Vehicle load estimation method, device, equipment and medium

Abstract

The invention discloses a vehicle load estimation method, device and equipment and a medium. The method comprises the following steps: acquiring front and rear wheel speeds of a vehicle in a driving process, and determining a first load of the vehicle according to the front and rear wheel speeds; verifying the first load according to the actual longitudinal inclination angle of the vehicle; and when the first load passes the verification, determining the first load as an estimated load of the vehicle. By the adoption of the technical scheme, vehicle load estimation can be achieved for a commercial vehicle with low configuration under the condition that only a small number of necessary sensors are configured, estimation response is fast, precision is high, and therefore effective information can be provided for a driver or a vehicle control system.

Description

Technical Field

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

[0002] Commercial vehicles are mainly used for commercial purposes such as cargo transportation or commercial passenger transportation. In order to control costs, commercial vehicle manufacturers will try to reduce non-critical configurations and usually only equip some basic safety sensors, such as pressure sensors for the braking system and vehicle speed sensors, to ensure vehicle braking safety and achieve basic driving control.

[0003] Vehicle load will affect many aspects of the vehicle, such as braking distance, center of gravity position, and tire pressure. Estimating the vehicle load will help to accurately adjust the braking system and improve vehicle stability.

[0004] In the prior art, the load is generally estimated by measuring pressure through high-precision sensors or calculating deceleration through an electronic braking system, but the above methods are not suitable for commercial vehicles with lower configurations. Summary of the invention

[0005] The present invention provides a vehicle load estimation method, device, equipment and medium, which can estimate the vehicle load for commercial vehicles with low configuration, with only a small number of necessary sensors, and has a fast estimation response and high accuracy, thereby providing effective information for the driver or the vehicle control system.

[0006] According to one aspect of the present invention, a vehicle load estimation method is provided, comprising:

[0007] Acquiring front and rear wheel speeds of the vehicle during driving, and determining a first load of the vehicle according to the front and rear wheel speeds;

[0008] verifying the first load according to an actual longitudinal inclination angle of the vehicle;

[0009] When the first load passes the verification, the first load is determined as the estimated vehicle load.

[0010] Optionally, obtaining front and rear wheel speeds of the vehicle during driving, and determining a first load of the vehicle according to the front and rear wheel speeds, includes:

[0011] When it is determined that the vehicle is traveling at a constant speed on a straight road, the front wheel speed and the rear wheel speed sent by the wheel speed sensors respectively arranged at the front and rear wheels of the vehicle are obtained, and the front and rear wheel speed difference of the vehicle is determined according to the front wheel speed and the rear wheel speed;

[0012] Determine the difference in rolling radius between the front and rear wheels of the vehicle according to the front and rear wheel speed difference, and determine the rolling radius of the rear wheels of the vehicle according to the calibrated front wheel rolling radius and the front and rear wheel rolling radius difference;

[0013] A first load of the vehicle is determined according to the front wheel rolling radius and the rear wheel rolling radius; wherein the first load includes a first front axle load and a first rear axle load.

[0014] Optionally, determining a first load of the vehicle according to the front wheel rolling radius and the rear wheel rolling radius includes:

[0015] The front and rear wheel air pressures of the vehicle are respectively obtained, and the first load of the vehicle is determined according to the front and rear wheel air pressures, the front wheel rolling radius, the rear wheel rolling radius and a pre-established relationship database.

[0016] Optionally, the relational database includes a correspondence between load, air pressure and rolling radius.

[0017] Optionally, after determining the first load of the vehicle, the method further includes:

[0018] The calibrated front wheel rolling radius is corrected according to the first rear axle load, and the first load is updated according to the front and rear wheel air pressures, the rear wheel rolling radius, the corrected front wheel rolling radius and the relational database.

[0019] Optionally, verifying the first load according to an actual longitudinal inclination angle of the vehicle includes:

[0020] Acquiring an actual longitudinal inclination angle collected by a slope sensor, and calculating a first longitudinal inclination angle of the vehicle according to the first load;

[0021] Determine whether the difference between the first longitudinal inclination angle and the actual longitudinal inclination angle is less than a preset difference threshold; if so, determine that the first load has passed the verification; otherwise, determine that the first load has not passed the verification.

[0022] Optionally, the vehicle load estimation method further includes:

[0023] When the first load fails the verification, the process returns to re-determine the front and rear wheel speed difference of the vehicle, and updates the first load according to the re-determined front and rear wheel speed difference, until it is determined that the first load passes the verification.

[0024] According to another aspect of the present invention, there is provided a vehicle load estimation device, comprising:

[0025] A first load acquisition module, used to acquire the front and rear wheel speeds of the vehicle during driving, and determine a first load of the vehicle according to the front and rear wheel speeds;

[0026] a load verification module, configured to verify the first load according to an actual longitudinal inclination angle of the vehicle;

[0027] The estimation result determination module is used to determine the first load as the vehicle estimated load when the first load passes the verification.

[0028] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0029] at least one processor; and

[0030] a memory communicatively connected to the at least one processor; wherein,

[0031] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle load estimation method described in any embodiment of the present invention.

[0032] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle load estimation method described in any embodiment of the present invention when executed.

[0033] The technical solution of the embodiment of the present invention obtains the front and rear wheel speeds of the vehicle during driving, determines the first load of the vehicle according to the front and rear wheel speeds, verifies the first load according to the actual longitudinal inclination of the vehicle, and determines the first load as the estimated load of the vehicle when the first load passes the verification. This method can achieve low-cost estimation of the vehicle load for commercial vehicles with lower configurations when only a small number of necessary sensors are configured, and the estimation response is fast. Combined with the confirmation of the longitudinal inclination, the load can be obtained with high accuracy, thereby providing effective information for the driver or the vehicle control system.

[0034] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1is a flow chart of a vehicle load estimation method provided according to Embodiment 1 of the present invention;

[0037] Figure 2 is a flow chart of another vehicle load estimation method provided according to the second embodiment of the present invention;

[0038] Figure 3 is a structural schematic diagram of a vehicle load estimation device provided according to Embodiment 3 of the present invention;

[0039] Figure 4 It is a structural schematic diagram of an electronic device for implementing the vehicle load estimation method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] Embodiment 1

[0043] Figure 1 This is a flow chart of a vehicle load estimation method provided in the first embodiment of the present invention. This embodiment is applicable to the case where the vehicle load is estimated using less sensor information. The method can be executed by a vehicle load estimation device, which can be implemented in the form of hardware and / or software and can generally be configured in the vehicle control system. Figure 1 As shown, the method includes:

[0044] S110, obtaining the front and rear wheel speeds of the vehicle during driving, and determining a first load of the vehicle according to the front and rear wheel speeds.

[0045] Optionally, the front and rear wheel speeds of the vehicle may refer to the rotation speeds of the front and rear wheels respectively when the vehicle is driving. The measured front wheel speed and rear wheel speed generally refer to the angular velocity of the front and rear wheels, which can be measured by wheel speed sensors installed at the wheels. Even low-end vehicles are generally equipped with wheel speed sensors.

[0046] Optionally, an increase in load will increase the vertical force on the tire, and the degree of deformation of the tire will also increase accordingly. The increase in tire deformation will cause the effective rolling radius of the tire to decrease. Commercial vehicles have the characteristics of small changes in front wheel load and large changes in rear wheel load. Therefore, for commercial vehicles, the deformation degree of the front wheel tire is smaller, and the deformation degree of the rear wheel tire is larger. The inventor creatively proposes that based on some known information of the front wheels of the commercial vehicle, the vehicle load can be effectively estimated.

[0047] Optionally, the rolling radius of a vehicle tire refers to the radius of the movement trajectory of the tire center during the rolling process. It is not the free radius of the tire, but takes into account the deformation of the tire when it is subjected to vehicle load. The free radius may refer to the radius when the vehicle is unloaded.

[0048] Optionally, for commercial vehicles, the deformation degree of the front wheel tires is smaller, that is, the rolling radius of the front wheel tires changes less relative to the free radius, and the deformation degree of the rear wheel tires is larger, that is, the rolling radius of the rear wheel tires changes more relative to the free radius. Therefore, the rolling radius of the front wheel can be first regarded as the free radius of the front wheel, and the rolling radius of the rear wheel can be calculated on this basis.

[0049] Optionally, after obtaining the front and rear wheel speeds of the vehicle, the front and rear wheel speed difference of the vehicle may be calculated.

[0050] It can be understood that after the vehicle travels a certain distance, the linear speeds of the front and rear wheels of the vehicle are the same. According to the formula v=ωr and ω=2πn / 60, where v is the linear speed, ω is the angular speed, r is the rolling radius, and n is the wheel speed, the following formula can be obtained:

[0051]

[0052] Among them, △r is the rolling radius difference, r f is the front wheel rolling radius, n f is the front wheel speed, r r is the rolling radius of the rear wheel, n r is the rear wheel speed. It can be seen that after determining the front and rear wheel speed difference and the front wheel rolling radius, the front and rear wheel rolling radius difference can be calculated.

[0053] Optionally, the rolling radius of the front wheel can be replaced by the free radius of the front wheel. If the wheel speeds of the front and rear wheels and the wheel speed difference are known, the rolling radius difference between the front and rear wheels can be calculated, and then the rolling radius of the rear wheel can be directly determined.

[0054] Optionally, it is also necessary to obtain the air pressure of the front and rear wheels of the vehicle. The air pressure can be detected by a pressure sensor. When there is no pressure sensor, the standard air pressure of the front and rear wheels can be selected, or the standard air pressure can be fine-tuned according to the current temperature to obtain the front and rear wheel air pressure.

[0055] Optionally, the first front axle load and the first rear axle load may be determined according to the air pressure and rolling radius of the front wheels and rear wheels respectively, and the first front axle load and the first rear axle load may be used together as the first load.

[0056] Optionally, the first front axle load and the first rear axle load may be determined by a pre-established relational database, relational table or mathematical model, which includes the correlation between load, air pressure and rolling radius.

[0057] In an optional embodiment, if the air pressure and rolling radius of the front wheel are known, the unique corresponding front wheel load can be determined based on the correlation between the three. Similarly, if the air pressure and rolling radius of the rear wheel are known, the unique corresponding rear wheel load can be determined based on the correlation between the three.

[0058] S120: Verify the first load according to the actual longitudinal inclination angle of the vehicle.

[0059] Optionally, verifying the first load according to an actual longitudinal inclination angle of the vehicle may include:

[0060] Acquire an actual longitudinal inclination angle collected by a slope sensor, and calculate a first longitudinal inclination angle of the vehicle according to the first load;

[0061] It is determined whether the difference between the first longitudinal inclination angle and the actual longitudinal inclination angle is less than a preset difference threshold; if so, it is determined that the first load has passed the verification; otherwise, it is determined that the first load has not passed the verification.

[0062] Optionally, a commercial vehicle may also be equipped with a longitudinal inclination sensor, which can accurately measure the longitudinal inclination angle of the vehicle while driving.

[0063] It is understandable that changes in the vehicle's load will cause changes in the vehicle's longitudinal inclination angle, and there is a specific functional relationship between the load and the longitudinal inclination angle. That is, after determining the front and rear axle loads of the vehicle, the vehicle's longitudinal inclination angle can be calculated through mathematical relationships. The calculated longitudinal inclination angle can be used as the first longitudinal inclination angle, and the longitudinal inclination angle collected by the longitudinal inclination angle sensor can be used as the actual longitudinal inclination angle.

[0064] Optionally, when the difference between the first longitudinal inclination angle and the actual longitudinal inclination angle is within the allowable error range, that is, within the difference threshold, it is determined that the estimated load is consistent with the actual load condition. At this time, it is determined that the verification has passed and the estimated first load can be output; if it is greater than the difference threshold, it means that the estimated first load is significantly different from the actual load condition and needs to be recalculated.

[0065] S130: When the first load passes the verification, the first load is determined as the estimated vehicle load.

[0066] Optionally, the vehicle load estimation method may further include: when the first load fails to pass the verification, returning to redetermine the front and rear wheel speed difference of the vehicle, and updating the first load according to the redetermined front and rear wheel speed difference until it is determined that the first load passes the verification.

[0067] It can be understood that when the first load passes the verification, the first load can be determined as the estimated vehicle load and output to the user or other units in the vehicle control system so as to use the vehicle load for control or display. When it fails the verification, it returns to recalculate the front and rear wheel speed difference of the vehicle and repeats the above operation until it is determined that the first load passes the verification.

[0068] Optionally, this algorithm is also applicable when the tire pressure of the front and rear tires increases synchronously with the temperature.

[0069] The technical solution of the embodiment of the present invention obtains the front and rear wheel speeds of the vehicle during driving, determines the first load of the vehicle according to the front and rear wheel speeds, verifies the first load according to the actual longitudinal inclination of the vehicle, and determines the first load as the estimated load of the vehicle when the first load passes the verification. This method can achieve low-cost estimation of the vehicle load for commercial vehicles with lower configurations when only a small number of necessary sensors are configured, and the estimation response is fast. Combined with the confirmation of the longitudinal inclination, the load can be obtained with high accuracy, thereby providing effective information for the driver or the vehicle control system.

[0070] Embodiment 2

[0071] Figure 2 This is a flow chart of a vehicle load estimation method provided by Embodiment 2 of the present invention. Based on the above embodiments, this embodiment specifically describes the vehicle load estimation method. Figure 2 As shown, the method includes:

[0072] S210: When it is determined that the vehicle is traveling at a constant speed on a straight road, the front wheel speed and the rear wheel speed sent by the wheel speed sensors respectively configured at the front and rear wheels of the vehicle are obtained, and the front and rear wheel speed difference of the vehicle is determined based on the front wheel speed and the rear wheel speed.

[0073] S220: Determine the difference in rolling radius between the front and rear wheels of the vehicle according to the difference in front and rear wheel speeds, and determine the rolling radius of the rear wheels of the vehicle according to the calibrated front wheel rolling radius and the difference in front and rear wheel rolling radius.

[0074] S230: Determine a first load of the vehicle according to a front wheel rolling radius and a rear wheel rolling radius.

[0075] The first load includes a first front axle load and a first rear axle load.

[0076] Wherein, determining the first load of the vehicle according to the rolling radius of the front wheels and the rolling radius of the rear wheels may include:

[0077] The front and rear wheel air pressures of the vehicle are respectively obtained, and the first load of the vehicle is determined according to the front and rear wheel air pressures, the front wheel rolling radius, the rear wheel rolling radius and a pre-established relationship database.

[0078] The relational database may include the corresponding relationship between load, air pressure and rolling radius.

[0079] Optionally, the relational database may be replaced by table lookup or mathematical model building, but either method can achieve a fast response and obtain a high-accuracy load without complex calculations.

[0080] Optionally, after determining the first load of the vehicle, the following steps may also be included:

[0081] The calibrated front wheel rolling radius is corrected according to the first rear axle load, and the first load is updated according to the front and rear wheel air pressures, the rear wheel rolling radius, the corrected front wheel rolling radius and the relational database.

[0082] Optionally, after determining the first load of the vehicle, the load range to which the first rear axle load in the first load belongs can be determined based on a pre-calibrated load range, and the deformation error of the front wheel radius can be determined to correct the front wheel rolling radius, and the first load can be redetermined using the corrected front wheel rolling radius, rear wheel rolling radius, front and rear wheel air pressures, and a relationship database.

[0083] It is understandable that as the rear axle load increases, the front wheel will deform to a certain extent even if the degree of deformation is small. Therefore, the radius of the front axle can be fine-tuned according to the rear axle load to improve the accuracy of the first load. Different load ranges correspond to different deformation errors. The greater the rear axle load, the greater the deformation error. The load range and deformation error are pre-calibrated values, and only a small correction will be made to the radius of the front wheel to improve the accuracy to a certain extent.

[0084] S240: Acquire an actual longitudinal inclination angle collected by a slope sensor, and calculate a first longitudinal inclination angle of the vehicle according to the first load.

[0085] S250, determining whether the difference between the first longitudinal inclination angle and the actual longitudinal inclination angle is less than a preset difference threshold; if so, executing step S260; if not, executing step S270.

[0086] S260: Determine that the first load passes the verification, and determine the first load as the estimated vehicle load.

[0087] S270: Determine that the first load fails verification, and return to step S210.

[0088] The technical solution of the embodiment of the present invention obtains the front and rear wheel speeds of the vehicle during driving, determines the first load of the vehicle according to the front and rear wheel speeds, verifies the first load according to the actual longitudinal inclination of the vehicle, and determines the first load as the estimated load of the vehicle when the first load passes the verification. This method can achieve low-cost estimation of the vehicle load for commercial vehicles with lower configurations when only a small number of necessary sensors are configured, and the estimation response is fast. Combined with the confirmation of the longitudinal inclination, the load can be obtained with high accuracy, thereby providing effective information for the driver or the vehicle control system.

[0089] Embodiment 3

[0090] Figure 3 This is a schematic diagram of the structure of a vehicle load estimation device provided by Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a first load acquisition module 310, a load verification module 320 and an estimation result determination module 330.

[0091] The first load acquisition module 310 is used to acquire the front and rear wheel speeds of the vehicle during driving, and determine the first load of the vehicle according to the front and rear wheel speeds.

[0092] The load verification module 320 is used to verify the first load according to the actual longitudinal inclination angle of the vehicle.

[0093] The estimation result determination module 330 is configured to determine the first load as the estimated vehicle load when the first load passes the verification.

[0094] The technical solution of the embodiment of the present invention obtains the front and rear wheel speeds of the vehicle during driving, determines the first load of the vehicle according to the front and rear wheel speeds, verifies the first load according to the actual longitudinal inclination of the vehicle, and determines the first load as the estimated load of the vehicle when the first load passes the verification. This method can achieve low-cost estimation of the vehicle load for commercial vehicles with lower configurations when only a small number of necessary sensors are configured, and the estimation response is fast. Combined with the confirmation of the longitudinal inclination, the load can be obtained with high accuracy, thereby providing effective information for the driver or the vehicle control system.

[0095] Based on the above embodiments, the first load acquisition module 310 may include:

[0096] A wheel speed difference determination unit, for obtaining the front wheel speed and the rear wheel speed sent by the wheel speed sensors respectively arranged at the front and rear wheels of the vehicle when it is determined that the vehicle is traveling at a uniform speed on a straight road, and determining the front and rear wheel speed difference of the vehicle according to the front wheel speed and the rear wheel speed;

[0097] A rolling radius determination unit, configured to determine a rolling radius difference between the front and rear wheels of the vehicle according to the front and rear wheel speed difference, and to determine a rolling radius of the rear wheels of the vehicle according to a calibrated front wheel rolling radius and the front and rear wheel rolling radius difference;

[0098] The load determination unit is used to determine a first load of the vehicle according to the front wheel rolling radius and the rear wheel rolling radius; wherein the first load includes a first front axle load and a first rear axle load.

[0099] Based on the above embodiments, the load determination unit may be specifically used for:

[0100] The front and rear wheel air pressures of the vehicle are respectively obtained, and the first load of the vehicle is determined according to the front and rear wheel air pressures, the front wheel rolling radius, the rear wheel rolling radius and a pre-established relationship database.

[0101] Based on the above embodiments, the relational database includes the corresponding relationship between load, air pressure and rolling radius.

[0102] On the basis of the above embodiments, a front wheel radius correction module may also be included, for:

[0103] The calibrated front wheel rolling radius is corrected according to the first rear axle load, and the first load is updated according to the front and rear wheel air pressures, the rear wheel rolling radius, the corrected front wheel rolling radius and the relational database.

[0104] Based on the above embodiments, the load verification module 320 can be specifically used for:

[0105] Acquiring an actual longitudinal inclination angle collected by a slope sensor, and calculating a first longitudinal inclination angle of the vehicle according to the first load;

[0106] Determine whether the difference between the first longitudinal inclination angle and the actual longitudinal inclination angle is less than a preset difference threshold; if so, determine that the first load has passed the verification; otherwise, determine that the first load has not passed the verification.

[0107] Based on the above embodiments, a first load updating module may be further included, which is used to:

[0108] When the first load fails the verification, the process returns to re-determine the front and rear wheel speed difference of the vehicle, and updates the first load according to the re-determined front and rear wheel speed difference, until it is determined that the first load passes the verification.

[0109] The vehicle load estimation device provided in the embodiment of the present invention can execute the vehicle load estimation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0110] Embodiment 4

[0111] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0112] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0113] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0114] The processor 11 may be any general and / or dedicated processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle load estimation method described in any embodiment of the present invention. That is:

[0115] Acquiring front and rear wheel speeds of the vehicle during driving, and determining a first load of the vehicle according to the front and rear wheel speeds;

[0116] verifying the first load according to an actual longitudinal inclination angle of the vehicle;

[0117] When the first load passes the verification, the first load is determined as the estimated vehicle load.

[0118] In some embodiments, the vehicle load estimation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle load estimation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle load estimation method in any other appropriate manner (e.g., by means of firmware).

[0119] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0121] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0122] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0123] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0124] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0125] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0126] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle load estimation method, characterized in that: include: Acquiring front and rear wheel speeds of the vehicle during driving, and determining a first load of the vehicle according to the front and rear wheel speeds; verifying the first load according to an actual longitudinal inclination angle of the vehicle; When the first load passes the verification, the first load is determined as the estimated vehicle load.

2. The method according to claim 1, characterized in that Acquiring front and rear wheel speeds of the vehicle during driving, and determining a first load of the vehicle according to the front and rear wheel speeds, including: When it is determined that the vehicle is traveling at a constant speed on a straight road, the front wheel speed and the rear wheel speed sent by the wheel speed sensors respectively arranged at the front and rear wheels of the vehicle are obtained, and the front and rear wheel speed difference of the vehicle is determined according to the front wheel speed and the rear wheel speed; Determine the difference in rolling radius between the front and rear wheels of the vehicle according to the front and rear wheel speed difference, and determine the rolling radius of the rear wheels of the vehicle according to the calibrated front wheel rolling radius and the front and rear wheel rolling radius difference; A first load of the vehicle is determined according to the front wheel rolling radius and the rear wheel rolling radius; wherein the first load includes a first front axle load and a first rear axle load.

3. The method according to claim 2, characterized in that Determining a first load of the vehicle according to the front wheel rolling radius and the rear wheel rolling radius includes: The front and rear wheel air pressures of the vehicle are respectively obtained, and the first load of the vehicle is determined according to the front and rear wheel air pressures, the front wheel rolling radius, the rear wheel rolling radius and a pre-established relationship database.

4. The method according to claim 3, characterized in that The relational database includes the corresponding relationship between load, air pressure and rolling radius.

5. The method according to claim 3, characterized in that: After determining the first load of the vehicle, further comprising: The calibrated front wheel rolling radius is corrected according to the first rear axle load, and the first load is updated according to the front and rear wheel air pressures, the rear wheel rolling radius, the corrected front wheel rolling radius and the relational database.

6. The method according to claim 2, characterized in that The first load is verified according to the actual longitudinal inclination angle of the vehicle, including: Acquiring an actual longitudinal inclination angle collected by a slope sensor, and calculating a first longitudinal inclination angle of the vehicle according to the first load; Determine whether the difference between the first longitudinal inclination angle and the actual longitudinal inclination angle is less than a preset difference threshold; if so, determine that the first load has passed the verification; otherwise, determine that the first load has not passed the verification.

7. The method according to claim 2, characterized in that Also includes: When the first load fails the verification, the process returns to re-determine the front and rear wheel speed difference of the vehicle, and updates the first load according to the re-determined front and rear wheel speed difference, until it is determined that the first load passes the verification.

8. A vehicle load estimation device, characterized in that: include: A first load acquisition module, used to acquire the front and rear wheel speeds of the vehicle during driving, and determine a first load of the vehicle according to the front and rear wheel speeds; a load verification module, configured to verify the first load according to an actual longitudinal inclination angle of the vehicle; The estimation result determination module is used to determine the first load as the vehicle estimated load when the first load passes the verification.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the vehicle load estimation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle load estimation method according to any one of claims 1 to 7 when executed.

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