Vehicle load determination method and device based on automatic driving, equipment and medium

Abstract

The invention provides a vehicle load determination method and device based on automatic driving, equipment and a medium, and relates to the technical field of automatic driving. According to the method, firstly, a target vehicle load determination rule is obtained, and the target vehicle load determination rule is at least used for reflecting the corresponding relation between the vehicle load of a target vehicle and the radius of a vehicle tire; secondly, the current vehicle tire radius of the target vehicle is obtained, and the current vehicle tire radius is determined based on the vehicle speed of the target vehicle under the current actual load; and then, based on the target vehicle load determination rule and the current vehicle tire radius, analyzing the current vehicle load of the target vehicle. On the basis of the content, the problem that in the prior art, the reliability of vehicle load determination is relatively low can be solved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more specifically, to a method and apparatus, device and medium for determining vehicle load based on autonomous driving. Background Art

[0002] In the field of autonomous commercial vehicles, the control parameters and control performance of the vehicle's lateral and longitudinal control are closely related to the vehicle's load. Among them, accurate estimation of the vehicle's load can adjust the control strategy and control parameters of braking and acceleration in real time according to the load, thereby improving the stability, comfort and safety of the intelligent driving process. However, the current mainstream method for calculating vehicle load is to build a model of the vehicle based on the vehicle dynamics model, and estimate the vehicle load through Kalman filtering, least squares method, etc. However, wheel radius information is required when constructing a vehicle dynamics model. The current mainstream technology uses a fixed initial wheel radius when estimating mass. However, the inventors have found that in actual operating scenarios, due to the large cargo capacity of commercial vehicles, the change in tire radius gradually increases with the increase in cargo capacity. Therefore, it is difficult to estimate the accurate vehicle load using a fixed wheel radius. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a method and device, equipment and medium for determining vehicle load based on automatic driving, so as to improve the problem of relatively low reliability of vehicle load determination existing in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solutions:

[0005] A method for determining vehicle load based on automatic driving, comprising:

[0006] Obtaining a target vehicle load determination rule, wherein the target vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius;

[0007] Obtaining a current tire radius of the target vehicle, wherein the current tire radius of the target vehicle is determined based on a vehicle speed of the target vehicle under a current actual load;

[0008] Based on the target vehicle load determination rule and the current vehicle tire radius, the current vehicle load of the target vehicle is analyzed.

[0009] In a preferred embodiment of the present application, in the above-mentioned method for determining vehicle load based on automatic driving, the step of obtaining a target vehicle load determination rule includes:

[0010] An initial vehicle load determination rule is constructed, wherein the initial vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius, the vehicle tire pressure, the vehicle tire width, the vehicle tire length and the target proportional factor, the target proportional factor is a proportional factor at least related to the material of the vehicle tire of the target vehicle, and the vehicle tire pressure, the vehicle tire width and the vehicle tire length are known parameters, and the target proportional factor is an unknown parameter;

[0011] A plurality of load-radius test data combinations are obtained, wherein each of the load-radius test data combinations includes a vehicle load and a vehicle tire radius obtained by testing;

[0012] Based on the plurality of load radius test data combinations, determining and processing the target proportional factor in the initial vehicle load determination rule to obtain a known value of the target proportional factor;

[0013] Based on the known value of the target proportional factor and the initial vehicle load determination rule, a target vehicle load determination rule is determined.

[0014] In a preferred embodiment of the present application, in the above-mentioned vehicle load determination method based on automatic driving, the target vehicle load determination rule includes:

[0015] F = P*W*(L+α*(R1-R2));

[0016] Among them, F is the vehicle load, R1 is the vehicle tire radius of the target vehicle under no-load, R2 is the vehicle tire radius of the target vehicle under actual load, P is the vehicle tire pressure, W is the vehicle tire width, L is the vehicle tire length, and α is the target scale factor.

[0017] In a preferred embodiment of the present application, in the above-mentioned method for determining vehicle load based on automatic driving, the step of obtaining the current tire radius of the target vehicle includes:

[0018] Obtaining a tire radius and a vehicle speed of the target vehicle under no-load conditions, and obtaining a corresponding first tire radius and a first vehicle speed;

[0019] Obtaining the speed of the target vehicle under the current actual load, and obtaining a corresponding second speed, wherein the second speed is determined by an RTK integrated navigation device of the target vehicle;

[0020] Based on the first vehicle tire radius, the first vehicle speed, and the second vehicle speed, a current vehicle tire radius of the target vehicle under a current actual load is determined.

[0021] In a preferred embodiment of the present application, in the above-mentioned method for determining vehicle load based on automatic driving, the step of obtaining the tire radius and speed of the target vehicle under no-load conditions and obtaining the corresponding first vehicle tire radius and first vehicle speed includes:

[0022] Obtaining the number of pulses output by the wheel speed meter of the target vehicle per revolution, and obtaining the pulse frequency of the wheel speed meter, and obtaining the tire radius of the target vehicle under no-load conditions, to obtain the corresponding first vehicle tire radius;

[0023] Based on the first vehicle tire radius, the pulse frequency and the pulse number, the first vehicle speed corresponding to the target vehicle is determined, wherein the first vehicle speed and the first vehicle tire radius have a positive correlation, the first vehicle speed and the pulse frequency have a positive correlation, and the first vehicle speed and the pulse number have a negative correlation.

[0024] In a preferred embodiment of the present application, in the above-mentioned method for determining vehicle load based on automatic driving, the step of determining the current vehicle tire radius of the target vehicle under the current actual load based on the first vehicle tire radius, the first vehicle speed and the second vehicle speed includes:

[0025] calculating a ratio between the second vehicle speed and the first vehicle speed to obtain a corresponding vehicle speed ratio;

[0026] The product of the vehicle speed ratio and the first vehicle tire radius is calculated to obtain the current vehicle tire radius of the target vehicle under the current actual load.

[0027] The present application also provides a vehicle load determination device based on automatic driving, comprising:

[0028] A load determination rule obtaining module, used to obtain a target vehicle load determination rule, wherein the target vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius;

[0029] A vehicle tire radius obtaining module, used to obtain a current vehicle tire radius of the target vehicle, wherein the current vehicle tire radius is determined based on a vehicle speed of the target vehicle under a current actual load;

[0030] The vehicle load determination module is used to analyze the current vehicle load of the target vehicle based on the target vehicle load determination rule and the current vehicle tire radius.

[0031] In a preferred embodiment of the present application, in the above-mentioned vehicle load determination device based on automatic driving, the load determination rule acquisition module is specifically used for:

[0032] An initial vehicle load determination rule is constructed, wherein the initial vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius, the vehicle tire pressure, the vehicle tire width, the vehicle tire length and the target proportional factor, the target proportional factor is a proportional factor at least related to the material of the vehicle tire of the target vehicle, and the vehicle tire pressure, the vehicle tire width and the vehicle tire length are known parameters, and the target proportional factor is an unknown parameter;

[0033] A plurality of load-radius test data combinations are obtained, wherein each of the load-radius test data combinations includes a vehicle load and a vehicle tire radius obtained by testing;

[0034] Based on the plurality of load radius test data combinations, determining and processing the target proportional factor in the initial vehicle load determination rule to obtain a known value of the target proportional factor;

[0035] Based on the known value of the target proportional factor and the initial vehicle load determination rule, a target vehicle load determination rule is determined.

[0036] Based on the above, the present application also provides an electronic device, including:

[0037] Memory for storing computer programs;

[0038] A processor connected to the memory is used to execute the computer program stored in the memory to implement the above-mentioned vehicle load determination method based on automatic driving.

[0039] Based on the above, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is run, the various steps of the above-mentioned method for determining vehicle load based on autonomous driving are executed.

[0040] The vehicle load determination method and device, equipment and medium provided by the present application based on automatic driving obtain a target vehicle load determination rule, wherein the target vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius; secondly, obtain the current vehicle tire radius of the target vehicle, wherein the current vehicle tire radius is determined based on the vehicle speed of the target vehicle under the current actual load; then, based on the target vehicle load determination rule and the current vehicle tire radius, analyze the current vehicle load of the target vehicle. Based on the above content, since the current vehicle tire radius is determined based on the vehicle speed of the target vehicle under the current actual load, the current vehicle tire radius is related to the actual load of the target vehicle. Therefore, when analyzing the current vehicle load based on the target vehicle load determination rule and the current vehicle tire radius, a reliable current vehicle load can be obtained, so that compared with the conventional technical solution based on the fixed vehicle tire radius for analysis, it can have a higher reliability, thereby improving the problem of relatively low reliability of vehicle load determination in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

[0042] Figure 1 A structural block diagram of an electronic device provided in an embodiment of the present application.

[0043] Figure 2 A flow chart of a method for determining vehicle load based on autonomous driving provided in an embodiment of the present application.

[0044] Figure 3 A block diagram of a vehicle load determination device based on autonomous driving provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, 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. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0047] like Figure 1 As shown, an embodiment of the present application provides an electronic device, wherein the electronic device may include a memory, a processor, and a vehicle load determination device based on automatic driving.

[0048] In detail, the memory and the processor are electrically connected directly or indirectly to achieve data transmission or interaction. For example, the memory and the processor can be electrically connected through one or more communication buses or signal lines. The vehicle load determination device based on autonomous driving includes at least one software function module stored in the memory in the form of software or firmware. The processor is used to execute an executable computer program stored in the memory, for example, the software function modules and computer programs included in the vehicle load determination device based on autonomous driving, so as to implement the vehicle load determination method based on autonomous driving provided in an embodiment of the present application.

[0049] Optionally, the memory can be, but is not limited to, random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

[0050] Furthermore, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a system on chip (SoC), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0051] Understandably, Figure 1 The structure shown is for illustration only, and the electronic device may also include Figure 1 More or fewer components as shown, or with Figure 1The different configurations shown, for example, may also include a communication unit for information exchange with other devices. In addition, the electronic device may be an onboard device of a vehicle or a background server of an autonomous driving system.

[0052] Combination Figure 2 The embodiment of the present application also provides a method for determining vehicle load based on automatic driving that can be applied to the above electronic device. Among them, the method steps defined in the process related to the method for determining vehicle load based on automatic driving can be implemented by the electronic device.

[0053] The following will Figure 2 The specific process shown is explained in detail.

[0054] Step S110, obtaining a target vehicle load determination rule.

[0055] In an embodiment of the present application, the electronic device can obtain a target vehicle load determination rule, wherein the target vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius, such as a functional relationship.

[0056] Step S120, obtaining the current tire radius of the target vehicle.

[0057] In an embodiment of the present application, the electronic device can obtain the current vehicle tire radius of the target vehicle, wherein the current vehicle tire radius is determined based on the vehicle speed of the target vehicle under the current actual load, that is, the current vehicle tire radius is related to the current actual load.

[0058] Step S130, analyzing the current vehicle load of the target vehicle based on the target vehicle load determination rule and the current vehicle tire radius.

[0059] In an embodiment of the present application, after obtaining the target vehicle load rule and the current vehicle tire radius, the electronic device can analyze the current vehicle load of the target vehicle based on the target vehicle load determination rule and the current vehicle tire radius, wherein the current vehicle load is used as a basis for controlling the braking and acceleration of the target vehicle during the automatic driving process. The specific control process can refer to the existing technology related to automatic driving. In the embodiment of the present application, no specific limitation and description are made, and the focus is on how to determine the current vehicle load.

[0060] Based on the above content, since the current vehicle tire radius is determined based on the speed of the target vehicle under the current actual load, the current vehicle tire radius is related to the actual load of the target vehicle. Therefore, when analyzing the current vehicle load based on the target vehicle load determination rules and the current vehicle tire radius, a reliable current vehicle load can be obtained, which can have higher reliability than the conventional technical solution based on a fixed vehicle tire radius for analysis, thereby improving the problem of relatively low reliability in vehicle load determination in the prior art.

[0061] First, it should be noted that for step S110, the specific method of obtaining the target vehicle load determination rule is not limited and can be selected according to actual needs.

[0062] For example, in an alternative embodiment, in order to ensure that the target vehicle load determination rule obtained can more reliably reflect the correspondence between the vehicle load of the target vehicle and the vehicle tire radius, so that a reliable current vehicle load can be analyzed based on the target vehicle load determination rule, the above-mentioned step S110 can further include step S111, step S112, step S113 and step S114, and the specific content of each step is described as follows.

[0063] Step S111, constructing an initial vehicle load determination rule.

[0064] In the embodiment of the present application, an initial vehicle load determination rule can be constructed first. The initial vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius, vehicle tire pressure, vehicle tire width, vehicle tire length and target proportional factor, and the target proportional factor belongs to a proportional factor at least related to the material of the vehicle tire of the target vehicle (that is, the proportional factors corresponding to vehicle tires of different materials may be different), and the vehicle tire pressure, the vehicle tire width and the vehicle tire length (which may be the length of the cross section of the ground contact part) are known parameters, and the target proportional factor belongs to an unknown parameter. In addition, it should be noted that according to the elastic deformation theory, the ground contact length (i.e., the vehicle tire length) is approximately a function of the compression deformation of the tire radius. Therefore, for smaller compression deformation (linear elastic assumption), there is a certain mapping relationship between the load and the tire radius, so that the initial vehicle load determination rule that characterizes the mapping relationship can be determined. It should be noted that the vehicle tire radius refers to the radius of the vehicle tire during the rotation process, such as the rolling radius of the vehicle tire, such as the current vehicle tire radius is the calculated radius of the vehicle tire during the rotation process. In addition, in the embodiment of the present application, when the tire pressure of the vehicles is the same, the wheel radius is consistent.

[0065] Step S112, obtaining multiple load radius test data combinations.

[0066] In the embodiment of the present application, after the initial vehicle load determination rule is constructed, multiple load radius test data combinations can be obtained. Each of the load radius test data combinations includes a vehicle load and a vehicle tire radius obtained by testing, such as vehicle load 1 and vehicle tire radius 1, vehicle load 2 and vehicle tire radius 2, and vehicle load 3 and vehicle tire radius 3.

[0067] Step S113, based on the plurality of load radius test data combinations, determining and processing the target proportional factor in the initial vehicle load determination rule to obtain a known value of the target proportional factor.

[0068] In the embodiment of the present application, after obtaining multiple load radius test data combinations, the target proportional factor in the initial vehicle load determination rule can be determined based on the multiple load radius test data combinations to obtain a known value of the target proportional factor. In other words, a known value of the target proportional factor can be determined based on each load radius test data combination, and then the multiple known values ​​can be analyzed, such as aggregation or mean calculation, to obtain the final known value of the target proportional factor.

[0069] Step S114, determining a target vehicle load determination rule based on the known value of the target proportional factor and the initial vehicle load determination rule.

[0070] In an embodiment of the present application, after obtaining the known value of the target proportional factor, a target vehicle load determination rule can be determined based on the known value of the target proportional factor and the initial vehicle load determination rule. That is, in the target vehicle load determination rule, only the vehicle load and the vehicle tire radius are unknown values. Therefore, in subsequent steps, as long as the vehicle tire radius is determined, the corresponding vehicle load can be calculated.

[0071] It is understandable that, in an alternative implementation, the target vehicle load determination rule may include the following formula:

[0072] F = P*W*(L+α*(R1-R2));

[0073] Among them, F is the vehicle load (unknown value), the corresponding unit is Newton, R1 is the vehicle tire radius of the target vehicle under no-load (known value), the corresponding radius is meter, R2 is the vehicle tire radius of the target vehicle under actual load (unknown value), the corresponding radius is meter, P is the vehicle tire pressure (known value), the corresponding unit is Pascal, W is the vehicle tire width (known value), the corresponding radius is meter, L is the vehicle tire length of the target vehicle under no-load (known value, specifically can be measured under no-load and non-rotating conditions), the corresponding radius is meter, α is the target proportional factor (known value). The specific principle is that the load of the tire depends on the tire pressure and the ground contact area, the ground contact area depends on the length and width of the tire, the width remains unchanged, and the length will change according to the change of the radius. Therefore, on the basis of the initial tire length, the product of the change in radius and the corresponding target proportional factor is added to obtain the tire length under load.

[0074] Secondly, it should be noted that for step S120, the specific method of obtaining the current tire radius of the target vehicle is not limited and can be selected according to actual needs.

[0075] For example, in an alternative embodiment, in order to quickly and reliably determine the current vehicle tire radius and avoid the problem of excessive costs caused by introducing too many measuring devices, the above-mentioned step S120 may further include step S121, step S122 and step S123, and the specific contents of each step are described as follows.

[0076] Step S121, obtaining the tire radius and speed of the target vehicle under no-load conditions, and obtaining a corresponding first tire radius and first speed.

[0077] In an embodiment of the present application, the vehicle tire radius and vehicle speed of the target vehicle under no-load conditions are obtained to obtain a corresponding first vehicle tire radius and a first vehicle speed.

[0078] Step S122, obtaining the speed of the target vehicle under the current actual load, and obtaining a corresponding second vehicle speed.

[0079] In the embodiment of the present application, the speed of the target vehicle under the current actual load can be obtained to obtain the corresponding second speed (i.e., the actual vehicle). Wherein, the second speed is determined by the RTK integrated navigation device of the target vehicle. In addition, the RTK integrated navigation device (RTK GNSS navigation device) is a combined navigation system that integrates real-time dynamic positioning (RTK, Real-Time Kinematic) technology. This device is usually used in fields that require high-precision positioning, such as unmanned driving, geographic surveying, drone flight control, automated agriculture, etc. It provides users with high-precision positioning and navigation information by combining different sensors (such as GPS, inertial navigation system (INS)), etc. RTK is a high-precision positioning technology based on the global navigation satellite system (GNSS) (such as GPS, GLONASS, Galileo, BeiDou, etc.). The traditional GNSS positioning accuracy is generally at the level of several meters, while through RTK technology, the positioning accuracy can reach the centimeter level, or even the millimeter level. Its principle is to receive satellite signals through a reference station (base station) and transmit the correction data to one or more mobile devices (mobile stations), thereby improving the position accuracy of the mobile device. A combined navigation system usually includes two or more types of sensors to improve positioning accuracy, stability and reliability in different environments and conditions. Common combinations include: GNSS+Inertial Navigation System (INS): The inertial navigation system measures the acceleration and angular velocity of the device through accelerometers and gyroscopes to calculate the current position of the device. GNSS (GPS, etc.) provides an absolute reference for the position, while INS is used to provide continuous motion data. The combination of the two can overcome navigation requirements when GNSS signals fail; GNSS+IMU (Inertial Measurement Unit): IMU devices are usually composed of accelerometers, gyroscopes and magnetometers, and are used to accurately measure the acceleration, rotation angle and direction information of the device.

[0080] Step S123, determining the current vehicle tire radius of the target vehicle under the current actual load based on the first vehicle tire radius, the first vehicle speed and the second vehicle speed.

[0081] In the embodiment of the present application, after obtaining the first vehicle tire radius, the first vehicle speed and the second vehicle speed, the current vehicle tire radius of the target vehicle under the current actual load can be determined based on the first vehicle tire radius, the first vehicle speed and the second vehicle speed. It should be noted that the first vehicle speed is the speed of the target vehicle under no load, and the second vehicle speed is the speed of the target vehicle under the current actual load. For example, the first vehicle speed is calculated by the current pulse number and pulse frequency of the wheel speed meter when the RTK integrated navigation device measures the current actual vehicle speed (i.e., the second vehicle speed), and belongs to the theoretical value of the current vehicle speed. The principle is that the vehicle speed is calculated by the number of circles turned per unit time * 2 * π * wheel radius, but after loading, the actual wheel radius becomes smaller, but the tire radius used by the wheel speed meter is still the initial tire radius, that is, the tire radius used is larger than the actual radius, and the output vehicle speed is faster than the actual vehicle speed. Therefore, the relative relationship between the original wheel radius and the actual wheel radius can be known according to the quotient of the speed output by the wheel speed meter and the actual speed.

[0082] It can be understood that, in the above step S121, the specific method of obtaining the tire radius and the speed of the target vehicle under no-load is not limited and can be selected according to actual needs. For example, in an alternative embodiment, in order to obtain the tire radius and the speed of the vehicle with higher reliability, the above step S121 can further include the following contents:

[0083] First, the number of pulses output by the wheel speed meter of the target vehicle per revolution can be obtained, and the pulse frequency of the wheel speed meter can be obtained, and the tire radius of the target vehicle under no-load conditions can be obtained to obtain the corresponding first vehicle tire radius;

[0084] Secondly, the first vehicle speed corresponding to the target vehicle may be determined based on the first vehicle tire radius, the pulse frequency and the pulse number, wherein the first vehicle speed and the first vehicle tire radius have a positive correlation, the first vehicle speed and the pulse frequency have a positive correlation, and the first vehicle speed and the pulse number have a negative correlation; illustratively, the corresponding relationship may be:

[0085]

[0086] Among them, V1 is the first vehicle speed, R1 is the first vehicle tire radius, f is the pulse number, and P is the pulse frequency. Based on this, the first vehicle speed can be determined through the above correspondence. The specific principle is that the pulse number and pulse frequency reflect the rotation speed of the wheel, and the product of the vehicle speed and the circumference of the wheel is equal to the vehicle speed. In other words, the first vehicle speed is calculated by the current pulse number and pulse frequency of the wheel speedometer when the RTK integrated navigation device measures the current actual vehicle speed (i.e., the second vehicle speed), which is the theoretical value of the current vehicle speed.

[0087] It is understandable that, in the above step S123, the specific method of determining the current vehicle tire radius of the target vehicle under the current actual load is not limited and can be selected according to actual needs. For example, in an alternative implementation, the above step S123 may include:

[0088] First, the ratio between the second vehicle speed and the first vehicle speed can be calculated to obtain the corresponding vehicle speed ratio; secondly, the product between the vehicle speed ratio and the first vehicle tire radius can be calculated to obtain the current vehicle tire radius of the target vehicle under the current actual load. The specific calculation method is as follows:

[0089]

[0090] Among them, R2 is the tire radius of the current vehicle, R1 is the tire radius of the first vehicle, V2 is the second vehicle speed, and V1 is the first vehicle speed. The specific principle is that the vehicle speed is calculated by the number of circles turned per unit time*2*π*wheel radius. However, after loading, the actual wheel radius becomes smaller, but the tire radius used by the speedometer is still the initial tire radius (that is, the first vehicle tire radius, which can be measured when the vehicle is unloaded and before moving). In other words, the tire radius used is larger than the actual radius, and the output vehicle speed is faster than the actual vehicle speed. Therefore, the relative relationship between the original wheel radius and the actual wheel radius can be known based on the quotient of the speed output by the speedometer and the actual speed.

[0091] On the third aspect, it should be explained about step S130 that, as mentioned above, after obtaining the target vehicle load determination rule, since the target vehicle load determination rule can be a functional relationship, and in this functional relationship, only the current vehicle tire radius and the current vehicle load are unknown values, therefore, as long as the current vehicle tire radius is determined based on step S120, the value of the current vehicle tire radius can be quickly and reliably determined in combination with the target vehicle load determination rule.

[0092] Combination Figure 3The embodiment of the present application also provides a vehicle load determination device based on automatic driving that can be applied to the above electronic device. The vehicle load determination device based on automatic driving can include a load determination rule acquisition module, a vehicle tire radius acquisition module and a vehicle load determination module.

[0093] The load determination rule acquisition module is used to obtain the target vehicle load determination rule, wherein the target vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load and the vehicle tire radius of the target vehicle. Figure 2 As shown in step S110, the relevant contents of the load determination rule acquisition module can refer to the above description of step S110.

[0094] The vehicle tire radius obtaining module is used to obtain the current vehicle tire radius of the target vehicle, wherein the current vehicle tire radius is determined based on the vehicle speed of the target vehicle under the current actual load. Figure 2 As shown in step S120, the relevant contents of the vehicle tire radius obtaining module can refer to the above description of step S120.

[0095] The vehicle load determination module is used to analyze the current vehicle load of the target vehicle based on the target vehicle load determination rule and the current vehicle tire radius, wherein the current vehicle load is used as a control basis for braking and accelerating the target vehicle during the automatic driving process. Figure 2 As shown in step S130, the relevant contents of the vehicle load determination module can refer to the above description of step S130.

[0096] It is understandable that, in an alternative implementation, the load determination rule obtaining module may be specifically used for:

[0097] An initial vehicle load determination rule is constructed, wherein the initial vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius, the vehicle tire pressure, the vehicle tire width, the vehicle tire length and the target proportional factor, the target proportional factor is a proportional factor at least related to the material of the vehicle tire of the target vehicle, and the vehicle tire pressure, the vehicle tire width and the vehicle tire length are known parameters, and the target proportional factor is an unknown parameter;

[0098] A plurality of load-radius test data combinations are obtained, wherein each of the load-radius test data combinations includes a vehicle load and a vehicle tire radius obtained by testing;

[0099] Based on the plurality of load radius test data combinations, determining and processing the target proportional factor in the initial vehicle load determination rule to obtain a known value of the target proportional factor;

[0100] Based on the known value of the target proportional factor and the initial vehicle load determination rule, a target vehicle load determination rule is determined.

[0101] In an embodiment of the present application, corresponding to the above-mentioned method for determining vehicle load based on autonomous driving applied to the electronic device, a computer-readable storage medium is also provided, in which a computer program is stored, and when the computer program is run, each step of the method for determining vehicle load based on autonomous driving is executed.

[0102] Among them, the steps executed when the aforementioned computer program is running will not be described one by one here, and reference may be made to the previous explanation of the method for determining the vehicle load based on automatic driving.

[0103] In summary, the vehicle load determination method and device, equipment and medium provided by the present application based on automatic driving obtain the target vehicle load determination rule, wherein the target vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius; secondly, the current vehicle tire radius of the target vehicle is obtained, wherein the current vehicle tire radius is determined based on the speed of the target vehicle under the current actual load; then, based on the target vehicle load determination rule and the current vehicle tire radius, the current vehicle load of the target vehicle is analyzed. Based on the above content, since the current vehicle tire radius is determined based on the speed of the target vehicle under the current actual load, the current vehicle tire radius is related to the actual load of the target vehicle. Therefore, when analyzing the current vehicle load based on the target vehicle load determination rule and the current vehicle tire radius, a reliable current vehicle load can be obtained, so that compared with the conventional technical solution based on the fixed vehicle tire radius for analysis, it can have a higher reliability, thereby improving the problem of relatively low reliability of vehicle load determination in the prior art.

[0104] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device and method embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the device, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0105] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0106] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk. It should be noted that, in this article, the term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0107] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining vehicle load based on automatic driving, characterized in that: include: Obtaining a target vehicle load determination rule, wherein the target vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius; Obtaining a current tire radius of the target vehicle, wherein the current tire radius of the target vehicle is determined based on a vehicle speed of the target vehicle under a current actual load; Based on the target vehicle load determination rule and the current vehicle tire radius, the current vehicle load of the target vehicle is analyzed.

2. The method for determining vehicle load based on automatic driving according to claim 1, characterized in that: The step of obtaining a target vehicle load determination rule comprises: An initial vehicle load determination rule is constructed, wherein the initial vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius, the vehicle tire pressure, the vehicle tire width, the vehicle tire length and the target proportional factor, the target proportional factor is a proportional factor at least related to the material of the vehicle tire of the target vehicle, and the vehicle tire pressure, the vehicle tire width and the vehicle tire length are known parameters, and the target proportional factor is an unknown parameter; A plurality of load-radius test data combinations are obtained, wherein each of the load-radius test data combinations includes a vehicle load and a vehicle tire radius obtained by testing; Based on the plurality of load radius test data combinations, determining and processing the target proportional factor in the initial vehicle load determination rule to obtain a known value of the target proportional factor; Based on the known value of the target proportional factor and the initial vehicle load determination rule, a target vehicle load determination rule is determined.

3. The method for determining vehicle load based on automatic driving according to claim 2, characterized in that: The target vehicle load determination rule includes: F = P*W*(L+α*(R1-R2)); Among them, F is the vehicle load, R1 is the vehicle tire radius of the target vehicle under no-load, R2 is the vehicle tire radius of the target vehicle under actual load, P is the vehicle tire pressure, W is the vehicle tire width, L is the vehicle tire length, and α is the target scale factor.

4. The vehicle load determination method based on automatic driving according to claim 1, characterized in that: The step of obtaining the current tire radius of the target vehicle comprises: Obtaining a tire radius and a vehicle speed of the target vehicle under no-load conditions, and obtaining a corresponding first tire radius and a first vehicle speed; Obtaining the speed of the target vehicle under the current actual load, and obtaining a corresponding second speed, wherein the second speed is determined by an RTK integrated navigation device of the target vehicle; Based on the first vehicle tire radius, the first vehicle speed, and the second vehicle speed, a current vehicle tire radius of the target vehicle under a current actual load is determined.

5. The method for determining vehicle load based on automatic driving according to claim 4, characterized in that: The step of obtaining the tire radius and speed of the target vehicle under no-load conditions to obtain the corresponding first tire radius and first speed of the target vehicle comprises: Obtaining the number of pulses output by the wheel speed meter of the target vehicle per revolution, and obtaining the pulse frequency of the wheel speed meter, and obtaining the tire radius of the target vehicle under no-load conditions, to obtain the corresponding first vehicle tire radius; Based on the first vehicle tire radius, the pulse frequency and the pulse number, the first vehicle speed corresponding to the target vehicle is determined, wherein the first vehicle speed and the first vehicle tire radius have a positive correlation, the first vehicle speed and the pulse frequency have a positive correlation, and the first vehicle speed and the pulse number have a negative correlation.

6. The method for determining vehicle load based on automatic driving according to claim 4, characterized in that: The step of determining the current vehicle tire radius of the target vehicle under the current actual load based on the first vehicle tire radius, the first vehicle speed and the second vehicle speed comprises: calculating a ratio between the second vehicle speed and the first vehicle speed to obtain a corresponding vehicle speed ratio; The product of the vehicle speed ratio and the first vehicle tire radius is calculated to obtain the current vehicle tire radius of the target vehicle under the current actual load.

7. A vehicle load determination device based on automatic driving, characterized in that: include: A load determination rule obtaining module, used to obtain a target vehicle load determination rule, wherein the target vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius; A vehicle tire radius obtaining module, used to obtain a current vehicle tire radius of the target vehicle, wherein the current vehicle tire radius is determined based on a vehicle speed of the target vehicle under a current actual load; The vehicle load determination module is used to analyze the current vehicle load of the target vehicle based on the target vehicle load determination rule and the current vehicle tire radius.

8. The vehicle load determination device based on automatic driving according to claim 7, characterized in that: The load determination rule obtaining module is specifically used for: An initial vehicle load determination rule is constructed, wherein the initial vehicle load determination rule is at least used to reflect the corresponding relationship between the vehicle load of the target vehicle and the vehicle tire radius, the vehicle tire pressure, the vehicle tire width, the vehicle tire length and the target proportional factor, the target proportional factor is a proportional factor at least related to the material of the vehicle tire of the target vehicle, and the vehicle tire pressure, the vehicle tire width and the vehicle tire length are known parameters, and the target proportional factor is an unknown parameter; A plurality of load-radius test data combinations are obtained, wherein each of the load-radius test data combinations includes a vehicle load and a vehicle tire radius obtained by testing; Based on the plurality of load radius test data combinations, determining and processing the target proportional factor in the initial vehicle load determination rule to obtain a known value of the target proportional factor; Based on the known value of the target proportional factor and the initial vehicle load determination rule, a target vehicle load determination rule is determined.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor connected to the memory is used to execute a computer program stored in the memory to implement the vehicle load determination method based on automatic driving as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when running, executes the method for determining vehicle load based on automatic driving as described in any one of claims 1 to 6.

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