Vehicle load determination method and system, vehicle and product

Abstract

The invention provides a vehicle load determining method and system, a vehicle and a product, and relates to the technical field of automobiles, and the method comprises the steps that the current total weight of the vehicle is obtained; determining the weight of a non-cargo object in the vehicle according to the image collected for the vehicle; and determining the current cargo weight of the vehicle according to the current total weight and the weight of the non-cargo object in the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to a method and system for determining vehicle load, a vehicle, and a product. Background Art

[0002] In application scenarios such as determining whether a vehicle is overloaded, it is usually necessary to obtain the weight of the goods loaded on the vehicle. However, in the related art, the total weight of the vehicle and the vehicle load is usually obtained by means of a weighbridge or other devices, and then the weight of the vehicle load is estimated based on the total weight of the vehicle and the estimated body weight, and the weight of the load obtained thereby is used as the weight of the goods loaded on the vehicle.

[0003] However, there is a large error between the load weight estimated based on the total weight of the vehicle and the body weight and the actual weight of the goods loaded on the vehicle. Therefore, it is necessary to develop a method and system for determining vehicle load, a vehicle, and a product to achieve accurate weighing of the goods loaded on the vehicle. Summary of the Invention

[0004] Embodiments of the present invention provide a method and system for determining vehicle load, a vehicle, and a product to solve the problem of low accuracy of the weight of goods in a vehicle obtained in the related art.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining vehicle load, including:

[0006] Obtaining the current total weight of the vehicle;

[0007] Determining the weight of non-cargo objects in the vehicle according to an image collected for the vehicle;

[0008] Determining the current cargo weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle.

[0009] Optionally, the determining the weight of non-cargo objects in the vehicle according to an image collected for the vehicle includes:

[0010] Determining the types and quantities of non-cargo objects in the vehicle according to the image;

[0011] Determining the weight of non-cargo objects in the vehicle according to the types and quantities of the non-cargo objects.

[0012] Optionally, the types and quantities of the non-cargo objects are obtained by recognizing the image using an image recognition model, and the image recognition model is obtained by machine learning using image samples carrying non-cargo object labels.

[0013] Optionally, determining the current load weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle includes:

[0014] Determining the difference between the current total weight and the weight of non-cargo objects in the vehicle as the current load weight of the vehicle.

[0015] Optionally, obtaining the current total weight of the vehicle includes:

[0016] Obtaining the suspension height information of the vehicle;

[0017] Calculating the current total weight of the vehicle according to the suspension height information.

[0018] Optionally, the suspension height information is the current length value of the elastic member in the suspension of the vehicle. Calculating the current total weight of the vehicle according to the suspension height information includes:

[0019] Determining the current total weight of the vehicle according to the current length value and the mapping relationship between the length value of the elastic member and the vehicle weight.

[0020] Optionally, the suspension height information is the current angle value of the included angle between the first link and the second link between the top and bottom of the elastic member in the suspension of the vehicle. Calculating the current total weight of the vehicle according to the suspension height information includes:

[0021] Determining the current total weight of the vehicle according to the current angle value and the mapping relationship between the angle value of the included angle and the vehicle weight.

[0022] Optionally, after determining the current total weight of the vehicle, the method further includes:

[0023] When the current load weight of the vehicle exceeds the first preset load threshold, determining that the vehicle is in an overloaded state.

[0024] Optionally, when it is determined that the vehicle is in an overloaded state, the method further includes at least one of the following:

[0025] Controlling the in-vehicle screen to display an overloading alarm message;

[0026] Controlling the in-vehicle audio output device to broadcast an overloading alarm voice;

[0027] Controlling the vehicle lights to flash according to the overloading alarm message.

[0028] In a second aspect, an embodiment of the present invention provides a vehicle load determination system, and the system includes:

[0029] A load sensor for obtaining the current total weight of a vehicle;

[0030] A vision detection device for collecting images of the vehicle and determining the weight of non-cargo objects in the vehicle according to the images;

[0031] A weighing system controller for determining the current cargo weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle.

[0032] Optionally, the vision detection device includes an on-vehicle camera for collecting images of the co-pilot and / or the rear seats of the vehicle.

[0033] In a third aspect, a vehicle includes the vehicle load determination system described in the second aspect.

[0034] In a fourth aspect, an embodiment of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus; wherein, the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0035] The memory is used for storing a computer program;

[0036] The processor, when executing the program stored on the memory, implements the steps in the vehicle load determination method described in the first aspect.

[0037] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the steps in the vehicle load determination method described in the first aspect.

[0038] The vehicle load determination method provided in this embodiment first obtains the total weight of all objects except the vehicle body weight (i.e., the current total weight of the vehicle), and then determines the weight of non-cargo objects in the vehicle according to the images collected for the vehicle by an image recognition method, so as to accurately calculate the weight of the cargo loaded on the vehicle except for non-cargo objects based on the current total weight and the weight of non-cargo objects (i.e., the current cargo weight of the vehicle). The method provided in this embodiment is simple to calculate, and the accuracy of the weight of the cargo object obtained is higher, solving the problem in the related art that the weight of the cargo in the vehicle cannot be accurately obtained.

[0039] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above methods, other purposes, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically exemplified below. Description of the Drawings

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the related art, the following will briefly introduce the drawings required for the description of the embodiments.

[0041] Figure 1 It is a flowchart of the steps of a vehicle load determination method provided by an embodiment of the present invention;

[0042] Figure 2 It is a schematic structural diagram of a vehicle load determination system provided by an embodiment of the present invention;

[0043] Figure 3 It is a schematic principle diagram of an angle sensor provided by an embodiment of the present invention;

[0044] Figure 4 It is a flowchart of the steps of another vehicle load determination method provided by an embodiment of the present invention;

[0045] Figure 5 It is a schematic diagram of the interface of a calibration prompt provided by an embodiment of the present invention;

[0046] Figure 6 It is a bar chart of the current load weight provided by an embodiment of the present invention;

[0047] Figure 7 It is a schematic diagram of the segmented record of the current load weight provided by an embodiment of the present invention;

[0048] Figure 8 It is a block diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0049] The following will describe the exemplary embodiments of the present invention in more detail with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0050] It should be noted that the data acquisition process and related data involved in the embodiments of the present invention are all carried out on the premise of complying with the corresponding data protection regulations and policies of the country where the location is located and obtaining the authorization given by the owner of the corresponding device.

[0051] Refer to Figure 1 , Figure 1 is a flowchart of the steps of a vehicle load determination method provided by an embodiment of the present invention. As shown in Figure 1 , the method includes steps 101 to 103 and is applied to a vehicle load determination system. Figure 2The structural schematic diagram of a vehicle load determination system is shown, as Figure 2 shown. The system includes: a load sensor, a vision detection device, and a weighing system controller, which are used to execute the steps in a vehicle load determination method proposed in this embodiment, specifically as follows:

[0052] Step 101: Obtain the current total weight of the vehicle.

[0053] In this embodiment, the current total weight of the vehicle represents the total weight of all objects loaded by the vehicle at the current moment, where all objects include cargo objects and non-cargo objects. Among them, the vehicle can be a truck, a pickup truck, or other vehicles that can load goods. In the embodiments of the present invention, the vehicle type is not limited. Among them, the cargo object can be the object loaded in the cargo compartment of the vehicle. The non-cargo objects mainly include: the driver in the driver's cab and passengers other than the driver. Exemplarily, the passengers include the passenger sitting in the co-pilot position and the passengers sitting in the positions behind the driver's seat. In this embodiment, the current total weight of the vehicle can be obtained through the weight acquisition device provided on the vehicle.

[0054] Optionally, in an embodiment of the present invention, step 101, obtaining the current total weight of the vehicle, includes:

[0055] Step 1011: Obtain the suspension height information of the vehicle.

[0056] In this embodiment, the suspension of the vehicle is arranged between the wheels and the body, and the suspension height information represents the height difference information between the body and the suspension. When the weight loaded by the vehicle changes, the height difference between the vehicle and the suspension will change synchronously. Specifically, the heavier the vehicle load, the lower the body sinks, and the shorter the distance between the body and the suspension; the lighter the vehicle load, the longer the distance between the body and the suspension.

[0057] Step 1012: Calculate the current total weight of the vehicle according to the suspension height information.

[0058] In this embodiment, an accurate mapping relationship (such as a functional relationship) between the vehicle load and the body-suspension height difference can be obtained in advance through experiments. In the actual application process, using the obtained suspension height information (the height difference between the body and the suspension) of the current vehicle, the current total weight of the vehicle can be quickly obtained according to the preset mapping relationship.

[0059] Furthermore, in an embodiment of the present invention, the suspension height information is the current length value of the elastic member in the suspension of the vehicle, and step 1012, calculating the current total weight of the vehicle according to the suspension height information, includes:

[0060] Step 1012-a: Determine the current total weight of the vehicle according to the current length value and the mapping relationship between the length value of the elastic member and the vehicle weight.

[0061] In this embodiment, an elastic member (such as a spring) is provided in the suspension. Correspondingly, one end of the elastic member is connected to the base of the suspension, and the other end of the elastic member is connected to the bottom of the vehicle body. When the weight of the load object in the vehicle changes, the pressure on the elastic member changes, and thus the length changes. Correspondingly, the suspension height information is the current length value of the elastic member in the vehicle's suspension, and this length value is negatively correlated with the total weight (current total weight) of all objects loaded on the vehicle.

[0062] Specifically, when the vehicle is not loaded with any objects, the pressure on the elastic member is mainly the pressure brought by the vehicle's own weight. After the vehicle is loaded with cargo objects and / or non-cargo objects, the pressure on the elastic member is the pressure brought by the vehicle's own weight and the weight of all loaded objects. The greater the pressure on the elastic member, the shorter its compressed length (the smaller the length value); the smaller the pressure on the elastic member, the longer its compressed length (the larger the length value).

[0063] In this embodiment, the mapping relationship (such as a functional relationship) between the length value of the elastic member and the vehicle weight (the total weight of all loaded objects) can be determined in advance. Thus, in the actual application process, the current length value of the elastic member in the vehicle's suspension is obtained through a displacement sensor provided on the vehicle suspension. According to the length value of the elastic member at the current moment and the preset mapping relationship, the current total weight of the vehicle is determined. Exemplarily, according to the current length value X of the elastic member and the initial length value X 0 of the elastic member when the vehicle is not loaded with any objects, the difference Δx between the two (i.e., the length change value of the elastic member after the vehicle is loaded with all objects) is determined. According to this difference Δx and the elastic coefficient k of the spring, the change value ΔF of the spring force can be obtained. x Specifically, ΔF x = g·M = k·Δx. According to the change value of the spring force and the gravitational constant g, the total weight M of all objects loaded on the vehicle (i.e., the current total weight of the vehicle) can be obtained. Specifically, M = ΔF / g.

[0064] In this embodiment, a displacement sensor is provided on the vehicle suspension to obtain the current length value of the elastic member in the vehicle suspension. According to the current length value and the mapping relationship between the length value of the elastic member and the vehicle weight, the total weight of all objects loaded on the vehicle (the current total weight of the vehicle) is determined. Compared with the method in the related art of obtaining the total weight of the whole vehicle through a device outside the vehicle such as a weighing scale and estimating the total weight of all objects loaded on the vehicle based on the total weight of the whole vehicle, the current total weight of the vehicle can be accurately obtained through the displacement sensor, and the method is simple and rapid.

[0065] Optionally, in another embodiment of the present invention, the suspension height information is the current angle value of the included angle between the first link and the second link between the top end and the bottom end of the elastic member in the vehicle suspension. The step 1012 of calculating the current total weight of the vehicle according to the suspension height information includes:

[0066] Step 1012-b: Determine the current total weight of the vehicle according to the current angle value and the mapping relationship between the angle value of the included angle and the vehicle weight.

[0067] In this embodiment, an elastic member (such as a spring) is provided in the suspension. Correspondingly, an angle sensor is also provided on the suspension. Figure 3 The principle schematic diagram of an angle sensor is shown. As Figure 3 shown, in this angle sensor, the first link 10 is connected to the top end of the elastic member 12 (such as the bottom of the vehicle body), the second link 11 is connected to the bottom end of the elastic member 12 (such as the base of the suspension), and the other end of the first link 10 (the end not connected to the elastic member 12) and the other end of the second link 11 (the end not connected to the elastic member 12) are connected to form an included angle. When the weight of the object loaded in the vehicle changes, the pressure on the elastic member changes, and then deformation occurs, resulting in a change in the size of the included angle. Correspondingly, the suspension height information is the current angle value of the included angle between the first link between the top end of the elastic member in the vehicle suspension and a preset point, and the second link between the bottom end of the elastic member and the preset point. This angle value is negatively correlated with the sum of the total weights of all objects loaded on the vehicle (the current total weight of the vehicle).

[0068] Specifically, when the vehicle is not loaded with any objects, the pressure on the elastic member is mainly the pressure brought by the vehicle's own weight. After the vehicle is loaded with cargo objects and / or non-cargo objects, the pressure on the elastic member is the pressure brought by the vehicle's own weight and the weights of all loaded objects. As the pressure on the elastic member increases, its compressed length becomes shorter, and the included angle θ between the first link and the second link decreases.

[0069] In this embodiment, a mapping relationship (such as a functional relationship) between the current angle value of the included angle between the first link and the second link and the vehicle weight (total weight of all objects being carried) can be determined in advance. Thus, during actual application, the current angle value of the included angle between the first link and the second link of the elastic member in the vehicle suspension is obtained through an angle sensor provided on the vehicle suspension. Based on the current angle value and the pre-set mapping relationship, the current total weight of the vehicle is determined.

[0070] It should be noted that in actual application, the current total weight of the vehicle can be obtained by using the displacement sensor through the method adopted in step 1012-a, or the current total weight of the vehicle can be obtained by using the angle sensor through the method adopted in step 1012-b. Or both of the above methods can be executed simultaneously to determine the current total weight of the vehicle. There is no sequence requirement for the execution of the above two methods.

[0071] Step 102: Determine the weight of non-cargo objects in the vehicle according to the image collected for the vehicle.

[0072] In this embodiment, the image collected for the vehicle is an image of the interior of the vehicle at the current moment taken by an image acquisition device (such as a camera) provided inside the vehicle. Further, it can be an image collected for one or more positions among the driver's seat, the co-driver's seat, and the rear seats inside the vehicle. In this embodiment, there can be various types of image acquisition devices, which are not limited herein. The position of the image acquisition device should at least meet the requirement of capturing the regional image of the co-driver's seat in the cockpit and the seats in each row behind the driver's seat. Non-cargo objects are identified from the collected image, and then the weight of the non-cargo objects is determined. Among them, non-cargo objects include non-drivers in the cockpit.

[0073] In an embodiment of the present invention, step 102, determining the weight of non-cargo objects in the vehicle according to the image collected for the vehicle, includes:

[0074] Step 1021: Determine the types and quantities of non-cargo objects in the vehicle according to the image.

[0075] In this embodiment, the types of non-cargo objects can include adults and / or children. According to the collected image, the types and quantities of non-cargo objects in the image are determined. For example, through recognition and analysis of the image, it is determined that the types of non-cargo objects in the vehicle include an adult sitting in the cockpit and a child sitting in the rear seat; the quantity of non-cargo objects is: one adult and two children. Specifically, the types of non-cargo objects can be determined first, and then the quantity of each type of non-cargo object can be determined.

[0076] In an embodiment of the present invention, the types and quantities of the non-cargo objects are obtained by identifying the image using an image recognition model, and the image recognition model is obtained by machine learning using image samples carrying non-cargo object labels.

[0077] In this embodiment, the collected image is input into the image recognition model, and the image recognition model identifies the image and outputs the types and quantities of the non-cargo objects in the image. Among them, the image recognition model is obtained by performing machine learning training on the model using image samples carrying non-cargo object labels, and the non-cargo object labels carried on the image samples are the types and quantities of the non-cargo objects annotated in the image. In this embodiment, there can be various types of image recognition models. For example, it can be a YOLO model or other neural network models, which are not limited here. Exemplarily, the image samples annotated with the types and quantities of non-cargo objects are input into the YOLO model to obtain the image recognition model.

[0078] Step 1022, determine the weight of the non-cargo objects in the vehicle according to the types and quantities of the non-cargo objects.

[0079] In this embodiment, the types of all non-cargo objects and the weight information of a single non-cargo object of each type can be pre-stored. According to the type of the non-cargo object, the weight of a single non-cargo object of this type is determined. Exemplarily, the non-cargo object is a person, and the types of non-cargo objects include adults and children. According to the people in the image recognized by the image as adults and children, the standard weight of a single child is obtained as 30 kg and the standard weight of a single adult is obtained as 60 kg from the pre-stored standard weight list of adults and the standard weight list of children. Then, according to the quantity of the non-cargo objects, the weight of each type of non-cargo object is determined, and the weights of various types of non-cargo objects are summed to obtain the weight of all non-cargo objects in the image. Exemplarily, the number of children in the image is 2 and the number of adults is 1, so the total weight of the non-cargo objects in the image is 120 kg.

[0080] This embodiment uses the image collected for the vehicle (the image of the non-cargo objects inside the vehicle), combines the image and the image recognition model, and can accurately and quickly obtain the types and quantities of the non-cargo objects in the image. According to the current total weight and the weight of the non-cargo objects, the weight of the cargo objects loaded on the vehicle (the current cargo weight of the vehicle) can be accurately obtained. Compared with the method in the related art of obtaining the weight estimate of all objects loaded on the vehicle by using the vehicle's total weight and the estimated vehicle body weight and taking the weight estimate as the cargo weight of the vehicle, this embodiment proposes a method for determining the weight of the non-cargo objects in the vehicle, thereby improving the accuracy of determining the cargo weight of the vehicle, and the method does not need to be implemented by means of equipment such as a weighbridge outside the vehicle, reducing the difficulty of the method.

[0081] Step 103: Determine the current load weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle.

[0082] In this embodiment, the current load weight of the vehicle represents the weight of all cargo objects loaded by the vehicle at the current moment.

[0083] In an embodiment of the present invention, Step 103, which determines the current load weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle, includes:

[0084] Determine the difference between the current total weight and the weight of non-cargo objects in the vehicle as the current load weight of the vehicle.

[0085] In this embodiment, all objects loaded by the vehicle include non-cargo objects and cargo objects. By performing a difference operation on the total weight of all objects loaded by the vehicle (current total weight) and the weight of non-cargo objects, the weight of all cargo objects loaded by the vehicle (i.e., the current load weight) is obtained. Correspondingly, the weight of the cargo objects loaded by the vehicle (current load weight) is the total weight of all other cargo objects except non-cargo objects among all objects loaded by the vehicle.

[0086] In summary, by obtaining the total weight of objects (including cargo objects and non-cargo objects) loaded by the vehicle (current total weight), which is the total weight of all objects (non-cargo objects and cargo objects) loaded by the vehicle excluding the vehicle body weight. Obtain the image collected for the vehicle (i.e., the image of non-cargo objects loaded in the vehicle), determine the types and quantities of non-cargo objects according to the image, and according to the types and quantities of non-cargo objects, the weight of non-cargo objects can be quickly and accurately obtained. According to the total weight of all objects loaded by the vehicle (current total weight) and the weight of non-cargo objects, the weight of all cargo objects loaded by the vehicle (current load weight) can be accurately obtained. Compared with the method in the related art of obtaining the total vehicle weight through a weighbridge, obtaining the estimated load weight of the vehicle according to the total vehicle weight and the estimated vehicle body weight, and using the estimated value of the load weight as the weight of the cargo loaded by the vehicle, the method of this embodiment is simple and fast, and the accuracy of the weight of the obtained cargo objects is high, solving the problem in the related art that the weight of the cargo in the vehicle cannot be accurately obtained.

[0087] In an embodiment of the present invention, after determining the current total weight of the vehicle, the method further includes:

[0088] When the current load weight of the vehicle exceeds the first preset load threshold, determine that the vehicle is in an overloaded state.

[0089] In this embodiment, the magnitude of the first preset load threshold can be set according to actual user requirements. By way of example, in the case where the planned driving section belongs to a section with a relatively large overloaded weight threshold, the first preset load threshold can be set relatively large; in the case where the planned driving section belongs to a section with a relatively small overloaded weight threshold, the first preset load threshold can be set relatively small.

[0090] In an embodiment of the present invention, when it is determined that the vehicle is in an overloaded state, the method further includes at least one of the following:

[0091] Controlling the in-vehicle screen to display an overloading alarm message;

[0092] Controlling the in-vehicle audio output device to broadcast an overloading alarm voice;

[0093] Controlling the vehicle lights to flash according to the overloading alarm message.

[0094] In this embodiment, a warning module may further be provided in the vehicle for warning through the warning module when it is determined that the vehicle is in an overloaded state. Specifically, the warning module may include: a display module, a voice module, and a lighting control device. The display module controls the in-vehicle screen to display an overloading alarm message, which may be text, animation, a picture, or other displayable multimedia elements containing warning content; the voice module controls the in-vehicle audio to output an overloading alarm voice, which may be an audio containing warning content; the lighting control device controls the vehicle lights to flash according to the overloading alarm message.

[0095] In this embodiment, when it is determined that the current load weight of the vehicle exceeds the first preset load threshold, a warning is given for the overloaded state of the vehicle. Thus, it can be prompted to the user that the vehicle is in an overloaded state at the current moment, enabling the user to adjust the weight of the goods loaded on the vehicle based on this prompt to ensure that the vehicle is not overloaded, thereby improving vehicle safety.

[0096] In an embodiment of the present invention, the method further includes:

[0097] When a deviation in the current self-weight of the vehicle is detected, calibrating the current self-weight of the vehicle according to a calibration operation triggered by the user.

[0098] In this embodiment, to avoid inaccurate vehicle self-weight affecting the calculation of vehicle load, the user can calibrate the vehicle's self-weight in advance. Specifically, in the state where the vehicle is not loaded with any object, the current self-weight of the vehicle is obtained, that is, the weight of the vehicle body at the current moment. For example, the current self-weight of the vehicle is obtained through a weight acquisition module arranged on the vehicle suspension. If the current self-weight exceeds the second preset load threshold, it is determined that there is a deviation in the current self-weight of the vehicle. The second preset load threshold is the maximum weight value that meets the weight test accuracy requirements before the vehicle is not loaded with any object, and the second preset load threshold can be set according to the actual needs of the user. Exemplarily, when the accuracy requirement for the total weight of all objects obtained is relatively high, the second preset load threshold can be set smaller, for example, the second preset load threshold can be set to zero; when the accuracy requirement for the total weight of all objects obtained is relatively low, the second preset load threshold can be set larger.

[0099] After determining that there is a deviation in the current self-weight of the vehicle, according to the calibration operation triggered by the user, the current self-weight of the vehicle is calibrated, that is, the current self-weight of the vehicle is adjusted to a preset weight. In this embodiment, the preset weight is a weight less than or equal to the second preset load threshold. Thus, by calibrating the vehicle body self-weight in a timely manner, the change in the vehicle's own weight is avoided from affecting the subsequent calculation of the vehicle load, and the calculation accuracy of the vehicle load is further improved.

[0100] An embodiment of the present invention also provides a vehicle load determination system, as Figure 2 shown, the vehicle load determination system includes:

[0101] A load sensor for obtaining the current total weight of the vehicle;

[0102] A vision detection device for collecting an image of the vehicle and determining the weight of non-cargo objects in the vehicle according to the image;

[0103] A weighing system controller for determining the current cargo weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle.

[0104] In an embodiment of the present invention, the vision detection device includes an in-vehicle camera, and the in-vehicle camera is used for collecting images of the co-pilot and / or the rear seats of the vehicle.

[0105] In an embodiment of the present invention, the vision detection device includes:

[0106] An image recognition model for determining the types and quantities of non-cargo objects in the vehicle according to the image;

[0107] A non-cargo object weight determination module for determining the weight of non-cargo objects in the vehicle according to the types and quantities of the non-cargo objects.

[0108] In an embodiment of the present invention, the types and quantities of the non-cargo objects are obtained by recognizing the image using an image recognition model, and the image recognition model is obtained by machine learning using image samples carrying non-cargo object labels.

[0109] In an embodiment of the present invention, the weighing system controller is further configured to determine the difference between the current total weight and the weight of non-cargo objects in the vehicle as the current load weight of the vehicle.

[0110] In an embodiment of the present invention, the load sensor includes:

[0111] A suspension height information acquisition module for acquiring the suspension height information of the vehicle;

[0112] A calculation module for calculating the current total weight of the vehicle according to the suspension height information.

[0113] In an embodiment of the present invention, the suspension height information acquisition module is a displacement sensor, the suspension height information is the current length value of the elastic member in the suspension of the vehicle, and the calculation module includes:

[0114] A first calculation sub-module for determining the current total weight of the vehicle according to the current length value and the mapping relationship between the length value of the elastic member and the vehicle weight.

[0115] In an embodiment of the present invention, the suspension height information acquisition module is an angle sensor, the suspension height information is the current angle value of the included angle between the first link and the second link between the top and bottom ends of the elastic member in the suspension of the vehicle, and the calculation module includes:

[0116] A second calculation sub-module for determining the current total weight of the vehicle according to the current angle value and the mapping relationship between the angle value of the included angle and the vehicle weight.

[0117] In an embodiment of the present invention, the system further includes:

[0118] An overloading state determination module for determining that the vehicle is in an overloading state when the current load weight of the vehicle exceeds a first preset load threshold after determining the current total weight of the vehicle.

[0119] In an embodiment of the present invention, the system further includes an early warning module, and the early warning module includes:

[0120] A display module, configured to control an in-vehicle screen to display an overloading alarm message when it is determined that the vehicle is in an overloaded state;

[0121] A voice module, configured to control an in-vehicle audio output device to broadcast an overloading alarm voice when it is determined that the vehicle is in an overloaded state;

[0122] A lighting control device, configured to control vehicle lights to flash according to the overloading alarm message when it is determined that the vehicle is in an overloaded state.

[0123] In this embodiment, a load sensor is used to obtain the current total weight of the vehicle, and a vision detection device is used to collect an image of the vehicle and determine the weight of non-cargo objects in the vehicle according to the image. The weighing system controller corrects the total weight of all cargo objects loaded in the vehicle based on the signal of the load sensor (the current total weight of the vehicle) and the weight of non-cargo objects transmitted by the vision detection device to the weighing system controller, and obtains the current total weight of the vehicle. The following combines Figure 4 The step flowchart of the vehicle load determination method shown in the figure is used to further illustrate the vehicle load determination method.

[0124] Refer to Figure 2 and Figure 4 As shown in the figure, the method includes the following steps:

[0125] Step S1, obtain the current self-weight of the vehicle, and when the current self-weight exceeds the second preset load threshold, display a calibration prompt on the in-vehicle screen.

[0126] Refer to Figure 5 , Figure 5 shows a schematic diagram of an interface of a calibration prompt. As Figure 5 shown, the calibration prompt includes text content for prompting the user to perform calibration. Specifically, before the vehicle loads any object, the current self-weight of the vehicle is obtained through the load sensor. When the current self-weight exceeds the second preset load threshold, the text displayed on the in-vehicle screen can be "There is a deviation in the current weight. Please calibrate the system". Further, in order to better remind the user, the displayed text can be personalized. For example, the four characters "There is a deviation" can be bolded and highlighted in red.

[0127] Step S2, in response to a click operation on the "Start Calibration" control on the in-vehicle screen triggered by the user, adjust the current self-weight to a preset weight.

[0128] In this embodiment, the preset weight is zero. After the user clicks the "Start Calibration" control on the in-vehicle screen, the weighing system controller in the system responds to this operation and adjusts the current self-weight to zero to improve the measurement accuracy of the vehicle load determination system. In one embodiment, the first display interface further includes a "Cancel" control, and the weighing system controller responds to the user's click operation on the "Cancel" control and aborts the process of adjusting the current self-weight to the preset weight.

[0129] Step S3: Obtain the current total weight of the vehicle (the total weight of all objects carried by the vehicle) through the load sensor.

[0130] In this step, the load sensor is used to obtain the suspension height information of the vehicle suspension. For example, the current length value of the elastic member in the suspension is obtained through a displacement sensor. And the current length value of the elastic member in the vehicle suspension system is converted into an electrical signal, and then the electrical signal is sent to the weighing system controller. The weighing system controller converts the received electrical signal into a length change value, and determines the current total weight of the vehicle according to the linear relationship between the length change value, the elastic coefficient of the elastic member, and the weight. Exemplarily, the linear relationship between the length change value Δx, the elastic coefficient k of the elastic member, and the weight M is ΔF x = g·M = k·Δx. The method for determining the total weight of all objects carried by the vehicle according to the linear relationship and the length change value has been described in step 1012-a and will not be elaborated here.

[0131] Step S4: Collect an image of the vehicle through the vision detection device and determine the weight of non-cargo objects in the image.

[0132] After the camera in the vision detection device collects an image of the co-pilot and / or the rear seats of the vehicle, the image recognition model is used to identify the people in the image, determine the types of non-cargo objects in the image (for example, whether the people in the image are adults or children), and obtain the number of non-cargo objects in the image (the number of adults and the number of children). The vision detection device outputs the recognition results (the types and quantities of non-cargo objects) to the weighing system controller, and the weighing system controller extracts the unit weights of each type of non-cargo object stored in advance (such as the weight data of a single adult and a single child), and calculates the weight of all non-cargo objects in the vehicle.

[0133] In one embodiment, the image area captured by the camera does not include the driver's seat area. By default, it is assumed that there is a driver in the driver's seat and the driver is an adult. Correspondingly, after the weighing system controller obtains the recognition results (the number of adults and the number of children) transmitted by the vision detection device, it performs an increment operation on the number of adults in the recognition results, determines the number after the increment operation as the number of adults in the vehicle, and based on this number and the number of children, obtains the weight of all non-cargo objects in the vehicle.

[0134] In another embodiment, the image area captured by the camera includes the driver's seat area. Correspondingly, after the weighing system controller obtains the recognition results (the number of adults and the number of children) transmitted by the vision detection device, it directly determines the weight of all non-cargo objects in the vehicle based on this recognition result.

[0135] Step S5: Determine the weight of all cargo objects (current cargo weight) loaded on the vehicle based on the current total weight of the vehicle and the weight of all non-cargo objects in the vehicle.

[0136] Specifically, the weighing system controller performs a difference operation on the total weight of all objects (the current total weight of the vehicle) and the weight of the people in the cockpit (the weight of all non-cargo objects) to obtain a corrected weight value, and this corrected weight value is the weight of the cargo objects (current cargo weight) loaded on the vehicle. Thus, the obtained current cargo weight is the weight of the cargo objects loaded on the vehicle after compensating for the weight errors of the co-pilot position and the rear passengers. Compared with the method in the related art of subtracting the estimated vehicle body weight from the vehicle weight and taking the obtained weight as the weight of the cargo objects loaded on the vehicle, the accuracy of the current cargo weight of the vehicle obtained based on this method is higher.

[0137] This embodiment combines the current total weight measured by the load sensor and the weight of non-cargo objects obtained through the vision detection device to determine the current cargo weight of the vehicle. Specifically, it excludes the weight of non-cargo objects in the vehicle (such as the weight of people), and the weight of the cargo objects loaded on the vehicle obtained in this way is more accurate, solving the problem of large measurement errors in the method in the related art of taking the weight including the weight of people in the cockpit as the weight of the cargo objects loaded on the vehicle.

[0138] Step S6: Display the current cargo weight of the vehicle in the form of a bar chart through the in-vehicle screen.

[0139] In one embodiment, the weighing system controller controls the in-vehicle screen to display the weight of the cargo objects loaded on the vehicle in real time.

[0140] Refer to Figure 6 , Figure 6 shows a bar chart of the current cargo weight, as Figure 6As shown, the display content on the in-vehicle screen includes a bar graph for identifying the current load weight of the vehicle. Among them, the full scale of the bar graph is the maximum load capacity of the vehicle, and the current load weight obtained through steps S3 to S5 corresponds to the gray area in the bar graph. Further, scales for indicating the load weight are set on the bar graph, and the maximum load capacity on the bar graph can be set according to user requirements. Among them, the maximum load capacity set by the user cannot exceed the maximum load capacity that the vehicle can bear, and the maximum load capacity that the vehicle can bear is data set and stored in the vehicle when it leaves the factory.

[0141] Step S7, when the current load weight of the vehicle exceeds the first preset load threshold, it is determined that the vehicle is in an overloaded state, and a warning for the overweight state of the vehicle is given.

[0142] Refer to Figure 6 , a warning weight scale line is also provided in the bar graph, and this warning weight scale line corresponds to the first preset load threshold in the foregoing embodiment. When the current load weight of the vehicle exceeds the first preset load threshold, a red warning is given in the in-vehicle weight area on the in-vehicle screen, and at the same time, text and voice warnings are given to remind the user that the vehicle is in an overloaded state. Further, a warning weight setting control is provided in the display interface of the in-vehicle screen. In response to the user's click operation on the warning weight setting control, a first preset load threshold setting interface pops up for the user to input a newly set first preset load threshold in this interface, or select the first preset load threshold required by the user from the multiple first preset load thresholds displayed in this interface.

[0143] In this embodiment, the system further includes: a lighting control device, which is used to control the vehicle lights to flash when the current load weight of the vehicle exceeds the first preset load threshold to remind the user that the vehicle is in an overloaded state.

[0144] In this embodiment, corresponding switches are provided for both the lighting control device and the voice module, and the user can control the working states of the lighting control device and the voice module through the switches. Specifically, a warning switch control is provided in the in-vehicle screen. In response to the user's click operation on the warning switch control, the working states of the lighting control device and the voice module are controlled.

[0145] Further, when the working state of the lighting control device is controlled to be off through the switch, the overloaded state of the vehicle is no longer reminded by the lighting control device. Specifically, when the working state of the voice module is controlled to be off through the switch, the overloaded state of the vehicle is no longer reminded by the voice module.

[0146] According to steps S1 to S7, obtain the current load weight of the vehicle, and when it exceeds the first preset load threshold, give an early warning by means such as text display, graphic display, voice prompt, and light flashing. The first preset load threshold can also be set on the corresponding interface of the in-vehicle screen, and calibration to zero can be performed when the current self-weight exceeds the second preset load threshold, improving the measurement accuracy of the vehicle load determination system, and realizing human-computer interaction, thus enhancing the user experience.

[0147] Step S8, record the change situation of the current load weight of the vehicle.

[0148] Specifically, there is a save weight control in the in-vehicle screen. When the current load weight of the vehicle changes, in response to the user's click operation on the save weight control, the current load weight is saved as data.

[0149] Furthermore, the vehicle load determination system records the current load weight of the vehicle in segments. Refer to Figure 7 , Figure 7 which shows a schematic diagram of segmented recording of the current load weight. As Figure 7 shown, the display interface of the current in-vehicle screen includes multiple bar charts for displaying the current load weight of the vehicle. The current load weight at different times is segmented and saved through different bar charts. Exemplarily, different times of the current load weight can be identified by record numbers. For example, "Record 1", "Record 2", and "Record n" can be used to identify the current load weight of the vehicle at the 1st moment, the 2nd moment, and the nth moment respectively. By recording the change situation of the current load weight of the vehicle, the change situation of the weight of the goods loaded on the vehicle can be obtained.

[0150] In summary, by obtaining the total weight of the vehicle load including the cargo object and the non-cargo object, this total weight is the total weight of all objects loaded on the vehicle excluding the vehicle body weight. Obtain an image including the non-cargo object, determine the type of the non-cargo object according to the image, and according to the type of the non-cargo object, the weight of the non-cargo object can be quickly and accurately obtained. According to the total weight of all objects loaded on the vehicle and the weight of the non-cargo object, the weight of all cargo objects except the non-cargo object loaded on the vehicle can be accurately obtained.

[0151] In summary, compared with the method in the related art of obtaining the total vehicle weight through a weighbridge, obtaining an estimated value of the vehicle load weight based on the total vehicle weight and the estimated body weight, and using the estimated value of the load weight as the weight of the goods carried by the vehicle, in this embodiment, first, the current total weight of the vehicle (the total weight of all objects except the body weight) is obtained through a load sensor, and then the weight of non-cargo objects is obtained through a vision detection device, and the current cargo weight (the weight of cargo objects) of the vehicle is determined according to the current total weight and the weight of non-cargo objects. The operation performed by the device in this embodiment is simple, and the accuracy of the weight of the cargo objects obtained is high, solving the problem in the related art that the weight of the goods in the vehicle cannot be accurately obtained.

[0152] An embodiment of the present invention also provides an electronic device, as Figure 8 shown, including a processor 401, a communication interface 402, a memory 403, and a communication bus 404. Among them, the processor 401, the communication interface 402, and the memory 403 complete communication with each other through the communication bus 404.

[0153] The memory 403 is used to store a computer program.

[0154] When the processor 401 is used to execute the program stored on the memory 403, the following steps are implemented:

[0155] Obtain the current total weight of the vehicle;

[0156] Determine the weight of non-cargo objects in the vehicle according to the image collected for the vehicle;

[0157] Determine the current cargo weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle.

[0158] Among them, the processor 401 can also implement other steps in the above vehicle load determination method, which will not be elaborated here.

[0159] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, a Controller Area Network (CAN) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0160] The communication interface is used for communication between the above electronic device and other devices.

[0161] The memory may include a Random Access Memory (RAM), or may also include a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0162] The aforementioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0163] In another embodiment provided by the present invention, there is also provided a computer-readable storage medium, in which instructions are stored, and when it runs on a computer, it causes the computer to execute the vehicle load determination method in the above embodiment.

[0164] In another embodiment provided by the present invention, there is also provided a computer program product containing instructions, and when it runs on a computer, it causes the computer to execute the vehicle load determination method in the above embodiment.

[0165] The embodiment of the present invention also provides a vehicle, including the vehicle load determination system as described above.

[0166] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0167] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also other elements that are not expressly listed, or also includes elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device that includes the element.

[0168] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium, and computer program product including instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0169] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for determining the load of a vehicle, characterized in that, the method includes: Obtaining the current total weight of the vehicle; Determining the weight of non-cargo objects in the vehicle according to the image collected for the vehicle; Determining the current cargo weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle.

2. The method for determining the load of a vehicle according to claim 1, characterized in that, the determining the weight of non-cargo objects in the vehicle according to the image collected for the vehicle includes: Determining the types and quantities of non-cargo objects in the vehicle according to the image; Determining the weight of non-cargo objects in the vehicle according to the types and quantities of the non-cargo objects.

3. The method for determining the load of a vehicle according to claim 2, characterized in that, the types and quantities of the non-cargo objects are obtained by using an image recognition model to recognize the image, and the image recognition model is obtained by machine learning using image samples carrying non-cargo object labels.

4. The method for determining the load of a vehicle according to any one of claims 1-3, characterized in that, the determining the current cargo weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle includes: Determining the difference between the current total weight and the weight of non-cargo objects in the vehicle as the current cargo weight of the vehicle.

5. The method for determining the load of a vehicle according to any one of claims 1-4, characterized in that, the obtaining the current total weight of the vehicle includes: Obtaining the suspension height information of the vehicle; Calculating the current total weight of the vehicle according to the suspension height information.

6. The method for determining the load of a vehicle according to claim 5, characterized in that, the suspension height information is the current length value of the elastic member in the suspension of the vehicle, and the calculating the current total weight of the vehicle according to the suspension height information includes: Determining the current total weight of the vehicle according to the current length value and the mapping relationship between the length value of the elastic member and the vehicle weight.

7. The method for determining the load of a vehicle according to claim 5, characterized in that, the suspension height information is the current angle value between the first link and the second link between the top and bottom of the elastic member in the suspension of the vehicle, and the calculating the current total weight of the vehicle according to the suspension height information includes: Determining the current total weight of the vehicle according to the current angle value and the mapping relationship between the angle value of the included angle and the vehicle weight.

8. The method for determining the load of a vehicle according to any one of claims 1-7, characterized in that, after determining the current total weight of the vehicle, the method further includes: Determining that the vehicle is in an overloaded state when the current cargo weight of the vehicle exceeds a first preset load threshold.

9. The method for determining the load of a vehicle according to claim 8, characterized in that, when determining that the vehicle is in an overloaded state, the method further includes at least one of the following: Controlling the in-vehicle screen to display an overload alarm message; Controlling the in-vehicle audio output device to broadcast an overload alarm voice; Control the vehicle lights to flash according to the overload alarm information.

10. A vehicle load determination system, characterized in that the system includes: a load sensor for obtaining the current total weight of the vehicle; a vision detection device for collecting an image of the vehicle and determining the weight of non-cargo objects in the vehicle according to the image; a weighing system controller for determining the current load weight of the vehicle according to the current total weight and the weight of non-cargo objects in the vehicle.

11. The vehicle load determination system according to claim 10, characterized in that the vision detection device includes an in-vehicle camera for collecting images of the co-pilot and / or the rear seats of the vehicle.

12. A vehicle, characterized in that the vehicle includes the vehicle load determination system according to claim 10 or 11.

13. An electronic device, characterized in that it includes: a processor, the processor is connected to a memory, and when the processor executes the program stored on the memory, it implements the steps in the vehicle load determination method according to any one of claims 1 to 9.

14. A computer-readable storage medium, on which a computer program is stored, characterized in that when the program is executed by a processor, it implements the steps in the vehicle load determination method according to any one of claims 1 to 9.

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