutch included in the vehicle is in an open state. The fourth condition is that the slope is greater than or less than a preset slope threshold. The fifth condition is that the longitudinal acceleration sensor included in the vehicle is faulty. The sixth condition is that the output shaft speed sensor of the vehicle is faulty.

5. The method according to claim 1, characterized in that: If the gear position of the vehicle is a parking gear position or a neutral gear, and the duration is greater than a first time threshold, then the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope are obtained, including: If the gear position of the vehicle is a parking gear position or a neutral gear, and the duration is greater than a first time threshold, the count value is reset to zero, and the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope are obtained while the gear position of the vehicle remains unchanged; The determining the vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope includes: Determine the undetermined vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, add the undetermined vehicle mass of the vehicle to the vehicle mass set, and update the count value to the count value plus 1; If the count value is less than the count threshold, then after a preset time interval, the step of obtaining the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope and subsequent steps are performed when the gear position of the vehicle remains unchanged; If the count value is greater than or equal to the count threshold, the vehicle mass of the vehicle is updated based on the pending vehicle mass included in the vehicle mass set.

6. The method according to claim 5, characterized in that The updating of the vehicle mass based on the undetermined vehicle mass included in the vehicle mass set comprises: Removing the deviation value from the pending vehicle mass included in the vehicle mass set to obtain a corrected vehicle mass set, wherein the deviation value is a pending vehicle mass whose difference with other pending vehicle masses is greater than a preset deviation value, and the other pending vehicle masses are pending vehicle masses in the vehicle mass set excluding the deviation value; The vehicle mass of the vehicle is determined based on the undetermined vehicle mass included in the corrected vehicle mass set.

7. The method according to claim 5, characterized in that The determining the undetermined vehicle mass of the vehicle according to the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope, adding the undetermined vehicle mass of the vehicle to the vehicle mass set, and updating the count value to the count value plus 1, comprises: If the pending vehicle mass of the vehicle is within a reasonable mass threshold range, the pending vehicle mass of the vehicle is added to the vehicle mass set, and the count value is updated to the count value plus 1.

8. A device for determining vehicle mass, characterized in that: The device comprises: a detection unit, an acquisition unit and a determination unit; The detection unit is used to detect the gear position of the vehicle; The acquisition unit is used to acquire the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the whole vehicle acceleration and the slope if the gear position of the vehicle is the parking gear or the neutral gear and the duration is greater than a preset time threshold; The determination unit is used to determine the vehicle mass of the vehicle based on the actual torque output by the engine, the engine speed acceleration, the output shaft speed acceleration, the vehicle speed, the vehicle acceleration and the slope.

9. A computer device, characterized in that: The device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the method according to any one of claims 1 to 7 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

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