Vehicle weight estimation method, device, equipment and medium

Abstract

The invention provides a vehicle weight estimation method, device and equipment and a medium, and the method comprises the steps: obtaining the first driving data of a vehicle at the current moment; determining a current vehicle weight estimation value based on the first driving data at the current moment; based on the current vehicle weight estimation value, a historical vehicle weight correction value and a preset attenuation coefficient, a current vehicle weight correction value is determined, and the historical vehicle weight correction value is the vehicle weight correction value of the vehicle at the previous moment of the current moment; and repeatedly executing the step of determining the current vehicle weight correction value, and determining that the current vehicle weight correction value is the vehicle weight estimation result of the vehicle under the condition that the current vehicle weight correction value and the historical vehicle weight correction value meet a preset vehicle weight stable change condition. According to the method, the current vehicle weight correction value tending to be stable is determined as the vehicle weight estimation result of the vehicle, so that the accuracy of vehicle weight estimation is improved.

Description

Technical Field

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

[0002] During the driving process of a vehicle, the vehicle weight can be estimated based on the vehicle's dynamic equation. However, due to factors such as the vehicle's motion state, the vehicle weight estimated based on the dynamic equation at different times is not a constant value. In the related art, the vehicle weight estimated at any time is usually determined as the final vehicle weight estimation result directly based on the dynamic equation, resulting in low accuracy of vehicle weight estimation. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a vehicle weight estimation method, device, equipment and medium for solving the above-mentioned problems.

[0004] The vehicle weight estimation method provided by the present invention comprises:

[0005] Acquire the first driving data of the vehicle at the current moment;

[0006] Determining a current vehicle weight estimation value based on the first driving data at the current moment;

[0007] Determine a current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and a preset attenuation coefficient, wherein the historical vehicle weight correction value is the vehicle weight correction value of the vehicle at a moment before the current moment;

[0008] Repeat the step of determining the current vehicle weight correction value, and when the current vehicle weight correction value and the historical vehicle weight correction value satisfy a preset vehicle weight stable change condition, determine the current vehicle weight correction value as a vehicle weight estimation result of the vehicle.

[0009] In one embodiment of the present invention, the attenuation coefficient is a coefficient that changes with time and fluctuates within a first preset range since the current vehicle weight correction value is determined, and the fluctuation amplitude of the attenuation coefficient gradually decreases with time, and the first preset range is a range greater than 0 and less than 1;

[0010] The determining the current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and the preset attenuation coefficient includes:

[0011] Based on the current vehicle weight estimation value and the historical vehicle weight correction value, and the preset attenuation coefficient at the current moment, a current vehicle weight correction value is determined.

[0012] In one embodiment of the present invention, the attenuation coefficient at the current moment is determined according to the following formula:

[0013]

[0014] Among them, α n represents the attenuation coefficient at the nth moment, α (n-1) Represents the attenuation coefficient at the moment before the n-th moment.

[0015] In one embodiment of the present invention, determining the current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and the preset attenuation coefficient includes:

[0016] Determining a first difference between the current vehicle weight estimate and the historical vehicle weight correction value;

[0017] Determine a second difference based on the preset attenuation coefficient and the first difference, wherein the second difference is smaller than the first difference;

[0018] The current vehicle weight correction value is determined based on the second difference and the historical vehicle weight correction value.

[0019] In one embodiment of the present invention, the vehicle weight stable change condition includes:

[0020] The change rate between the current vehicle weight correction value and the historical vehicle weight correction value within the preset period is within a second preset range,

[0021] or,

[0022] The change rate between the current vehicle weight correction value and the historical vehicle weight correction value is within the second preset range for N consecutive times, where N is a positive integer greater than 1.

[0023] In one embodiment of the present invention, before obtaining the first driving data of the vehicle at the current moment, the method further includes:

[0024] Acquiring second driving data of the vehicle;

[0025] The obtaining of first driving data of the vehicle at the current moment includes:

[0026] When the second driving data satisfies the vehicle weight estimation condition, obtaining the first driving data of the vehicle at the current moment;

[0027] The second driving data satisfies the vehicle weight estimation condition including at least one of the following:

[0028] In the second driving data, the acceleration of the vehicle is greater than a first threshold and less than a second threshold;

[0029] In the second driving data, the acceleration change rate of the vehicle is less than a third threshold;

[0030] In the second driving data, the motor torque of the vehicle is greater than a fourth threshold;

[0031] In the second driving data, the slope signal of the vehicle is greater than a fifth threshold and less than a sixth threshold.

[0032] In one embodiment of the present invention, the method further includes:

[0033] Based on the vehicle weight estimation result and the vehicle weight range corresponding to each load state, determining a target load state corresponding to the vehicle weight estimation result, wherein each load state includes a light load state, a medium load state and a heavy load state;

[0034] determining a target driving mode corresponding to the target load state;

[0035] When the current driving mode of the vehicle is not the target driving mode, sending a prompt message for entering the target driving mode;

[0036] When a confirmation message for entering the target driving mode is received, the vehicle is controlled to enter the target driving mode.

[0037] The vehicle weight estimation device provided by the present invention comprises:

[0038] A first acquisition module, used to acquire first driving data of the vehicle at a current moment;

[0039] A first determining module, configured to determine a current vehicle weight estimation value based on the first driving data at the current moment;

[0040] A second determination module is used to determine a current vehicle weight correction value based on the current vehicle weight estimation value, a historical vehicle weight correction value and a preset attenuation coefficient, wherein the historical vehicle weight correction value is a vehicle weight correction value of the vehicle at a moment before the current moment;

[0041] The third determination module is used to repeatedly execute the step of determining the current vehicle weight correction value, and determine that the current vehicle weight correction value is the vehicle weight estimation result of the vehicle when the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stable change condition.

[0042] In one embodiment of the present invention, the attenuation coefficient is a coefficient that changes with time and fluctuates within a first preset range since the current vehicle weight correction value is determined, and the fluctuation amplitude of the attenuation coefficient gradually decreases with time, and the first preset range is a range greater than 0 and less than 1;

[0043] The second determining module is specifically used to:

[0044] Based on the current vehicle weight estimation value and the historical vehicle weight correction value, and the preset attenuation coefficient at the current moment, a current vehicle weight correction value is determined.

[0045] In one embodiment of the present invention, the attenuation coefficient at the current moment is determined according to the following formula:

[0046]

[0047] Among them, α n represents the attenuation coefficient at the nth moment, α (n-1) Represents the attenuation coefficient at the moment before the n-th moment.

[0048] In one embodiment of the present invention, the second determining module is specifically configured to:

[0049] Determining a first difference between the current vehicle weight estimate and the historical vehicle weight correction value;

[0050] Determine a second difference based on the preset attenuation coefficient and the first difference, wherein the second difference is smaller than the first difference;

[0051] The current vehicle weight correction value is determined based on the second difference and the historical vehicle weight correction value.

[0052] In one embodiment of the present invention, the vehicle weight stable change condition includes:

[0053] The change rate between the current vehicle weight correction value and the historical vehicle weight correction value within the preset period is within a second preset range,

[0054] or,

[0055] The change rate between the current vehicle weight correction value and the historical vehicle weight correction value is within the second preset range for N consecutive times, where N is a positive integer greater than 1.

[0056] In one embodiment of the present invention, the device further comprises:

[0057] A second acquisition module, used to acquire second driving data of the vehicle;

[0058] The first acquisition module is specifically used to:

[0059] When the second driving data satisfies the vehicle weight estimation condition, obtaining the first driving data of the vehicle at the current moment;

[0060] The second driving data satisfies the vehicle weight estimation condition including at least one of the following:

[0061] In the second driving data, the acceleration of the vehicle is greater than a first threshold and less than a second threshold;

[0062] In the second driving data, the acceleration change rate of the vehicle is less than a third threshold;

[0063] In the second driving data, the motor torque of the vehicle is greater than a fourth threshold;

[0064] In the second driving data, the slope signal of the vehicle is greater than a fifth threshold and less than a sixth threshold.

[0065] In one embodiment of the present invention, the device further comprises:

[0066] a fourth determination module, configured to determine a target load state corresponding to the vehicle weight estimation result based on the vehicle weight estimation result and a vehicle weight range corresponding to each load state, wherein each load state includes a light load state, a medium load state and a heavy load state;

[0067] a fifth determination module, configured to determine a target driving mode corresponding to the target load state;

[0068] a sending module, configured to send a prompt message of whether to enter the target driving mode when the current driving mode of the vehicle is not the target driving mode;

[0069] The control module is used to control the vehicle to enter the target driving mode when a confirmation message for entering the target driving mode is received.

[0070] The electronic device provided by the present invention comprises:

[0071] one or more processors;

[0072] The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle weight estimation method.

[0073] The computer-readable storage medium provided by the present invention stores a computer program, and when the computer program is executed by a processor of a computer, the computer executes the vehicle weight estimation method.

[0074] Beneficial effects of the present invention: In the present invention, the current vehicle weight estimation value is determined based on the first driving data of the vehicle at the current moment; the current vehicle weight correction value is determined by combining the current vehicle weight estimation value, the historical vehicle weight correction value and the attenuation coefficient, which is conducive to improving the accuracy of the current vehicle weight correction value; the vehicle weight correction value can be updated by repeatedly executing the above steps of determining the current vehicle weight correction value, and when the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stable change conditions, it means that the current vehicle weight correction value has tended to be stable. Based on this, the present invention is conducive to improving the accuracy of vehicle weight estimation by determining the current vehicle weight correction value that tends to be stable as the vehicle weight estimation result of the vehicle.

[0075] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The drawings herein are incorporated into and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0077] Figure 1 is one of the flow charts of a vehicle weight estimation method shown in an exemplary embodiment of the present invention;

[0078] Figure 2 is a waveform diagram showing a change in attenuation coefficient according to an exemplary embodiment of the present invention;

[0079] Figure 3 is a second flow chart of a vehicle weight estimation method shown in an exemplary embodiment of the present invention;

[0080] Figure 4 is a block diagram of a vehicle weight estimation device shown in an exemplary embodiment of the present invention;

[0081] Figure 5 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0082] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0083] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0084] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0085] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a vehicle weight estimation method according to an exemplary embodiment of the present invention. Figure 1 As shown, in an exemplary embodiment, the vehicle weight estimation method includes steps S110 to S140, which are described in detail as follows:

[0086] Step S110, obtaining first driving data of the vehicle at the current moment;

[0087] Step S120, determining a current vehicle weight estimation value based on the first driving data at the current moment;

[0088] Step S130, determining a current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and a preset attenuation coefficient, wherein the historical vehicle weight correction value is the vehicle weight correction value of the vehicle at the previous moment before the current moment;

[0089] Step S140, repeatedly executing the step of determining the current vehicle weight correction value, and determining the current vehicle weight correction value as the vehicle weight estimation result when the current vehicle weight correction value and the historical vehicle weight correction value satisfy a preset vehicle weight stable change condition.

[0090] In step S110, the first driving data may be acquired based on a relevant controller or control unit in the vehicle, and the first driving data is used to estimate the vehicle weight.

[0091] In step 120, a vehicle weight estimation formula may be determined according to the vehicle dynamics equation, and the current vehicle weight estimation value may be determined by inputting the first driving data at the current moment into the vehicle weight estimation formula. The vehicle weight estimation formula is specifically described below.

[0092] The dynamic equations of the vehicle are as follows:

[0093] Ft=Ff+Fi+Fw+Fj

[0094]

[0095] i=tanα

[0096] After the formula is transformed, it can be determined that:

[0097]

[0098] Where m is the estimated vehicle weight, T tq - Motor torque, generated by the Power Electronics Unit (PEU); i g - Transmission ratio, issued by the automatic transmission control unit (TCU); i0- Rear axle ratio, the vehicle control unit (VCU) data calibration quantity; η T - Transmission efficiency, calibrable, single-stage axle ratio 0.9, double-stage axle ratio 0.88; r-tire radius, VCU data calibration quantity; C D - air resistance coefficient, which is determined by the vehicle cab and can be calibrated, and the default value can be 9.8; A-frontal area, which is determined by the vehicle cab and can be calibrated, and the default value can be 0.696; u a -Vehicle speed, obtained from the vehicle speed message; f-Rolling resistance coefficient, calibrable, default value can be 0.0055 for ordinary tires, 0.005 for low rolling resistance tires; δ-Rotational mass conversion coefficient, calibrable, default value 1.03; a-Vehicle acceleration, estimated from the front and rear vehicle speed signals; α-Slope signal. It is worth mentioning that the wind resistance and rolling resistance are mostly empirical values. After actual calculation and testing, the values ​​of these two parts have little effect on the final result of m, so taking empirical values ​​will not have a great impact on the final result.

[0099] In step S130, the current vehicle weight correction value can be determined based on the current vehicle weight estimate, the historical vehicle weight correction value and the preset attenuation coefficient. Among them, the attenuation coefficient can be used to gradually reduce the impact of new information (current vehicle weight estimate) on the historical vehicle weight correction value. The core idea is to obtain a gradually stable and accurate current vehicle weight correction value by continuously combining the new current vehicle weight estimate with the existing historical vehicle weight correction value. By combining the current vehicle weight estimate with the existing historical vehicle weight correction value through the attenuation factor, it can respond to the current vehicle weight estimate and avoid instability caused by over-reliance on the current vehicle weight estimate.

[0100] It is worth mentioning that the historical vehicle weight correction value is the vehicle weight correction value at the previous moment. The initial vehicle weight correction value can be assigned a value of M int = unladen vehicle weight.

[0101] In step S140, the above-mentioned step of determining the current vehicle weight correction value is repeatedly performed, and the first driving data at the current moment is continuously obtained to update the current vehicle weight correction value, until the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stable change condition. As an example, the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stable change condition, which can be that the difference between the current vehicle weight correction value and the historical vehicle weight correction value meets the preset vehicle weight difference stable change condition (for example, the difference is within the third preset range), or the change rate between the current vehicle weight correction value and the historical vehicle weight correction value meets the preset vehicle weight change rate stable change condition (for example, the change rate is within the second preset range). When the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stable change condition, it means that the current vehicle weight correction value has stabilized, so it can be determined as the vehicle weight estimation result of the vehicle.

[0102] In some embodiments, after determining the above vehicle weight estimation result, the above vehicle weight estimation result can be saved, and a learning completion flag Flag is issued, and no more learning is performed in this driving cycle, that is, the vehicle weight is no longer updated, to prevent the relevant algorithms for vehicle estimation from being triggered multiple times, resulting in controller resource waste and excessive calculation.

[0103] In the present invention, the current vehicle weight correction value is obtained by combining the current vehicle weight estimation value and the existing historical vehicle weight correction value through the attenuation factor; the vehicle weight correction value can be updated by repeatedly executing the above steps of determining the current vehicle weight correction value, and when the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stable change condition, it means that the current vehicle weight correction value has tended to be stable. Based on this, the present invention is conducive to improving the accuracy of vehicle weight estimation by determining the current vehicle weight correction value tending to be stable as the vehicle weight estimation result.

[0104] In some embodiments, the attenuation coefficient is a coefficient that changes with time and fluctuates within a first preset range since the current vehicle weight correction value is determined, and the fluctuation amplitude of the attenuation coefficient gradually decreases with time, and the first preset range is a range greater than 0 and less than 1;

[0105] The determining the current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and the preset attenuation coefficient includes:

[0106] Based on the current vehicle weight estimation value and the historical vehicle weight correction value, and the preset attenuation coefficient at the current moment, a current vehicle weight correction value is determined.

[0107] The above-mentioned attenuation coefficient fluctuates within a first preset range, that is, within the range of (0, 1), and the fluctuation amplitude of the attenuation coefficient gradually decreases with the increase of time from the beginning of determining the current vehicle weight correction value. Since the attenuation coefficient is constantly changing, rather than a fixed value, the vehicle weight correction value determined in real time will be affected by the variation law of the attenuation coefficient. Specifically, in the early stage of updating the current vehicle weight correction value, an attenuation coefficient with a larger fluctuation can make the update amplitude larger, so that the current vehicle weight correction value can quickly respond to the current vehicle weight estimation value, and then can quickly approach the vehicle weight estimation value; in the later stage of updating the vehicle weight correction value, an attenuation coefficient with a smaller fluctuation can reduce the update amplitude, so that the vehicle weight correction value can gradually stabilize and accelerate convergence until the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stability change condition.

[0108] It can be seen that the embodiment of the present invention sets the attenuation coefficient as above. On the one hand, it can achieve a rapid response to the current vehicle weight estimation value in the initial stage of vehicle weight correction value update; on the other hand, it can make the current vehicle weight correction value gradually tend to be stable in the later stage of vehicle weight correction value update, which is conducive to accelerating the convergence of the current vehicle weight correction value.

[0109] It should be noted that the above preset attenuation coefficient can be set according to actual needs, as long as it fluctuates within the range of (0, 1), and the fluctuation amplitude of the attenuation coefficient gradually decreases with the increase of time. In addition, the initial value of the attenuation coefficient can be set to 0, and then it fluctuates within the range of (0, 1) with the change of time.

[0110] Optionally, in order to more clearly understand the technical solution of the embodiment of the present invention, the following is an exemplary description of how to set the attenuation coefficient in combination with the following formula.

[0111]

[0112] Among them, α n represents the attenuation coefficient at the nth moment, α (n-1)Represents the attenuation coefficient at the moment before the n-th moment.

[0113] In this example, the waveform of the attenuation coefficient can be seen in Figure 2 ,like Figure 2 As shown, the initial value α0 of the attenuation coefficient is equal to 0, and the subsequently updated attenuation coefficient fluctuates in the range of (0, 1), and its fluctuation amplitude gradually decreases with time. In the later period, the attenuation coefficient gradually fluctuates in the range of (0.6, 0.8).

[0114] In this example, the calculation formula based on the above attenuation coefficient can quickly determine the attenuation coefficient at each moment, and can make the attenuation coefficient gradually stabilize with time, thereby making the current vehicle weight correction value gradually stabilize and accelerating the convergence speed of the current vehicle weight correction value.

[0115] In some embodiments, determining the current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and the preset attenuation coefficient includes:

[0116] Determining a first difference between the current vehicle weight estimate and the historical vehicle weight correction value;

[0117] Determine a second difference based on the preset attenuation coefficient and the first difference, wherein the second difference is smaller than the first difference;

[0118] The current vehicle weight correction value is determined based on the second difference and the historical vehicle weight correction value.

[0119] The calculation formula of the above current vehicle weight correction value is as follows:

[0120] M Veh(n) =(M′ Veh(n) -M Veh(n-1) )*α n +M Veh(n-1)

[0121] Where M Veh(n) Indicates the current vehicle weight correction value, M Veh(n-1) Indicates the vehicle weight correction value at the last moment (i.e., the historical vehicle weight correction value), M′ Veh(n) Indicates the current estimated vehicle weight.

[0122] Based on the above-mentioned formula for determining the vehicle weight correction value, it can be obtained that the attenuation coefficient is used to adjust the difference between the current vehicle weight estimate and the historical vehicle weight correction value. When the attenuation coefficient gradually tends to be stable, the adjustment amplitude of the difference between the current vehicle weight estimate and the historical vehicle weight correction value also gradually tends to be stable, which is conducive to accelerating convergence, that is, it is conducive to quickly meeting the above-mentioned vehicle weight stable change conditions.

[0123] The embodiment of the present invention determines the current vehicle weight correction value through the above steps, which is simple and efficient, thereby facilitating improving the efficiency of vehicle weight estimation.

[0124] In some embodiments, the above vehicle weight stable change condition includes:

[0125] The change rate between the current vehicle weight correction value and the historical vehicle weight correction value within the preset period is within a second preset range,

[0126] or,

[0127] The change rate between the current vehicle weight correction value and the historical vehicle weight correction value is within the second preset range for N consecutive times, where N is a positive integer greater than 1.

[0128] In the embodiment of the present invention, when the change rate between the current vehicle weight correction value and the historical vehicle weight correction value within the preset period is within the second preset range, it means that the vehicle weight correction value has been stabilized within the above preset period without significant deviation. Based on this, when the change rate between the current vehicle weight correction value and the historical vehicle weight correction value within the preset period is within the second preset range, the current vehicle weight correction value is determined as the vehicle weight estimation result, which is conducive to improving the accuracy of the vehicle weight estimation result. Among them, the above second preset range can be set according to demand, and can be set to [-0.1, +0.1] as an example.

[0129] When the change rate between the current vehicle weight correction value and the historical vehicle weight correction value is within the second preset range for N consecutive times, it means that the updated vehicle weight correction value has been stable for N consecutive times without significant deviation. Based on this, when the change rate between the current vehicle weight correction value and the historical vehicle weight correction value is within the second preset range for N consecutive times, determining the current vehicle weight correction value as the vehicle weight estimation result is conducive to improving the accuracy of the vehicle weight estimation result.

[0130] When the vehicle is just started and when the vehicle is driving on a steep slope, it is easily interfered by distorted signals, which is not conducive to the efficiency and accuracy of determining the vehicle weight estimation result. Based on this, the embodiment of the present invention is set to enter the vehicle weight estimation enabling condition when the driving state of the vehicle meets certain conditions, that is, the steps of obtaining the current first driving data of the vehicle, determining the vehicle weight estimation value and the vehicle weight correction value are executed again, which are described in detail below.

[0131] In some embodiments, before obtaining the first driving data of the vehicle at the current moment, the method further includes:

[0132] Acquiring second driving data of the vehicle;

[0133] The obtaining of first driving data of the vehicle at the current moment includes:

[0134] When the second driving data satisfies the vehicle weight estimation condition, obtaining the first driving data of the vehicle at the current moment;

[0135] The second driving data satisfies the vehicle weight estimation condition including at least one of the following:

[0136] In the second driving data, the acceleration of the vehicle is greater than a first threshold and less than a second threshold;

[0137] In the second driving data, the acceleration change rate of the vehicle is less than a third threshold;

[0138] In the second driving data, the motor torque of the vehicle is greater than a fourth threshold;

[0139] In the second driving data, the slope signal of the vehicle is greater than a fifth threshold and less than a sixth threshold.

[0140] Among them, when the acceleration of the vehicle is greater than the first threshold and less than the second threshold, it can be said that the vehicle is not in an extreme acceleration state, and the vehicle's driving state is relatively stable. Estimating the vehicle weight is conducive to improving the accuracy of vehicle weight estimation. The first threshold and the second threshold are customized according to needs. As an example, the first threshold can be 0m / s and the second threshold can be 0.2m / s.

[0141] When the acceleration change rate of the vehicle is less than the third threshold, it means that the vehicle is not in an extreme acceleration or deceleration state, and the vehicle's driving state is relatively stable. Estimating the vehicle weight is conducive to improving the accuracy of vehicle weight estimation. The third threshold is customized according to needs. As an example, the third threshold can be 10m / s 2 .

[0142] When the vehicle's slope signal is greater than the fifth threshold and less than the sixth threshold, it indicates that the vehicle is not in an extreme climbing or descending state, and estimating the vehicle weight is beneficial to improving the accuracy of vehicle weight estimation. The above-mentioned slope signal can usually be a slope percentage, and the fifth threshold and the sixth threshold are customized according to needs. For example, the fifth threshold can be -5% and the sixth threshold can be 5%.

[0143] In the embodiment of the present invention, the vehicle weight estimation condition may also be set to include that the motor torque of the vehicle is greater than a fourth threshold value, so that the vehicle weight estimation enabling condition may be determined more accurately through more dimensional vehicle weight estimation conditions. The fourth threshold value may be calibrated according to the vehicle load condition and the vehicle driving condition, and as an example, the fourth threshold value may be 10 Nm.

[0144] To sum up, when the above-mentioned second driving data meets the vehicle weight estimation conditions, that is, meets the vehicle weight estimation enabling conditions, the first driving data of the vehicle at the current moment is obtained to determine the vehicle weight estimation value. On the one hand, it can avoid the algorithm or software for determining the vehicle weight estimation value from being frequently triggered, which is beneficial to saving computing resources; on the other hand, it is beneficial to improve the accuracy of the vehicle weight estimation value.

[0145] See also Figure 3 In some embodiments, the method further comprises:

[0146] Based on the vehicle weight estimation result and the vehicle weight range corresponding to each load state, determining a target load state corresponding to the vehicle weight estimation result, wherein each load state includes a light load state, a medium load state and a heavy load state;

[0147] determining a target driving mode corresponding to the target load state;

[0148] When the current driving mode of the vehicle is not the target driving mode, sending a prompt message for entering the target driving mode;

[0149] When a confirmation message for entering the target driving mode is received, the vehicle is controlled to enter the target driving mode.

[0150] In this implementation, the light load state, the medium load state and the heavy load state respectively include corresponding vehicle weight ranges, and the current load state of the vehicle can be determined based on the vehicle weight estimation result, that is, the above-mentioned target load state can be determined.

[0151] After determining the target load state, the target driving mode corresponding to the target load state may be determined. If the current driving mode of the vehicle is not the target driving mode, a prompt message may be sent to indicate whether to enter the target driving mode. The prompt message may be, for example, a voice prompt message or a prompt message in the form of a pop-up window on the vehicle control screen. After sending the prompt message, if a confirmation message input by the user is received, the vehicle may be controlled to enter the target driving mode. If the above confirmation message is not received, or the driver denies entering the above target driving mode, the vehicle may be kept in the current driving mode.

[0152] In the embodiment of the present invention, the corresponding target load state is determined by the vehicle weight estimation result, and the corresponding target driving mode is determined by the target load state. When the current driving mode of the whole vehicle is not the target driving mode, a prompt message can be sent to the user. This is conducive to meeting the needs of the user and improving the intelligent experience and driving feeling of the whole vehicle. When a confirmation message of entering the target driving mode is received, the whole vehicle is controlled to enter the target driving mode, and adaptive vehicle driving mode adjustment can be achieved, which is conducive to the adjustment of the pedal map, brake energy recovery capability and transmission shift curve, and then the fuel economy or power consumption of the whole vehicle can be improved.

[0153] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0154] Figure 4 FIG. 1 is a block diagram of a vehicle weight estimation device according to an exemplary embodiment of the present invention. Figure 4 As shown, the exemplary vehicle weight estimation device includes:

[0155] A first acquisition module 410 is used to acquire first driving data of the vehicle at a current moment;

[0156] A first determination module 420, configured to determine a current vehicle weight estimation value based on the first driving data at the current moment;

[0157] A second determination module 430 is used to determine a current vehicle weight correction value based on the current vehicle weight estimation value, a historical vehicle weight correction value and a preset attenuation coefficient, wherein the historical vehicle weight correction value is a vehicle weight correction value of the vehicle at a moment before the current moment;

[0158] The third determination module 440 is used to repeatedly execute the step of determining the current vehicle weight correction value, and determine that the current vehicle weight correction value is the vehicle weight estimation result of the vehicle when the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stable change condition.

[0159] In one embodiment of the present invention, the attenuation coefficient is a coefficient that changes with time and fluctuates within a first preset range since the current vehicle weight correction value is determined, and the fluctuation amplitude of the attenuation coefficient gradually decreases with time, and the first preset range is a range greater than 0 and less than 1;

[0160] The second determining module 420 is specifically configured to:

[0161] Based on the current vehicle weight estimation value and the historical vehicle weight correction value, and the preset attenuation coefficient at the current moment, a current vehicle weight correction value is determined.

[0162] In one embodiment of the present invention, the attenuation coefficient at the current moment is determined according to the following formula:

[0163]

[0164] Among them, α n represents the attenuation coefficient at the nth moment, α (n-1) Represents the attenuation coefficient at the moment before the n-th moment.

[0165] In an embodiment of the present invention, the second determining module 420 is specifically configured to:

[0166] Determining a first difference between the current vehicle weight estimate and the historical vehicle weight correction value;

[0167] Determine a second difference based on the preset attenuation coefficient and the first difference, wherein the second difference is smaller than the first difference;

[0168] The current vehicle weight correction value is determined based on the second difference and the historical vehicle weight correction value.

[0169] In one embodiment of the present invention, the vehicle weight stable change condition includes:

[0170] The change rate between the current vehicle weight correction value and the historical vehicle weight correction value within the preset period is within a second preset range,

[0171] or,

[0172] The change rate between the current vehicle weight correction value and the historical vehicle weight correction value is within the second preset range for N consecutive times, where N is a positive integer greater than 1.

[0173] In one embodiment of the present invention, the device further comprises:

[0174] A second acquisition module, used to acquire second driving data of the vehicle;

[0175] The first acquisition module 410 is specifically used for:

[0176] When the second driving data satisfies the vehicle weight estimation condition, obtaining the first driving data of the vehicle at the current moment;

[0177] The second driving data satisfies the vehicle weight estimation condition including at least one of the following:

[0178] In the second driving data, the acceleration of the vehicle is greater than a first threshold and less than a second threshold;

[0179] In the second driving data, the acceleration change rate of the vehicle is less than a third threshold;

[0180] In the second driving data, the motor torque of the vehicle is greater than a fourth threshold;

[0181] In the second driving data, the slope signal of the vehicle is greater than a fifth threshold and less than a sixth threshold.

[0182] In one embodiment of the present invention, the device further comprises:

[0183] a fourth determination module, configured to determine a target load state corresponding to the vehicle weight estimation result based on the vehicle weight estimation result and a vehicle weight range corresponding to each load state, wherein each load state includes a light load state, a medium load state and a heavy load state;

[0184] a fifth determination module, configured to determine a target driving mode corresponding to the target load state;

[0185] a sending module, configured to send a prompt message of whether to enter the target driving mode when the current driving mode of the vehicle is not the target driving mode;

[0186] The control module is used to control the vehicle to enter the target driving mode when a confirmation message for entering the target driving mode is received.

[0187] It should be noted that the vehicle weight estimation device provided in the above embodiment and the vehicle weight estimation method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment, and will not be repeated here. In actual applications, the vehicle weight estimation device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0188] An embodiment of the present invention also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle weight estimation method provided in the above-mentioned embodiments.

[0189] Figure 5 The structure diagram of the computer system of the electronic device suitable for implementing the embodiment of the present invention is shown. It should be noted that: Figure 5The computer system 500 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0190] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method described in the above embodiment. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, the ROM 502 and the RAM 503 are connected to each other through the bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0191] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0192] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, various functions defined in the system of the present invention are executed.

[0193] It should be noted that the computer-readable medium shown in the embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a 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 above. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0194] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the 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 boxes represented in succession 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 or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0195] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not, in some cases, limit the units themselves.

[0196] Another aspect of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, causes the computer to execute the vehicle weight estimation method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0197] Another aspect of the present invention further provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle weight estimation method provided in each of the above embodiments.

[0198] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A vehicle weight estimation method, characterized in that: include: Acquire the first driving data of the vehicle at the current moment; Determining a current vehicle weight estimation value based on the first driving data at the current moment; Determine a current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and a preset attenuation coefficient, wherein the historical vehicle weight correction value is the vehicle weight correction value of the vehicle at a moment before the current moment; Repeat the step of determining the current vehicle weight correction value, and when the current vehicle weight correction value and the historical vehicle weight correction value satisfy a preset vehicle weight stable change condition, determine the current vehicle weight correction value as a vehicle weight estimation result of the vehicle.

2. The method according to claim 1, characterized in that The attenuation coefficient is a coefficient that changes with time and fluctuates within a first preset range since the current vehicle weight correction value is determined, and the fluctuation amplitude of the attenuation coefficient gradually decreases with the increase of time, and the first preset range is a range greater than 0 and less than 1; The determining the current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and the preset attenuation coefficient includes: Based on the current vehicle weight estimation value and the historical vehicle weight correction value, and the preset attenuation coefficient at the current moment, a current vehicle weight correction value is determined.

3. The method according to claim 2, characterized in that The attenuation coefficient at the current moment is determined according to the following formula: Among them, α n represents the attenuation coefficient at the nth moment, α (n-1) Represents the attenuation coefficient at the moment before the n-th moment.

4. The method according to any one of claims 1 to 3, characterized in that The determining the current vehicle weight correction value based on the current vehicle weight estimation value, the historical vehicle weight correction value and the preset attenuation coefficient includes: Determining a first difference between the current vehicle weight estimate and the historical vehicle weight correction value; Determine a second difference based on the preset attenuation coefficient and the first difference, wherein the second difference is smaller than the first difference; The current vehicle weight correction value is determined based on the second difference and the historical vehicle weight correction value.

5. The method according to claim 1, characterized in that The vehicle weight stable change condition includes: The change rate between the current vehicle weight correction value and the historical vehicle weight correction value within the preset period is within a second preset range, or, The change rate between the current vehicle weight correction value and the historical vehicle weight correction value is within the second preset range for N consecutive times, where N is a positive integer greater than 1.

6. The method according to claim 1, characterized in that Before obtaining the first driving data of the vehicle at the current moment, the method further includes: Acquiring second driving data of the vehicle; The obtaining of first driving data of the vehicle at the current moment includes: When the second driving data satisfies the vehicle weight estimation condition, obtaining the first driving data of the vehicle at the current moment; The second driving data satisfies the vehicle weight estimation condition including at least one of the following: In the second driving data, the acceleration of the vehicle is greater than a first threshold and less than a second threshold; In the second driving data, the acceleration change rate of the vehicle is less than a third threshold; In the second driving data, the motor torque of the vehicle is greater than a fourth threshold; In the second driving data, the slope signal of the vehicle is greater than a fifth threshold and less than a sixth threshold.

7. The method according to claim 1, characterized in that The method further comprises: Based on the vehicle weight estimation result and the vehicle weight range corresponding to each load state, determining a target load state corresponding to the vehicle weight estimation result, wherein each load state includes a light load state, a medium load state and a heavy load state; determining a target driving mode corresponding to the target load state; When the current driving mode of the vehicle is not the target driving mode, sending a prompt message for entering the target driving mode; When a confirmation message for entering the target driving mode is received, the vehicle is controlled to enter the target driving mode.

8. A vehicle weight estimation device, characterized in that: include: A first acquisition module, used to acquire first driving data of the vehicle at a current moment; A first determining module, configured to determine a current vehicle weight estimation value based on the first driving data at the current moment; A second determination module is used to determine a current vehicle weight correction value based on the current vehicle weight estimation value, a historical vehicle weight correction value and a preset attenuation coefficient, wherein the historical vehicle weight correction value is a vehicle weight correction value of the vehicle at a moment before the current moment; The third determination module is used to repeatedly execute the step of determining the current vehicle weight correction value, and determine that the current vehicle weight correction value is the vehicle weight estimation result of the vehicle when the current vehicle weight correction value and the historical vehicle weight correction value meet the preset vehicle weight stable change condition.

9. A device, characterized in that: include: one or more processors and memory, A computer program is stored in the memory, and when the one or more processors execute the computer program, the device executes the vehicle weight estimation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, which, when executed by one or more processors, enables the device to perform the vehicle weight estimation method according to any one of claims 1 to 7.

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