Vehicle mass determination method and device, vehicle-mounted weighing system, medium and product

Abstract

The invention provides a vehicle mass determination method and device, a vehicle-mounted weighing system, a medium and a product, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining predetermined multi-dimensional quality indexes and threshold information corresponding to each quality index; wherein the quality index indicates the quality of the vehicle data used for calculating the vehicle quality, and the threshold information is used for indicating the quality index to meet the minimum value of the corresponding quality condition; according to each quality index and the corresponding threshold information, selecting a plurality of sampling time periods in which the vehicle data quality meets all quality conditions from a plurality of sampling time periods for calculating the vehicle quality; and according to the vehicle data of the plurality of sampling time periods, calculating to obtain a mass mean value, and determining the vehicle mass of the target vehicle. Through the method, the reliability and the accuracy of vehicle mass estimation can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle mass determination method, device, vehicle-mounted weighing system, medium and product. Background Art

[0002] In vehicles, especially commercial vehicles, the vehicle mass (i.e., total mass) may vary greatly depending on its load. Accurate and efficient acquisition of vehicle mass can effectively improve the performance of vehicle electronic control systems, especially automated driving (AD) or advanced driver assistance systems (ADAS).

[0003] In the related art, by selecting a plurality of specific time periods and using the acceleration difference and traction difference in the plurality of time periods for mass estimation, or selecting a specific time period and directly using the acceleration and traction in the specific time period for mass estimation, although the efficiency of mass calculation is improved to a certain extent, the mass calculation result will be inaccurate due to the different data quality of data in different time periods. For example, braking behavior in the selected time period will make it difficult to estimate the traction in the time period, resulting in inaccurate mass estimation. For another example, if the vehicle speed is disturbed in the selected time period (such as encountering gusts of wind, hitting a stone while driving, or passing through a rough road), it will negatively affect the representativeness of the resulting acceleration, resulting in inaccurate mass estimation.

[0004] Therefore, it is urgent to propose a method that can effectively improve the reliability and accuracy of obtaining vehicle quality. Summary of the invention

[0005] The present application provides a vehicle quality determination method, device, vehicle-mounted weighing system, medium and product, which can solve the technical problem of low accuracy in vehicle quality assessment.

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

[0007] Acquire predetermined multi-dimensional quality indicators and threshold information corresponding to each quality indicator; wherein the quality indicator indicates the quality of vehicle data used to calculate vehicle quality, and the threshold information is used to indicate the minimum value of the quality indicator that satisfies the corresponding quality condition;

[0008] According to each quality indicator and its corresponding threshold information, selecting multiple sampling time periods in which the vehicle data quality meets all quality conditions from multiple sampling time periods for calculating vehicle quality;

[0009] The vehicle mass of the target vehicle is determined based on the mass mean value calculated from the vehicle data of the multiple sampling time periods.

[0010] In one embodiment, the method further comprises:

[0011] Obtaining priority information corresponding to each quality indicator, wherein the priority information is used to indicate the degree of influence of the quality indicator on the vehicle quality calculation accuracy;

[0012] When the number of sampling periods selected according to the threshold information is less than a preset number, adjusting the threshold information of the quality indicator with the lowest priority according to the priority information so that the adjusted threshold information is less than the current threshold information;

[0013] When the number of sampling time periods selected according to the adjusted threshold information reaches a preset number, the vehicle mass of the target vehicle is determined based on the mass mean value calculated based on the vehicle data of the selected sampling time period.

[0014] In one embodiment, the method further comprises:

[0015] Obtaining the true value of the vehicle mass of the target vehicle in multiple historical sampling time periods, and the historical mass value calculated based on the vehicle data in each historical sampling time period;

[0016] Determine the quality error of each historical sampling time period according to the comparison result of the vehicle quality true value and the historical quality value, and determine the quality assessment accuracy of multiple historical sampling time periods based on the quality error and a predefined error threshold, wherein the quality assessment accuracy is the proportion of time periods in which the quality error is lower than the error threshold;

[0017] For each quality indicator, multiple change thresholds of the quality indicator are adjusted and the values ​​of other quality indicators are kept unchanged, so as to eliminate the sampling time periods in the historical sampling time periods that are lower than the corresponding change thresholds, and obtain the quality assessment accuracy under each change threshold;

[0018] The obtaining of threshold information corresponding to each quality indicator includes:

[0019] For each quality indicator, a threshold value at which the quality assessment accuracy reaches a preset quality precision is selected from the change threshold value to determine threshold information corresponding to each quality indicator.

[0020] In one embodiment, the method further comprises:

[0021] For each quality indicator, according to multiple change thresholds of the quality indicator and the quality assessment accuracy under each change threshold, a linear relationship between each quality indicator and the quality assessment accuracy is obtained by fitting;

[0022] The step of selecting a threshold value at which the quality assessment accuracy reaches a preset quality accuracy from the change threshold value to determine the threshold information corresponding to each quality indicator includes:

[0023] A change threshold range that meets the linear relationship is screened out from the change threshold, and a threshold whose quality assessment accuracy reaches a preset quality accuracy is selected from the change threshold range to determine threshold information corresponding to each quality indicator.

[0024] In one implementation, obtaining priority information corresponding to each quality indicator includes:

[0025] According to the linear relationship between each quality indicator and the quality assessment accuracy, the slope of the linear relationship corresponding to each quality indicator is obtained;

[0026] According to the slope of each quality indicator, priority information corresponding to each quality indicator from high priority to low priority is obtained.

[0027] In one embodiment, the method further comprises:

[0028] When the number of sampling periods selected according to the adjusted threshold information does not reach the preset number and there are quality indicators that have not been adjusted, adjusting the threshold information of the previous priority quality indicator of the currently adjusted quality indicator;

[0029] If the number of sampling time periods selected by the adjusted threshold information does not reach the preset number and there are quality indicators that have not been adjusted, the threshold information of the previous priority quality indicator of the currently adjusted quality indicator is adjusted again until the number of sampling time periods reaches the preset number or all quality indicators have been adjusted, and the vehicle quality of the target vehicle is determined based on the quality mean calculated from the vehicle data of the selected sampling time period.

[0030] In one embodiment, the adjusting the threshold information of the quality indicator with the lowest priority includes: adjusting the threshold information of the quality indicator with the lowest priority according to a preset step size; and / or,

[0031] The adjusting the threshold information of the previous priority quality indicator of the currently adjusted quality indicator includes: adjusting the threshold information of the previous priority quality indicator of the currently adjusted quality indicator according to a preset step size;

[0032] The preset step size is used to indicate the numerical reduction range of the threshold information for each adjustment.

[0033] In one embodiment, the quality index includes at least two of the following: an engine torque quality index, a transmission ratio quality index, a vehicle speed quality index, and a neutral gear quality index;

[0034] The obtaining of the predetermined multi-dimensional quality indicators includes at least two of the following:

[0035] determining an engine torque quality index according to a difference between the total engine torque and the engine friction torque, and / or a torque change rate of the engine;

[0036] Determine the transmission ratio quality index according to the engine transmission ratio change rate;

[0037] Determining a vehicle speed quality index according to a difference between an actual vehicle speed and a filtered vehicle speed, and / or a difference between accelerations filtered by different filtering algorithms;

[0038] The neutral gear quality index is determined according to whether the vehicle is in neutral gear state.

[0039] In one implementation, the sampling time period is determined based on a gear shift period and a non-gear shift period.

[0040] In a second aspect, the present application provides a vehicle mass determination device, comprising:

[0041] An indicator acquisition module, configured to acquire a predetermined multi-dimensional quality indicator and threshold information corresponding to each quality indicator; wherein the quality indicator indicates the quality of vehicle data used to calculate vehicle quality, and the threshold information is used to indicate a minimum value of the quality indicator that satisfies a corresponding quality condition;

[0042] A time period selection module, which is configured to select multiple sampling time periods in which the vehicle data quality meets the quality conditions from multiple sampling time periods for calculating vehicle quality according to each quality indicator and its corresponding threshold information;

[0043] The quality determination module is configured to determine the vehicle quality of the target vehicle based on the quality average calculated from the vehicle data of the plurality of sampling time periods.

[0044] In one embodiment, the device further comprises:

[0045] A priority acquisition module, configured to acquire priority information corresponding to each quality indicator, wherein the priority information is used to indicate the degree of influence of the quality indicator on the vehicle quality calculation accuracy;

[0046] A first threshold adjustment module, configured to adjust the threshold information of the quality indicator with the lowest priority according to the priority information when the number of sampling periods selected according to the threshold information is less than a preset number, so that the adjusted threshold information is less than the current threshold information;

[0047] The quality determination module is specifically configured to determine the vehicle quality of the target vehicle based on the quality mean value calculated based on the vehicle data of the selected sampling time period when the number of sampling time periods selected according to the adjusted threshold information reaches a preset number.

[0048] In one embodiment, the device further comprises:

[0049] A historical data acquisition module, which is configured to obtain the true value of the vehicle mass of the target vehicle in multiple historical sampling time periods, and the historical mass value calculated based on the vehicle data in each historical sampling time period;

[0050] an accuracy acquisition module, which determines the quality error of each historical sampling time period according to the comparison result of the vehicle quality true value and the historical quality value, and determines the quality assessment accuracy of multiple historical sampling time periods based on the quality error and a predefined error threshold, wherein the quality assessment accuracy is the proportion of time periods in which the quality error is lower than the error threshold; a second threshold adjustment module, which is configured to adjust multiple change thresholds of the quality indicator for each quality indicator and keep the values ​​of other quality indicators unchanged, so as to eliminate the sampling time periods in the historical sampling time period that are lower than the corresponding change threshold, and obtain the quality assessment accuracy under each change threshold;

[0051] The indicator acquisition module includes:

[0052] The threshold determination unit is configured to select, for each quality indicator, a threshold whose quality assessment accuracy reaches a preset quality accuracy from the change threshold to determine threshold information corresponding to each quality indicator.

[0053] In one embodiment, the device further comprises:

[0054] A linear fitting module, which is configured to fit, for each quality indicator, a linear relationship between each quality indicator and the quality assessment accuracy according to a plurality of change thresholds of the quality indicator and the quality assessment accuracy under each change threshold;

[0055] The threshold determination unit is specifically configured to filter out a change threshold range that conforms to the linear relationship from the change threshold, and select a threshold whose quality assessment accuracy reaches a preset quality accuracy from the change threshold range to determine the threshold information corresponding to each quality indicator.

[0056] In one implementation, the priority acquisition module includes:

[0057] A slope acquisition unit, configured to acquire the slope of the linear relationship corresponding to each quality indicator according to the linear relationship between each quality indicator and the quality assessment accuracy;

[0058] The priority determination unit is configured to obtain priority information corresponding to each quality indicator from high priority to low priority according to the slope of each quality indicator.

[0059] In one embodiment, the device further comprises:

[0060] The first threshold adjustment module is further configured to adjust the threshold information of the previous priority quality indicator of the currently adjusted quality indicator when the number of sampling periods selected according to the adjusted threshold information does not reach the preset number and there is a quality indicator that has not been adjusted;

[0061] A repeated execution module is configured to adjust the threshold information of the previous priority quality indicator of the currently adjusted quality indicator again if the number of sampling time periods selected by the adjusted threshold information does not reach the preset number and there are quality indicators that have not been adjusted, until the number of sampling time periods reaches the preset number or all quality indicators have been adjusted, and determine the vehicle quality of the target vehicle based on the quality mean value calculated based on the vehicle data of the selected sampling time period.

[0062] In one embodiment, the first threshold adjustment module is specifically configured to adjust the threshold information of the quality indicator with the lowest priority according to a preset step size; and / or, according to a preset step size, adjust the threshold information of the quality indicator of the previous priority of the currently adjusted quality indicator;

[0063] The preset step size is used to indicate the numerical reduction range of the threshold information for each adjustment.

[0064] In one embodiment, the quality index includes at least two of the following: an engine torque quality index, a transmission ratio quality index, a vehicle speed quality index, and a neutral gear quality index;

[0065] The indicator acquisition module is specifically configured in at least two of the following ways:

[0066] determining an engine torque quality index according to a difference between the total engine torque and the engine friction torque, and / or a torque change rate of the engine;

[0067] Determine the transmission ratio quality index according to the engine transmission ratio change rate;

[0068] Determining a vehicle speed quality index according to a difference between an actual vehicle speed and a filtered vehicle speed, and / or a difference between accelerations filtered by different filtering algorithms;

[0069] The neutral gear quality index is determined according to whether the vehicle is in neutral gear state.

[0070] In one implementation, the sampling time period is determined based on a gear shift period and a non-gear shift period.

[0071] In a third aspect, the present application further provides a vehicle-mounted weighing system, comprising: a processor, and a memory communicatively connected to the processor;

[0072] The memory includes computer executable instructions;

[0073] The processor executes the computer-executable instructions stored in the memory to implement the vehicle mass determination method provided in any one of the first aspects above.

[0074] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the vehicle mass determination method provided in any one of the first aspects above.

[0075] In a fifth aspect, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the vehicle mass determination method provided in any one of the first aspects above.

[0076] The vehicle quality determination method, device, on-board weighing system, medium and product provided by the present application obtain a predetermined multi-dimensional quality index and the threshold information corresponding to each quality index, the quality index is used to evaluate the quality of the vehicle data used to calculate the vehicle quality, and the threshold information is used to indicate the minimum value of the quality index that satisfies the corresponding quality condition. According to each quality index and its corresponding threshold information, multiple sampling time periods in which the vehicle data quality meets all quality conditions are selected from multiple sampling time periods for calculating the vehicle quality, and the vehicle quality of the target vehicle is determined based on the quality mean calculated from the vehicle data of the multiple sampling time periods. In this process, by obtaining the multi-dimensional quality index and the corresponding threshold information used to evaluate the vehicle data quality, the sampling time periods that meet the corresponding threshold conditions are selected, the vehicle data in these sampling time periods are more reliable, and the vehicle quality calculated using the vehicle data in these sampling time periods is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0078] Figure 1 It is an example diagram of non-shift period data and non-shift period data in the related art;

[0079] Figure 2 One of the flow charts of a vehicle quality determination method provided in an embodiment of the present application;

[0080] Figure 3A second flow chart of a vehicle quality determination method provided in an embodiment of the present application;

[0081] Figure 4 One of the flowcharts of another vehicle mass determination method provided in an embodiment of the present application;

[0082] Figure 5 A second flow chart of another method for determining vehicle mass provided in an embodiment of the present application;

[0083] Figure 6 A flowchart of a process for determining the priority and threshold information of quality indicators in an embodiment of the present application;

[0084] Figure 7 A schematic diagram of the structure of a vehicle mass determination device provided in an embodiment of the present application;

[0085] Figure 8 A schematic diagram of the structure of another vehicle mass determination device provided in an embodiment of the present application;

[0086] Fig. 9 A schematic diagram of the structure of a vehicle-mounted weighing system provided in an embodiment of the present application.

[0087] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0088] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0089] In the related art, in order to improve the calculation efficiency and accuracy of vehicle mass, it is proposed to select a specific multiple time periods and use the acceleration difference and traction difference in the multiple time periods to estimate the mass, or select a specific time period and directly use the acceleration and traction in the specific time period to estimate the mass. For example, based on the vehicle CAN bus data, by obtaining the vehicle dynamics data before (or after) and during the gear shift, and estimating the mass of the vehicle based on the data of these two different time periods, the mass estimation can be performed by using the acceleration difference and traction difference in multiple time periods, or by directly using the acceleration and traction in these time periods. Specifically, Figure 1An example of a possible way to select a non-shift period (such as before the shift) and a shift period using CAN data is shown. The CAN data is data including the time-varying vehicle speed during the shift process. According to the CAN data, the curve and vehicle speed change in the figure, the dashed line is the vehicle shift event ShiftInProcess, the solid line is the gear position (the gear position before the shift and the gear position after the shift), and the two sections in the curve are the non-shift period and the shift period selected according to the vehicle speed change. The mass of the vehicle is calculated by using the traction force and acceleration of the non-shift period (which can be calculated based on the speed or obtained from the sensor) and the traction force and acceleration of the shift period, and the formula is as follows: m = (F1-F2) / (a1-a2), where m is the vehicle mass, F1 represents the torque of the non-shift period, a1 represents the acceleration of the non-shift period, F2 represents the traction force of the shift period, and a2 represents the traction force of the shift period.

[0090] In the above mass calculation process, Figure 1 It can be seen that CAN data is easily affected by fluctuations and it is difficult to accurately reflect the actual data changes. If the data in these time periods are directly used for calculation, it will easily lead to poor mass calculation results. The inventors of the present application have found that there are many factors that affect the accuracy of the calculation results when using the vehicle dynamics data in the time period for mass calculation: one of the factors is the selection of the time period, which directly affects the selection of data for acceleration and traction calculation; the other most important factor is the quality (i.e., quality) of the selected time period, which represents the reliability of the selected data. For example, braking behavior within the selected time period will lead to difficulties in estimating traction within the time period, resulting in inaccurate mass estimation. Another example is related to vehicle speed. If the vehicle speed is disturbed during the selected time period (such as encountering gusts of wind, hitting stones while driving, or passing through rough roads), it will negatively affect the representativeness of the resulting acceleration, resulting in inaccurate mass estimation.

[0091] In view of this, an embodiment of the present application provides a vehicle quality determination scheme that uses multi-dimensional indicators to evaluate the quality of data in a sampling period. By obtaining a predetermined multi-dimensional quality indicator and the threshold information corresponding to each quality indicator, the quality indicator is used to evaluate the quality of vehicle data used to calculate vehicle quality, and the threshold information is used to indicate the minimum value of the quality indicator that satisfies the corresponding quality condition. According to each quality indicator and its corresponding threshold information, multiple sampling time periods in which the vehicle data quality meets all quality conditions are selected from multiple sampling time periods for calculating vehicle quality, and the vehicle quality of the target vehicle is determined based on the quality mean calculated from the vehicle data of the multiple sampling time periods. In this process, by obtaining the multi-dimensional quality indicator and the corresponding threshold information used to evaluate the quality of vehicle data, the sampling time periods that meet the corresponding threshold conditions are selected, and the vehicle data in these sampling time periods are more reliable, and the vehicle quality calculated using the vehicle data in these sampling time periods is more accurate.

[0092] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0093] Figure 2 The flowchart of the method for determining the vehicle mass provided in the embodiment of the present application. The execution subject may be an electronic device such as an on-board weighing system (OBW) of a vehicle, such as Figure 2 As shown, the method may include the following steps S201-S203:

[0094] Step S201, obtaining predetermined multi-dimensional quality indicators and threshold information corresponding to each quality indicator; wherein the quality indicator indicates the quality of vehicle data used to calculate vehicle quality, and the threshold information is used to indicate the minimum value of the quality indicator that satisfies the corresponding quality condition.

[0095] In this embodiment, the multi-dimensional quality indicators and the threshold information corresponding to each quality indicator can be pre-stored in the storage space of the OBW, and can be obtained from the storage space in the OBW. It can also be obtained from other electronic devices. Accordingly, the construction of the multi-dimensional quality indicators and the threshold information corresponding to each quality indicator can be executed in the OBW, or in other electronic devices of the vehicle, or on other server ends, and this embodiment does not specifically limit this. Among them, the above-mentioned quality indicators and their corresponding threshold information can be determined by a large amount of historical data in an offline state.

[0096] By obtaining or constructing quality indicators (i.e., quality indicators) related to various factors (such as braking, steering, and vehicle speed), the reliability of the input data used for quality estimation can be described, that is, the reliability of the estimated quality based on the selected time period is related to the value of the quality indicator. In order to achieve high estimation accuracy, the threshold of each quality indicator can be independently determined with reference to a large amount of historical data to remove unqualified time periods.

[0097] Optionally, the quality index includes at least two of the following: an engine torque quality index, a transmission ratio quality index, a vehicle speed quality index, and a neutral quality index. The predetermined multi-dimensional quality index obtained in the above step S201 can be obtained in at least two of the following ways:

[0098] determining an engine torque quality index according to a difference between the total engine torque and the engine friction torque, and / or a torque change rate of the engine;

[0099] Determine the transmission ratio quality index according to the engine transmission ratio change rate;

[0100] Determining a vehicle speed quality index according to a difference between an actual vehicle speed and a filtered vehicle speed, and / or a difference between accelerations filtered by different filtering algorithms;

[0101] The neutral gear quality index is determined according to whether the vehicle is in neutral gear state.

[0102] For ease of understanding, the above quality indicators mentioned in this embodiment are explained one by one below:

[0103] Regarding the engine torque index, the difference in engine torque reflects the effective output torque of the engine in actual operation. When the total engine torque is low, the friction torque accounts for a relatively large proportion and its accuracy is not high, resulting in reduced reliability of mass estimation. In this case, the inaccuracy of friction torque has a more significant impact on the total torque measurement, thereby affecting the overall mass estimation; and the engine torque change rate reflects the engine's ability to respond to load changes. A stable torque change rate indicates that the engine is running smoothly and the data reliability is high, while violent fluctuations may indicate that there may be other error factors such as the external environment affecting the engine, which reduces the data reliability.

[0104] For the engine transmission ratio quality index, the transmission ratio change rate is the speed of change of the transmission ratio when the vehicle transmission switches between different gears. Among them, the transmission ratio refers to the ratio between the speed of the engine output shaft and the wheel speed. A stable transmission ratio change rate means that the transmission switches between different gears smoothly and without abnormal fluctuations. When the transmission ratio change rate is stable, the power transmission process of the vehicle is smooth, and the torque output by the engine can be effectively transmitted to the wheels. In this case, the measured values ​​of parameters such as engine torque and vehicle speed are more accurate, thereby improving the reliability of quality estimation. If the transmission ratio change rate is unstable, the transmission may have discontinuous or abnormal fluctuations in torque transmission during the gear shifting process, which will cause errors in the measured values ​​of parameters such as engine torque and vehicle speed, thereby reducing the reliability of quality estimation. For example, the instability of the transmission ratio change rate may cause the deviation between the actual vehicle speed and the expected vehicle speed to increase, affecting the accuracy of quality estimation.

[0105] For the speed quality index, the actual speed refers to the real speed of the vehicle, which is usually measured by the speed sensor. The filtered speed is the result of filtering the actual speed data, the purpose of which is to eliminate noise and short-term fluctuations and make the speed data smoother and more reliable. The difference between the actual speed and the filtered speed reflects the fluctuation and noise level of the speed data. If the difference is small, it means that the actual speed data is relatively stable and has less noise, and the filtered speed data is close to the actual speed data. If the difference is large, it means that the actual speed data has large fluctuations and noise, and the filtered speed data has a large deviation from the actual speed data. When the difference between the actual speed and the filtered speed is small, it means that the speed data has less fluctuations and noise, and the data is more accurate and reliable. In this case, when the speed data is used for quality estimation, the error is small and the estimation result is more accurate. When the difference is large, it means that the speed data has large fluctuations and noise, and the accuracy and reliability of the data are low. In this case, when the speed data is used for quality estimation, the error is large and the reliability of the estimation result is reduced.

[0106] On the other hand, for the difference between the accelerations filtered by different filtering algorithms, the acceleration data can be obtained by measuring the acceleration sensor, and these data may contain noise and instantaneous fluctuations. Different filtering algorithms (such as low-pass filtering, Kalman filtering, mean filtering, etc.) have different effects in dealing with noise and fluctuations. The difference between the acceleration data processed by different filtering algorithms reflects the processing effect of each algorithm on the original acceleration data. If the difference is small, it means that the acceleration data processed by different filtering algorithms are relatively consistent, and the smoothness and reliability of the data are high. If the difference is large, it means that there are large differences in the acceleration data processed by different filtering algorithms, which may indicate that there are large noise and fluctuations in the original acceleration data, or some filtering algorithms are not effective in dealing with these noises and fluctuations. When the difference is small, when using the acceleration data for quality estimation, the error is small, and the estimation result is more accurate and reliable; when the difference is large, it means that there are large noise and fluctuations in the acceleration data, or some filtering algorithms are not effective in dealing with these noises and fluctuations. In this case, when using the acceleration data for quality estimation, the error is large, and the reliability of the estimation result is reduced.

[0107] For the neutral quality index, when the vehicle is in neutral, the power transmission between the engine and the wheels is interrupted. At this time, the engine's output torque is not directly transmitted to the wheels, and the vehicle moves by inertia or external forces (such as gravity when going downhill). Due to the interruption of power transmission, the relationship between the engine's torque data and the vehicle speed data is no longer directly related, which affects the quality estimation based on these data.

[0108] It should be noted that in this embodiment, when different methods are used to determine the engine torque index at the same time (such as the difference between the total engine torque and the engine friction torque, and the engine torque change rate), it can be regarded as two (different) engine torque indexes, defined as the first engine torque index and the second engine torque index, and the two engine torque indexes are used as multi-dimensional indicators to select time periods and calculate vehicle mass. Similarly, the vehicle speed index or other indicators are described in detail.

[0109] Furthermore, the indicators in the above examples are not limited to the indicators in this embodiment. In some examples, other indicators may be included in addition to the above indicators. In addition, the multidimensional indicators in this embodiment are mainly used to summarize that multiple indicators can be used to select time periods. In some embodiments, the multidimensional indicators may only use one indicator, such as only using the vehicle speed quality indicator.

[0110] After explaining the above indicators, each indicator is further introduced in combination with the content shown in the following Table 1. It can be understood that Table 1 shows other indicators besides the above indicators, such as Q_acc_extend and Q_trq_stability.

[0111] Table 1

[0112]

[0113]

[0114]

[0115] It can be understood that for each quality indicator, it is used to evaluate the quality of the time period data. Those skilled in the art can pre-set the corresponding threshold information (corresponding to the calculation method in Table 1 above). In some embodiments, the determination method of the threshold information can also be changed to further improve the rationality and accuracy of the threshold information. For details, please refer to the examples below and will not be repeated here.

[0116] In addition, it should be noted that all quality indicators can be normalized in the range (0,1) by the same or dedicated methods. Through normalization, these dimensional differences can be eliminated so that each indicator can be compared and analyzed on the same scale.

[0117] In one embodiment, sufficient historical data and known true values ​​can be used to calculate the estimated vehicle mass value for each time period using a relevant mass calculation algorithm, and by combining the true value and the estimated value, a more reasonable threshold value information can be determined by adjusting the change threshold value. Specifically, Figure 3As shown, the method provided in this embodiment may further include the following steps S301-S304, and step S201 may be further divided into step S2011.

[0118] Step S301: Acquire the true value of the vehicle mass of the target vehicle in multiple historical sampling time periods, and the historical mass value calculated based on the vehicle data in each historical sampling time period.

[0119] In this embodiment, the historical mass value calculated using vehicle data can be a mass value calculated using vehicle dynamics during the historical sampling period, which is the vehicle mass estimation. By comparing the difference between the vehicle ground truth (gt) and the mass estimation (Estimated mass, Es), the corresponding mass error (Error) can be obtained.

[0120] Step S302: Determine the mass error of each historical sampling time period according to the comparison result of the true value of the vehicle mass and the historical mass value.

[0121] Among them, the quality error is Error = gt-Es. It can be understood that the quality error can be used to evaluate the accuracy of the quality estimation in the historical period. The higher the error, the lower the accuracy. And the error threshold can be defined (which can be adaptively determined in combination with actual applications) to obtain a qualitative evaluation of each error value, that is, good / satisfies the requirements; and bad / does not meet the requirements.

[0122] Step S303: determining the quality assessment accuracy for multiple historical sampling time periods based on the quality error and a predefined error threshold, wherein the quality assessment accuracy is the proportion of time periods in which the quality error is lower than the error threshold.

[0123] Exemplarily, when calculating the vehicle quality of multiple time periods for the first time, a random threshold for each quality indicator (or no quality indicator is used for data screening) can be used to determine the quality error for each time period, and the quality assessment accuracy for each historical sampling time period can be calculated based on the quality error and the error threshold, wherein the quality assessment accuracy can be the percentage of time periods in which the estimated error is less than 10% of the error threshold, that is, the percentage of time periods in the sampling time period in which the estimated error is less than the error threshold (within 10% of the true value).

[0124] Step S304: for each quality indicator, adjust multiple change thresholds of the quality indicator and keep other quality indicator values ​​unchanged, so as to eliminate the sampling time periods in the historical sampling time periods that are lower than the corresponding change thresholds, and obtain the quality assessment accuracy under each change threshold.

[0125] Exemplarily, the quality values ​​that do not meet the threshold are filtered out by changing the threshold, while other quality indicators are limited to higher values, and the estimation accuracy is calculated to observe the correlation degree between each quality indicator and the error.

[0126] It is understandable that the threshold value is changed to dynamically adjust the threshold value, and the final threshold value information is determined by analyzing the accuracy of the quality assessment. The adjustment method can be a random adjustment method, or an adjustment step size can be set (technical personnel in the field can make an adaptive determination based on actual applications, for example, the threshold value uses an interval value of 0 to 1, and the adjustment step size can be set to 0.1). This embodiment does not specifically limit the specific adjustment method.

[0127] It can be understood that the quality assessment accuracy is the proportion of time periods in which the quality error is lower than the error threshold. In other words, the quality assessment accuracy is related to the quality error and the number of time periods. The quality error of each sampling time period has been calculated. By eliminating the time periods that do not meet the requirements, the quality assessment accuracy can be directly calculated.

[0128] S2011. For each quality indicator, a threshold whose quality assessment accuracy reaches a preset quality precision is selected from the change thresholds to determine threshold information corresponding to each quality indicator.

[0129] Exemplarily, the preset quality accuracy of the quality assessment accuracy can be set to 60%, and a threshold value of 60% of the quality assessment accuracy can be selected from the change threshold. Specifically, the estimated vehicle quality calculated from the vehicle data of the time period is screened out from these change thresholds, and the time period whose corresponding estimation error is lower than the error threshold (such as 10%, taking the absolute value) accounts for 60% of the change threshold, which is used as the threshold information of the quality indicator. If there are multiple change thresholds for the time period to account for 60%, the smallest threshold among these change thresholds can be selected as the threshold information corresponding to the quality indicator.

[0130] As a further example, the evaluation results corresponding to the quality indicator value (ie, change threshold) of a certain quality indicator in multiple time periods are shown in the following Table 2:

[0131] Table 2:

[0132] Estimated quality True Value Quality index value Error value evaluate 50 51 0.9 -2％ good 48 50 0.8 -4％ good 47 50 0.8 -6％ good 50 51 0.6 -2％ good 40 50 0.5 -20％ bad 20 50 0.4 -60％ bad 51 50 0.9 2％ good

[0133] The quality evaluation accuracy corresponding to the quality indicator value of a certain quality indicator in multiple time periods is shown in Table 3 below:

[0134] Minimum threshold Quality Assessment Accuracy 0.9 100％ 0.8 100％ 0.7 100％ 0.6 100％ 0.5 83％ 0.4 71％

[0135] As can be seen from the above table, the minimum threshold for the quality assessment accuracy to reach 60% is 0.4, and the quality index value of the indicator can be determined as 0.4. In some embodiments, when there are more quality index values, the corresponding quality assessment accuracy can be calculated for each quality index value to find the minimum threshold for the quality assessment accuracy to reach 60%.

[0136] In an optional implementation manner, in order to improve the accuracy of the threshold information, this embodiment may determine the threshold information by fitting an influence curve of the quality index affecting the quality assessment, and specifically, may further include the following steps:

[0137] For each quality indicator, according to multiple change thresholds of the quality indicator and the quality assessment accuracy under each change threshold, a linear relationship between each quality indicator and the quality assessment accuracy is obtained by fitting;

[0138] The step of selecting a threshold value at which the quality assessment accuracy reaches a preset quality accuracy from the change threshold value to determine the threshold information corresponding to each quality indicator includes:

[0139] A change threshold range that meets the linear relationship is screened out from the change threshold, and a threshold whose quality assessment accuracy reaches a preset quality accuracy is selected from the change threshold range to determine threshold information corresponding to each quality indicator.

[0140] Exemplarily, the linear fitting process can use statistical methods or machine learning algorithms to perform linear fitting on the change threshold of each quality indicator and the corresponding quality assessment accuracy. Through the fitting process, a linear relationship model of each quality indicator with respect to the quality assessment accuracy is obtained, which can be expressed as y=mx+b, for example, where y represents the quality assessment accuracy, x represents the change threshold, and m and b are the slope and intercept of the fitting line, respectively.

[0141] Among them, according to the linear relationship model obtained by fitting, the change threshold range that conforms to the linear relationship is screened out from all change thresholds. The screening method may include calculating the fitting residual of each change threshold, and selecting the change threshold within a certain range (technical personnel in the field can make adaptive determinations in combination with actual applications) as the change threshold that conforms to the linear relationship. And within the screened change threshold range, calculate the quality assessment accuracy corresponding to each change threshold one by one, and select the threshold whose quality assessment accuracy reaches the preset quality accuracy. For example, the minimum threshold of the change threshold that meets the quality assessment accuracy of 60% within the change threshold range can be selected as the threshold information of the quality indicator. The same is true for the determination process of other quality indicators.

[0142] Continue to refer to Figure 2, step S202, according to each quality indicator and its corresponding threshold information, select multiple sampling time periods in which the vehicle data quality meets all quality conditions from multiple sampling time periods for calculating vehicle quality.

[0143] After obtaining the relevant quality indicators and their corresponding threshold information, the relevant indicator data can be used to perform real-time vehicle quality calculation. As one example, taking the neutral gear indicator as an example, the neutral gear state is calibrated as 0, the non-neutral gear state is 1, and the threshold information of the neutral gear indicator is defined as 1. All non-1 in the sampling period are eliminated. It can be understood that the neutral gear indicator does not need to apply the above threshold information adjustment rules. As another example, taking the transmission ratio quality indicator as an example, assuming that the threshold information of the transmission ratio quality indicator is assumed to be defined as a range, such as 0.1 (as an absolute value, it can also be -0.1), which means that the transmission ratio change rate in the sampling period needs to be below 0.1. Assuming that there are 5 sampling time periods, sampling period 1: transmission ratio change rate = 0.05, sampling period 2: transmission ratio change rate = 0.15, sampling period 3: transmission ratio change rate = -0.05, sampling period 4: transmission ratio change rate = -0.15, according to the threshold information of the transmission ratio change rate indicator, filter out the sampling period that meets the conditions. Sampling period 1: transmission ratio change rate = 0.05 (qualified), sampling period 2: transmission ratio change rate = 0.15 (not qualified), sampling period 3: transmission ratio change rate = -0.05 (qualified), sampling period 4: transmission ratio change rate = -0.15 (not qualified). The sampling period that satisfies both the neutral gear index and the transmission ratio change rate index quality conditions among these sampling periods may be one period or multiple periods.

[0144] For example, in order to improve the accuracy of mass calculation, the number of sampling time periods for calculating the vehicle mass may be predetermined, so that data of multiple sampling time periods may be selected to calculate the vehicle mass.

[0145] Exemplarily, the sampling time period is determined based on the gear shift period and the non-gear shift period. For example, all time periods in the gear shift period and the non-gear shift period can be determined as the sampling time period; in some embodiments, the sampling time period can also be other time periods, such as a uniform speed time period. When the vehicle is traveling at a uniform speed, the dynamic state of the vehicle is generally stable.

[0146] Step S203: Determine the vehicle mass of the target vehicle according to the mass mean value calculated based on the vehicle data in the plurality of sampling time periods.

[0147] After selecting the sampling time period according to the relevant quality indicators and the corresponding threshold information, a more accurate result can be obtained by averaging the estimated quality of the qualified time period. Basically, only a single quality result needs to be provided as the final quality result of a trip. For example, the vehicle mass can be calculated using the following formula: m = F / a. In the formula, m is the vehicle mass, F represents the traction force (the net power in the sampling time period, usually a constant value), and a represents the acceleration (calculated using the vehicle speed and time data in the sampling time period). The vehicle mass is calculated by calculating the average value in each sampling time period.

[0148] This embodiment obtains quality indicators and corresponding threshold information for evaluating vehicle data quality, and selects sampling periods that meet corresponding threshold conditions. The vehicle data in these sampling periods are more reliable, and the vehicle quality calculated using the vehicle data in these sampling periods has higher accuracy.

[0149] Figure 4 A flowchart of another method for determining vehicle quality provided in an embodiment of the present application is provided. Based on the above embodiment, considering that if the qualified time period is too small, it may affect the statistical validity of the average value, which is the key to ensuring the accuracy of the final quality, this embodiment solves this technical problem by designing a relaxation strategy and threshold priority. Specifically, in addition to the above steps S201-S203, the method provided in this embodiment may also include steps S401-S404.

[0150] Step S401: Obtain priority information corresponding to each quality indicator, where the priority information is used to indicate the degree of influence of the quality indicator on the calculation accuracy of vehicle quality.

[0151] As an example, the process of obtaining the priority information corresponding to each quality indicator can be carried out as follows: based on the linear relationship between each quality indicator and the quality assessment accuracy, the slope of the linear relationship corresponding to each quality indicator is obtained; based on the size of the slope of each quality indicator, the priority information corresponding to each quality indicator from high priority to low priority is obtained.

[0152] As mentioned in the above embodiment, an influence curve (i.e., a linear relationship) is generated based on the change threshold of each quality indicator and the estimation accuracy. If the change threshold of the quality indicator has an impact on the accuracy, the estimation accuracy will increase as each quality value threshold increases. For this linear relationship of each quality indicator, the greater the slope, the greater the impact and the higher the priority.

[0153] In some embodiments, it is also possible to extract the features of each curve (such as oscillation, gradient, difference between maximum and minimum values, etc.), and calculate an impact score for each curve based on a given weight for each feature (technical personnel in the field can adaptively determine this based on actual applications). The higher the score, the greater the impact and the higher the priority.

[0154] As another example, the priority information of each quality indicator can also be analyzed by using a neural network model to analyze historical data to determine the priority of each quality indicator in affecting the accuracy of vehicle quality calculation.

[0155] In some embodiments, other methods may be used to determine the priority of each quality indicator, which will not be described in detail in this embodiment.

[0156] Step S402, determine whether the number of sampling time periods selected according to the threshold information reaches a preset number, if so, execute step S203, otherwise, execute step S403.

[0157] It should be noted that the above-mentioned step S402 can be executed before step S401, and the same applies to other steps. This embodiment does not specifically limit the order of the various steps. The serial numbers are only used to facilitate the description of the embodiments of this application and have no other special meaning.

[0158] Step S403: When the number of sampling periods selected according to the threshold information is less than a preset number, the threshold information of the quality indicator with the lowest priority is adjusted according to the priority information so that the adjusted threshold information is less than the current threshold information.

[0159] In this embodiment, low priority means that the quality indicator has a relatively small impact on the estimation accuracy, and the thresholds of the relevant quality indicators can be relaxed and adjusted first, starting from the quality indicator with the lowest priority.

[0160] It should be noted that those skilled in the art can adaptively determine the preset number in combination with actual applications. For example, they can determine, based on a large amount of prior data, how many time periods of data are needed to calculate the vehicle mass to be closer to the actual value.

[0161] In order to optimize the threshold information adjustment effect, the step size can be set to adjust in sequence to avoid the adjustment span being too large and affecting the accuracy. In one example, the threshold information of the quality indicator with the lowest priority in the above step can be adjusted as follows: according to the preset step size, the threshold information of the quality indicator with the lowest priority is adjusted.

[0162] In another example, the above-mentioned adjustment of the threshold information of the previous priority quality indicator of the currently adjusted quality indicator may be carried out in the following manner: adjusting the threshold information of the previous priority quality indicator of the currently adjusted quality indicator according to a preset step size.

[0163] In some examples, the above two examples may be combined to adjust the threshold information of the quality indicator, and the relevant description will not be repeated.

[0164] In this embodiment, the preset step size is the relaxation step size, which is used to indicate the value reduction range of each adjustment threshold information. Those skilled in the art can adaptively set the relaxation step size in combination with actual applications and the type of quality indicators. For example, if the relaxation step size is set to 0.01, if the threshold of the quality value with the lowest priority is completely relaxed to zero, then the quality with the second lowest priority is switched.

[0165] Step S404, determine whether the number of sampling time periods selected according to the adjusted threshold information reaches the preset number. If so, execute step S405 to determine the vehicle quality of the target vehicle based on the quality mean calculated according to the vehicle data of the selected sampling time period. Otherwise, end the process.

[0166] Exemplarily, after the threshold value of the quality indicator with the lowest priority is adjusted, the selected sampling time reaches a preset number (such as 6), which means that the sampling time period selected by the current threshold condition can meet the conditions for vehicle mass calculation. The mass mean can be calculated through the vehicle data in these selected sampling time periods (such as traction data, acceleration data, etc.) to obtain more accurate vehicle mass data.

[0167] Furthermore, when the threshold of the lowest priority quality indicator is relaxed, if the number of selected sampling time periods does not meet the calculation requirements of vehicle quality, the threshold of the next lower priority quality indicator can be further relaxed so that the final selected sampling time period meets the calculation accuracy requirements. Figure 5 As shown, the method provided in this embodiment may further include the following steps S501-S503.

[0168] Step S501: When the number of sampling periods selected according to the adjusted threshold information does not reach the preset number and there are quality indicators that have not been adjusted, adjust the threshold information of the previous priority quality indicator of the currently adjusted quality indicator, and execute step S404. If the number of sampling periods selected according to the adjusted threshold information does not reach the preset number, determine whether there are quality indicators that have not been adjusted, and if so, adjust the threshold information of the previous priority quality indicator of the currently adjusted quality indicator again until the number of sampling periods reaches the preset number or all quality indicators have been adjusted, and execute step S405 to determine the vehicle quality of the target vehicle based on the quality mean value calculated according to the vehicle data of the selected sampling time period.

[0169] For new calculations, as mentioned above, the threshold of quality assurance can be used to filter out unqualified time periods, and then the estimated quality of qualified time periods can be averaged to obtain quality results. However, if the number of qualified time periods is still lower than the required number after the quality indicator of a priority is relaxed, it is necessary to further combine the relaxation of the threshold to obtain more qualified time periods.

[0170] It should be noted that the adjustment method for the quality index threshold information in the above steps S601-S603 can refer to the relevant description of the above example, which will not be repeated here. Among them, if the required number of qualified time periods is reached or all thresholds have been relaxed, the relaxation process ends, and the vehicle quality can be calculated based on the vehicle data of the time period selected by the threshold information adjusted last time.

[0171] To facilitate understanding of the embodiments of the present application, the present embodiment provides a flow chart of a threshold value and a priority determination scheme for quality indicators, such as Figure 6 As shown, the following steps are included:

[0172] S601, using the estimated quality of each (sampling) time period, calculate the quality estimation error (i.e., quality error) of each time period;

[0173] S602, using the real value of each time period, and calculating the quality estimation accuracy (i.e., quality assessment accuracy) by changing the change threshold of the quality indicator;

[0174] S603, generating an influence curve of each quality indicator on quality assessment accuracy by combining the change threshold of the quality indicator in each time period;

[0175] S604, determining a threshold value of each quality indicator according to the influence curve, for example, a minimum threshold value (quality assessment accuracy) higher than 60% in the influence curve;

[0176] S605, extracting the features of each influence curve (each feature may be assigned a corresponding weight), and scoring the features;

[0177] S606: Determine the priority of each quality value according to the score of the influence curve corresponding to each quality indicator, wherein the higher the score, the higher the priority.

[0178] By determining the quality indicators and their priorities and threshold information in the above manner, the quality assessment of the time period can be realized. The vehicle dynamics data in the time period selected to meet the quality conditions is more reliable, and the vehicle mass calculated based on these time periods is closer to the actual value, which can effectively improve the accuracy of vehicle mass calculation.

[0179] Figure 7 A schematic diagram of the structure of a vehicle quality determination device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the device 700 includes an indicator acquisition module 701, a time period selection module 702 and a quality determination module 703, wherein:

[0180] An indicator acquisition module 701, which is configured to acquire a predetermined multi-dimensional quality indicator and threshold information corresponding to each quality indicator; wherein the quality indicator indicates the quality of vehicle data used to calculate vehicle quality, and the threshold information is used to indicate the minimum value of the quality indicator that satisfies the corresponding quality condition;

[0181] A time period selection module 702, which is configured to select a plurality of sampling time periods in which the vehicle data quality meets the quality condition from a plurality of sampling time periods for calculating the vehicle quality according to each quality indicator and its corresponding threshold information;

[0182] The quality determination module 703 is configured to determine the vehicle quality of the target vehicle based on the quality average calculated from the vehicle data of the multiple sampling time periods.

[0183] In one embodiment, Figure 8 As shown, the device also includes:

[0184] A priority acquisition module 704, which is configured to acquire priority information corresponding to each quality indicator, wherein the priority information is used to indicate the degree of influence of the quality indicator on the vehicle quality calculation accuracy;

[0185] A first threshold adjustment module 705, which is configured to adjust the threshold information of the quality indicator with the lowest priority according to the priority information when the number of sampling periods selected according to the threshold information is less than a preset number, so that the adjusted threshold information is less than the current threshold information;

[0186] The quality determination module 703 is specifically configured to determine the vehicle quality of the target vehicle based on the quality mean value calculated based on the vehicle data of the selected sampling time period when the number of sampling time periods selected according to the adjusted threshold information reaches a preset number.

[0187] In one embodiment, the device further comprises:

[0188] A historical data acquisition module, which is configured to obtain the true value of the vehicle mass of the target vehicle in multiple historical sampling time periods, and the historical mass value calculated based on the vehicle data in each historical sampling time period;

[0189] an accuracy acquisition module, which determines the quality error of each historical sampling time period according to the comparison result of the vehicle quality true value and the historical quality value, and determines the quality assessment accuracy of multiple historical sampling time periods based on the quality error and a predefined error threshold, wherein the quality assessment accuracy is the proportion of time periods in which the quality error is lower than the error threshold; a second threshold adjustment module, which is configured to adjust multiple change thresholds of the quality indicator for each quality indicator and keep the values ​​of other quality indicators unchanged, so as to eliminate the sampling time periods in the historical sampling time period that are lower than the corresponding change threshold, and obtain the quality assessment accuracy under each change threshold;

[0190] The indicator acquisition module 701 includes:

[0191] The threshold determination unit is configured to select, for each quality indicator, a threshold whose quality assessment accuracy reaches a preset quality accuracy from the change threshold to determine threshold information corresponding to each quality indicator.

[0192] In one embodiment, the device further comprises:

[0193] A linear fitting module, which is configured to fit, for each quality indicator, a linear relationship between each quality indicator and the quality assessment accuracy according to a plurality of change thresholds of the quality indicator and the quality assessment accuracy under each change threshold;

[0194] The threshold determination unit is specifically configured to filter out a change threshold range that conforms to the linear relationship from the change threshold, and select a threshold whose quality assessment accuracy reaches a preset quality accuracy from the change threshold range to determine the threshold information corresponding to each quality indicator.

[0195] In one implementation, the priority acquisition module 704 includes:

[0196] A slope acquisition unit, configured to acquire the slope of the linear relationship corresponding to each quality indicator according to the linear relationship between each quality indicator and the quality assessment accuracy;

[0197] The priority determination unit is configured to obtain priority information corresponding to each quality indicator from high priority to low priority according to the slope of each quality indicator.

[0198] In one embodiment, the device further comprises:

[0199] The first threshold adjustment module 705 is further configured to adjust the threshold information of the previous priority quality indicator of the currently adjusted quality indicator when the number of sampling periods selected according to the adjusted threshold information does not reach the preset number and there is a quality indicator that has not been adjusted;

[0200] A repeated execution module is configured to adjust the threshold information of the previous priority quality indicator of the currently adjusted quality indicator again if the number of sampling time periods selected by the adjusted threshold information does not reach the preset number and there are quality indicators that have not been adjusted, until the number of sampling time periods reaches the preset number or all quality indicators have been adjusted, and determine the vehicle quality of the target vehicle based on the quality mean value calculated based on the vehicle data of the selected sampling time period.

[0201] In one embodiment, the first threshold adjustment module is specifically configured to adjust the threshold information of the quality indicator with the lowest priority according to a preset step size; and / or, according to a preset step size, adjust the threshold information of the quality indicator of the previous priority of the currently adjusted quality indicator;

[0202] The preset step size is used to indicate the numerical reduction range of the threshold information for each adjustment.

[0203] In one embodiment, the quality index includes at least two of the following: an engine torque quality index, a transmission ratio quality index, a vehicle speed quality index, and a neutral gear quality index;

[0204] The indicator acquisition module 701 is specifically configured in at least two of the following ways:

[0205] determining an engine torque quality index according to a difference between the total engine torque and the engine friction torque, and / or a torque change rate of the engine;

[0206] Determine the transmission ratio quality index according to the engine transmission ratio change rate;

[0207] Determining a vehicle speed quality index according to a difference between an actual vehicle speed and a filtered vehicle speed, and / or a difference between accelerations filtered by different filtering algorithms;

[0208] The neutral gear quality index is determined according to whether the vehicle is in neutral gear state.

[0209] In one implementation, the sampling time period is determined based on a gear shift period and a non-gear shift period.

[0210] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, all or part of them can be integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the index acquisition module 701 can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The function of the above index acquisition module 701. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0211] The above-mentioned device provided in this embodiment can be used to execute the vehicle quality determination method in the above-mentioned embodiment. Its implementation method and technical effect are similar, and this embodiment will not be repeated here.

[0212] Figure 8 FIG. 1 is a schematic diagram showing the hardware structure of a vehicle-mounted weighing system provided in an embodiment of the present application. Figure 8 As shown, the server is used to implement the operations corresponding to the server in any of the above method embodiments. The server in this embodiment may include: a processor 801, and a memory 802 that is communicatively connected to the processor 801;

[0213] The memory 802 stores computer executable instructions;

[0214] The processor 801 executes the computer-executable instructions stored in the memory 802 to implement the road scene recognition method provided in the above embodiment.

[0215] Optionally, the memory 802 may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0216] Optionally, the processor 801 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0217] Optionally, the memory 802 can be either independent or integrated with the processor 801. When the memory 802 is a device independent of the processor 801, the memory 802 and the processor 801 can be connected via a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus. Furthermore, a transceiver 803 is also included for receiving or sending various data and / or instructions involved in the vehicle quality determination method.

[0218] The vehicle-mounted weighing system provided in this embodiment can be used to execute the vehicle mass determination method in the above-mentioned embodiment. Its implementation method and technical effect are similar, and this embodiment will not be repeated here.

[0219] In addition, this embodiment further provides a computer-readable storage medium on which computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement the vehicle mass determination method described in the above embodiment. Its implementation method and technical effect are similar to those of the above method embodiment, and this embodiment will not be repeated here.

[0220] In addition, this embodiment also provides a computer program product, including a computer program, which is executed by a processor to implement the vehicle mass determination method described in the above embodiment. Its implementation method and technical effect are similar to those of the above method embodiment, and this embodiment will not be repeated here.

[0221] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0222] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0223] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0224] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0225] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0226] The above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application are described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0227] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0228] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for determining vehicle mass, characterized in that: include: Acquire predetermined multi-dimensional quality indicators and threshold information corresponding to each quality indicator; wherein the quality indicator indicates the quality of vehicle data used to calculate vehicle quality, and the threshold information is used to indicate the minimum value of the quality indicator that satisfies the corresponding quality condition; According to each quality indicator and its corresponding threshold information, selecting multiple sampling time periods in which the vehicle data quality meets all quality conditions from multiple sampling time periods for calculating vehicle quality; The vehicle mass of the target vehicle is determined based on the mass mean value calculated from the vehicle data of the multiple sampling time periods.

2. The method according to claim 1, characterized in that Also includes: Obtaining priority information corresponding to each quality indicator, wherein the priority information is used to indicate the degree of influence of the quality indicator on the vehicle quality calculation accuracy; When the number of sampling periods selected according to the threshold information is less than a preset number, adjusting the threshold information of the quality indicator with the lowest priority according to the priority information so that the adjusted threshold information is less than the current threshold information; When the number of sampling time periods selected according to the adjusted threshold information reaches a preset number, the vehicle mass of the target vehicle is determined based on the mass mean value calculated based on the vehicle data of the selected sampling time period.

3. The method according to claim 1 or 2, characterized in that: Also includes: Obtaining the true value of the vehicle mass of the target vehicle in multiple historical sampling time periods, and the historical mass value calculated based on the vehicle data in each historical sampling time period; Determine the quality error of each historical sampling time period according to the comparison result of the vehicle quality true value and the historical quality value, and determine the quality assessment accuracy of multiple historical sampling time periods based on the quality error and a predefined error threshold, wherein the quality assessment accuracy is the proportion of time periods in which the quality error is lower than the error threshold; For each quality indicator, multiple change thresholds of the quality indicator are adjusted and the values ​​of other quality indicators are kept unchanged, so as to eliminate the sampling time periods in the historical sampling time periods that are lower than the corresponding change thresholds, and obtain the quality assessment accuracy under each change threshold; The obtaining of threshold information corresponding to each quality indicator includes: For each quality indicator, a threshold value at which the quality assessment accuracy reaches a preset quality precision is selected from the change threshold value to determine threshold information corresponding to each quality indicator.

4. The method according to claim 3, characterized in that Also includes: For each quality indicator, according to multiple change thresholds of the quality indicator and the quality assessment accuracy under each change threshold, a linear relationship between each quality indicator and the quality assessment accuracy is obtained by fitting; The step of selecting a threshold value at which the quality assessment accuracy reaches a preset quality accuracy from the change threshold value to determine the threshold information corresponding to each quality indicator includes: A change threshold range that meets the linear relationship is screened out from the change threshold, and a threshold whose quality assessment accuracy reaches a preset quality accuracy is selected from the change threshold range to determine threshold information corresponding to each quality indicator.

5. The method according to claim 2, characterized in that: The obtaining of priority information corresponding to each quality indicator includes: According to the linear relationship between each quality indicator and the quality assessment accuracy, the slope of the linear relationship corresponding to each quality indicator is obtained; According to the slope of each quality indicator, priority information corresponding to each quality indicator from high priority to low priority is obtained.

6. The method according to claim 2 or 5, characterized in that: Also includes: When the number of sampling periods selected according to the adjusted threshold information does not reach the preset number and there are quality indicators that have not been adjusted, adjusting the threshold information of the previous priority quality indicator of the currently adjusted quality indicator; If the number of sampling time periods selected by the adjusted threshold information does not reach the preset number and there are quality indicators that have not been adjusted, the threshold information of the previous priority quality indicator of the currently adjusted quality indicator is adjusted again until the number of sampling time periods reaches the preset number or all quality indicators have been adjusted, and the vehicle quality of the target vehicle is determined based on the quality mean calculated from the vehicle data of the selected sampling time period.

7. The method according to claim 6, characterized in that The adjusting the threshold information of the quality indicator with the lowest priority includes: adjusting the threshold information of the quality indicator with the lowest priority according to a preset step size; and / or, The adjusting the threshold information of the previous priority quality indicator of the currently adjusted quality indicator includes: adjusting the threshold information of the previous priority quality indicator of the currently adjusted quality indicator according to a preset step size; The preset step size is used to indicate the numerical reduction range of the threshold information for each adjustment.

8. The method according to any one of claims 1 to 7, characterized in that: The quality index includes at least two of the following: an engine torque quality index, a transmission ratio quality index, a vehicle speed quality index and a neutral gear quality index; The obtaining of the predetermined multi-dimensional quality indicators includes at least two of the following: determining an engine torque quality index according to a difference between the total engine torque and the engine friction torque, and / or a torque change rate of the engine; Determine the transmission ratio quality index according to the engine transmission ratio change rate; Determining a vehicle speed quality index according to a difference between an actual vehicle speed and a filtered vehicle speed, and / or a difference between accelerations filtered by different filtering algorithms; The neutral gear quality index is determined according to whether the vehicle is in neutral gear state.

9. The method according to any one of claims 1 to 7, characterized in that: The sampling time period is determined based on a gear shift period and a non-gear shift period.

10. A vehicle mass determination device, characterized in that: include: An indicator acquisition module, configured to acquire a predetermined multi-dimensional quality indicator and threshold information corresponding to each quality indicator; wherein the quality indicator indicates the quality of vehicle data used to calculate vehicle quality, and the threshold information is used to indicate a minimum value of the quality indicator that satisfies a corresponding quality condition; A time period selection module, which is configured to select multiple sampling time periods in which the vehicle data quality meets the quality conditions from multiple sampling time periods for calculating vehicle quality according to each quality indicator and its corresponding threshold information; The quality determination module is configured to determine the vehicle quality of the target vehicle based on the quality average calculated from the vehicle data of the plurality of sampling time periods.

11. A vehicle-mounted weighing system, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory includes computer executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the vehicle mass determination method as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle mass determination method as described in any one of claims 1-9.

13. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the vehicle mass determination method according to any one of claims 1 to 9.

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