A vehicle mass calculation method, device, equipment and storage medium

Abstract

The application discloses a vehicle mass calculation method, device and equipment and a storage medium, and comprises the following steps: vehicle mass is calculated in multiple ways, and the calculation results of the multiple ways are fused to obtain a reference sum of the vehicle mass and a reference sum change rate thereof; based on the reference sum and the reference sum change rate, a vehicle mass change rate percentage and a vehicle mass percentage of each way are determined, and an optimization factor of the vehicle mass of each way is determined through the vehicle mass change rate percentage and the vehicle mass percentage; a weight factor of the vehicle mass of each way is calculated through the optimization factor of the vehicle mass of each way and the vehicle mass percentage, and a steady-state mass of the vehicle is calculated based on the weight factor. The application can accurately calculate the mass of the vehicle, and ensure that the mass does not fluctuate when the mass of the vehicle is calculated, thereby improving the control precision of the vehicle chassis.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle chassis control, and in particular to a vehicle mass calculation method, device, equipment and storage medium. BACKGROUND

[0002] With the development of automobile intelligence, it is necessary to dynamically and real-timely calculate the mass of a vehicle for chassis control of the vehicle. Common methods for estimating the mass of a vehicle include calculating the mass of the vehicle by least squares, calculating the mass of the vehicle by using a suspension mechanical sensor, and calculating the mass of the vehicle by using automobile dynamics. However, these methods all have defects, resulting in inaccurate calculation of the mass of the vehicle and unstable real-time jitter of the calculated mass. For example, calculating the mass of the vehicle by using a suspension mechanical sensor causes jitter of the mechanical sensor to result in unstable real-time jitter of the calculated mass due to vibration of the suspension during driving of the vehicle. Calculating the mass of the vehicle by using automobile dynamics also results in inaccurate calculation of the mass of the vehicle and unstable real-time jitter of the calculated mass due to rapid changes in driving force of the vehicle. That is, a single method for calculating the mass of the vehicle cannot meet the requirements for real-time calculation of the mass of the vehicle.

[0003] Therefore, how to fuse multiple methods for calculating the mass of the vehicle to ensure the accuracy and stability of the calculated mass of the vehicle is a technical problem that needs to be solved at present. SUMMARY

[0004] The main purpose of the present application is to provide a vehicle mass calculation method, device, equipment and storage medium, which can accurately calculate the mass of a vehicle and ensure that the mass is not jittered when the mass of the vehicle is calculated, thereby improving the control accuracy of the chassis of the vehicle.

[0005] In a first aspect, the present application provides a vehicle mass calculation method, wherein the method comprises the following steps:

[0006] The mass of the vehicle is calculated in multiple ways, and the calculation results of the multiple ways are fused to obtain a reference sum of the mass of the vehicle and a reference sum change rate thereof;

[0007] Based on the reference sum and the reference sum change rate thereof, a vehicle mass change rate percentage and a vehicle mass percentage of each way are determined, and an optimization factor of the vehicle mass of each way is determined through the vehicle mass change rate percentage and the vehicle mass percentage;

[0008] A weight factor of the vehicle mass of each way is calculated through the optimization factor of the vehicle mass of each way and the vehicle mass percentage, and a stable mass of the vehicle is calculated based on the weight factor.

[0009] In combination with the first aspect, as an optional implementation manner, the vehicle mass based on the suspension calculation, the vehicle mass based on the kinematics calculation, and the vehicle mass based on the tire pressure calculation are added to obtain a vehicle mass reference total sum;

[0010] According to the calculated vehicle mass, a vehicle mass change rate of each manner is calculated;

[0011] A vehicle mass reference total sum change rate is obtained by fusing the sum of the absolute values of the change rates.

[0012] In combination with the first aspect, as an optional implementation manner, according to a formula: The vehicle mass of each manner is calculated, wherein m1 is the vehicle mass based on the suspension calculation; m2 is the vehicle mass based on the kinematics calculation; m3 is the vehicle mass based on the tire pressure calculation, F i is the force of the i th suspension in the vertical direction of the vehicle; n is the number of suspensions of the whole vehicle; F D is the driving force of the whole vehicle; F V is the wind resistance of the whole vehicle; a is the acceleration of the whole vehicle; θ1 is the slope of the whole vehicle; f1 is the rolling coefficient, which is a constant; g is the gravitational acceleration; f is the mapping relationship between the tire pressure and the mass of the whole vehicle; p is the real-time tire pressure;

[0013] According to a formula: The vehicle mass reference total sum and the vehicle mass reference total sum change rate are calculated, wherein, is the vehicle mass change rate based on the suspension calculation; is the vehicle mass change rate based on the driving state calculation; is the vehicle mass change rate based on the braking state calculation; m all is the vehicle mass reference total sum; is the vehicle mass reference total sum change rate.

[0014] In combination with the first aspect, as an optional implementation manner, the vehicle mass change rate based on the suspension calculation, the vehicle mass change rate based on the kinematics calculation, the vehicle mass change rate based on the tire pressure calculation, and the vehicle mass reference total sum change rate are used to calculate a vehicle mass change rate percentage of each manner, wherein the vehicle mass change rate percentage is equal to the vehicle mass change rate divided by the vehicle mass reference total sum change rate;

[0015] The vehicle mass based on the suspension calculation, the vehicle mass based on the kinematics calculation, the vehicle mass based on the tire pressure calculation, and the vehicle mass reference total sum are used to calculate a vehicle mass percentage of each manner, wherein the vehicle mass percentage is equal to the vehicle mass divided by the vehicle mass reference total sum.

[0016] In combination with the first aspect, as an optional implementation manner, according to a formula: Determine the optimization factors for vehicle mass under various conditions, where γ1 is the percentage of vehicle mass change rate calculated based on suspension; γ2 is the percentage of vehicle mass change rate calculated based on kinematics; γ3 is the percentage of vehicle mass change rate calculated based on tire pressure; β1 is the percentage of vehicle mass calculated based on suspension; β2 is the percentage of vehicle mass calculated based on kinematics; β3 is the percentage of vehicle mass calculated based on tire pressure; k1 is the vehicle mass optimization factor calculated based on suspension; k2 is the vehicle mass optimization factor calculated based on kinematics; k3 is the vehicle mass optimization factor calculated based on tire pressure; μ is the first coefficient, which is greater than 2; ρ is the second coefficient, where μ > ρ.

[0017] In conjunction with the first aspect mentioned above, as an optional implementation method, according to the formula: Calculate the weighting factors for vehicle mass in each method, where ε1 is the weighting factor for vehicle mass calculated based on suspension; ε2 is the weighting factor for vehicle mass calculated based on kinematics; and ε3 is the weighting factor for vehicle mass calculated based on tire pressure.

[0018] In conjunction with the first aspect mentioned above, as an optional implementation method, according to the formula: Calculate the vehicle's steady-state mass.

[0019] Secondly, this application provides a vehicle mass calculation device, the device comprising:

[0020] The fusion module is used to calculate the vehicle mass using multiple methods and fuse the calculation results from these methods to obtain a reference total of the vehicle mass and its rate of change.

[0021] The determination module is used to determine the percentage change rate of vehicle mass and the percentage of vehicle mass for each mode based on the reference sum and its rate of change, and to determine the optimization factor of vehicle mass for each mode through the percentage change rate of vehicle mass and the percentage of vehicle mass.

[0022] The calculation module is used to calculate the weighting factor of the vehicle quality for each mode by using the optimization factor and the percentage of vehicle quality for each mode, and to calculate the steady-state quality of the vehicle based on the weighting factor.

[0023] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.

[0024] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.

[0025] This application provides a vehicle mass calculation method, apparatus, device, and storage medium. The method includes the following steps: calculating the vehicle mass using multiple methods, and fusing the calculation results of the multiple methods to obtain a reference sum of vehicle mass and its rate of change; based on the reference sum and its rate of change, determining the percentage of vehicle mass change rate and the percentage of vehicle mass for each method, and determining an optimization factor for the vehicle mass for each method using the percentage of vehicle mass change rate and the percentage of vehicle mass; calculating a weighting factor for the vehicle mass for each method using the optimization factor and the percentage of vehicle mass, and calculating the steady-state vehicle mass based on the weighting factor. This application can accurately calculate the vehicle mass and ensure that the mass does not fluctuate during the calculation, thereby improving the control accuracy of the vehicle chassis.

[0026] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0028] Figure 1 This is a flowchart of a vehicle mass calculation method provided in the embodiments of this application;

[0029] Figure 2 This is a schematic diagram of a vehicle mass calculation device provided in the embodiments of this application;

[0030] Figure 3 This is a schematic diagram of an electronic device provided in an embodiment of this application;

[0031] Figure 4 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation

[0032] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0033] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.

[0034] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0035] Reference Figure 1 , Figure 1 The diagram shown is a flowchart of a vehicle mass calculation method provided by the present invention. Figure 1 As shown, the method includes the following steps:

[0036] Step S101: Calculate the vehicle mass using multiple methods, and fuse the calculation results from the multiple methods to obtain the reference total of the vehicle mass and its rate of change.

[0037] Specifically, the vehicle mass is calculated based on suspension, kinematics, and tire pressure. These calculated vehicle mass results are then summed to obtain a reference total vehicle mass. Based on the calculated vehicle mass, the rate of change of vehicle mass for each method is calculated. Finally, the total reference total vehicle mass change rate is obtained by summing the absolute values ​​of these rates of change. It should be explained that the multiple methods include: vehicle mass calculated based on suspension, vehicle mass calculated based on kinematics, and vehicle mass calculated based on tire pressure. This means that the reference total vehicle mass and its rate of change are calculated based on these three methods. The calculated reference total vehicle mass is equal to the sum of the vehicle mass calculated based on suspension, kinematics, and tire pressure. The rate of change of the reference total vehicle mass is equal to the sum of the absolute values ​​of the rates of change of vehicle mass calculated based on suspension, kinematics, and tire pressure.

[0038] For ease of understanding, let's illustrate with an example, based on the formula: Calculate the vehicle mass for each method, where m1 is the vehicle mass calculated based on suspension; m2 is the vehicle mass calculated based on kinematics; m3 is the vehicle mass calculated based on tire pressure; and F... i Let F be the force on the i-th suspension in the vertical direction of the vehicle; n is the number of suspensions in the vehicle; D For the driving force of the whole vehicle; F Vθ is the vehicle's wind resistance; a is the vehicle's acceleration; θ1 is the vehicle's slope; f1 is the rolling coefficient, which is a constant; g is the acceleration due to gravity; f is the mapping relationship between tire pressure and vehicle mass; p is the real-time tire pressure, where m1 is obtained by collecting the forces on all suspensions in the vertical direction of the vehicle through mechanical sensors; m2 is obtained through vehicle dynamics calculations; and m3 is obtained through the relationship between tire pressure under no-load conditions and real-time tire pressure, which can be calibrated.

[0039] According to the formula: Calculate the total reference vehicle mass and the rate of change of the total reference vehicle mass, where, The rate of change of vehicle mass is calculated based on the suspension. The vehicle mass change rate is calculated based on the driving state. m is the rate of change of vehicle mass calculated based on braking conditions. all This is a reference total for vehicle mass; This represents the rate of change of the total reference vehicle mass.

[0040] It should be explained that the vehicle mass can be understood as the vehicle mass calculated in multiple ways. Similarly, the rate of change, optimization factor, weight, etc. of the vehicle mass are all based on the rate of change, optimization factor, and weight of the vehicle mass calculated by the suspension, the rate of change, optimization factor, and weight of the vehicle mass calculated by kinematics, and the rate of change, optimization factor, and weight of the vehicle mass calculated by tire pressure.

[0041] Step S102: Based on the reference sum and its rate of change, determine the percentage of vehicle mass change rate and the percentage of vehicle mass for each mode, and determine the optimization factor for vehicle mass for each mode using the percentage of vehicle mass change rate and the percentage of vehicle mass.

[0042] Specifically, the percentage of vehicle mass change based on suspension calculation, vehicle mass change based on kinematics calculation, vehicle mass change based on tire pressure calculation, and the total reference vehicle mass change rate are calculated. The percentage of vehicle mass change is equal to its vehicle mass change rate divided by the total reference vehicle mass change rate.

[0043] The percentage of vehicle mass is calculated based on the vehicle mass calculated from the suspension, the vehicle mass calculated from the kinematics, the vehicle mass calculated from the tire pressure, and the total vehicle mass reference. The percentage of vehicle mass is equal to its vehicle mass divided by the total vehicle mass reference.

[0044] To illustrate this more clearly, the percentage change rate of each vehicle's mass is calculated based on the vehicle mass change rate calculated from the suspension, the kinematics, the tire pressure, and the total reference change rate of vehicle mass. The percentage change rate of each vehicle's mass is equal to its actual vehicle mass change rate divided by the total reference change rate of vehicle mass.

[0045] The formula for calculating the percentage change rate of each vehicle's mass is as follows: Wherein, γ1 is the percentage of vehicle mass change rate calculated based on suspension; γ2 is the percentage of vehicle mass change rate calculated based on kinematics; and γ3 is the percentage of vehicle mass change rate calculated based on tire pressure.

[0046] The percentage of each vehicle's mass is calculated based on the vehicle mass based on suspension, kinematics, tire pressure, and a reference total. Each vehicle's percentage is equal to its mass divided by the reference total. The formula for calculating each vehicle's percentage is as follows:

[0047]

[0048] Wherein, β1 is the percentage of vehicle mass calculated based on suspension; β2 is the percentage of vehicle mass calculated based on kinematics; and β3 is the percentage of vehicle mass calculated based on tire pressure.

[0049] Each vehicle mass optimization factor is calculated based on the percentage of vehicle mass change based on suspension, kinematics, tire pressure, and so on. Each vehicle mass optimization factor is equal to the reciprocal of the product of the first power of its percentage of vehicle mass change and the second power of its percentage of vehicle mass change.

[0050] The calculation principle for each vehicle quality optimization factor is that the larger the percentage change rate of the vehicle's wheel mass, the more unstable the mass is, and the smaller the weighting coefficient of that vehicle mass should be. Therefore, the first coefficient should be greater than 2, and the first coefficient should be greater than the second coefficient. The calculation formula for each vehicle quality optimization factor is as follows:

[0051]

[0052] Where k1 is the vehicle mass optimization factor based on suspension calculation; k2 is the vehicle mass optimization factor based on kinematic calculation; k3 is the vehicle mass optimization factor based on tire pressure calculation; μ is the first coefficient, which is greater than 2; ρ is the second coefficient, where μ > ρ.

[0053] Step S103: Calculate the weighting factor of vehicle quality for each method using the optimization factor and vehicle quality percentage of each method, and calculate the steady-state vehicle quality based on the weighting factor.

[0054] Specifically, a weighting factor for each vehicle mass is calculated based on the vehicle mass optimization factors calculated using suspension, kinematics, and tire pressure, as well as the vehicle mass percentage calculated using suspension, kinematics, and tire pressure. The weighting factor for each vehicle mass is equal to the reciprocal of the sum of the vehicle mass optimization factors calculated using suspension, kinematics, and tire pressure, multiplied by the obtained value of its vehicle mass optimization factor, plus its vehicle mass percentage. The formula for calculating the weighting factor for each vehicle mass is as follows:

[0055]

[0056] Wherein, ε1 is the weighting factor for vehicle mass calculated based on suspension; ε2 is the weighting factor for vehicle mass calculated based on kinematics; and ε3 is the weighting factor for vehicle mass calculated based on tire pressure.

[0057] Furthermore, we know that ε1 + ε2 + ε3 = 2.

[0058] The vehicle's steady-state mass is calculated using weighting factors based on suspension, kinematics, and tire pressure. The steady-state mass is equal to half the sum of the products of each weighting factor and the vehicle's total mass. The formula for calculating the vehicle's steady-state mass is:

[0059] In summary, this application integrates vehicle mass calculated based on suspension, vehicle mass calculated based on kinematics, and vehicle mass calculated based on tire pressure. By identifying different rates of change and obtaining different weights, the vehicle mass can be accurately calculated, and the rapid changes in wheel mass can be avoided, thus ensuring that the mass does not fluctuate and that the stability is strong.

[0060] Reference Figure 2 , Figure 2 The diagram shown is a schematic of a vehicle mass calculation device provided by the present invention. Figure 2 As shown, the device includes:

[0061] Fusion module 201: It is used to calculate the vehicle mass using multiple methods, and to fuse the calculation results of the multiple methods to obtain the reference sum of the vehicle mass and its reference sum change rate;

[0062] Determining module 202: It is used to determine the percentage change rate of vehicle mass and the percentage of vehicle mass for each mode based on the reference sum and its rate of change, and to determine the optimization factor of vehicle mass for each mode through the percentage change rate of vehicle mass and the percentage of vehicle mass.

[0063] Calculation module 203: It is used to calculate the weighting factor of vehicle quality for each mode by means of the optimization factor and vehicle quality percentage of each mode, and to calculate the steady-state quality of the vehicle based on the weighting factor.

[0064] Furthermore, in one possible implementation, the fusion module is also used to calculate the vehicle mass based on suspension calculation, the vehicle mass based on kinematics calculation, and the vehicle mass based on tire pressure calculation, and to add the vehicle mass results calculated by each method to obtain a reference total vehicle mass;

[0065] Based on the calculated vehicle mass, calculate the vehicle mass change rate for each method;

[0066] The total reference rate of change of vehicle mass is obtained by summing the absolute values ​​of the aforementioned rates of change.

[0067] Furthermore, in one possible implementation, the calculation module is also used to calculate according to the formula: Calculate the vehicle mass for each method, where m1 is the vehicle mass calculated based on suspension; m2 is the vehicle mass calculated based on kinematics; m3 is the vehicle mass calculated based on tire pressure; and F... i Let F be the force on the i-th suspension in the vertical direction of the vehicle; n is the number of suspensions in the vehicle; D For the driving force of the whole vehicle; F V θ is the vehicle's wind resistance; a is the vehicle's acceleration; θ1 is the vehicle's slope; f1 is the rolling coefficient, which is a constant; g is the acceleration due to gravity; f is the mapping relationship between tire pressure and vehicle mass; p is the real-time tire pressure.

[0068] According to the formula: Calculate the total reference vehicle mass and the rate of change of the total reference vehicle mass, where, The rate of change of vehicle mass is calculated based on the suspension. The vehicle mass change rate is calculated based on the driving state. m is the rate of change of vehicle mass calculated based on braking conditions. all This is a reference total for vehicle mass; This represents the rate of change of the total reference vehicle mass.

[0069] Furthermore, in one possible implementation, the determining module is also used to calculate the percentage of vehicle mass change rate for each method based on the vehicle mass change rate calculated by suspension, the vehicle mass change rate calculated by kinematics, the vehicle mass change rate calculated by tire pressure, and the total vehicle mass reference change rate, wherein the percentage of vehicle mass change rate is equal to its vehicle mass change rate divided by the total vehicle mass reference change rate.

[0070] The percentage of vehicle mass is calculated based on the vehicle mass calculated from the suspension, the vehicle mass calculated from the kinematics, the vehicle mass calculated from the tire pressure, and the total vehicle mass reference. The percentage of vehicle mass is equal to its vehicle mass divided by the total vehicle mass reference.

[0071] Furthermore, in one possible implementation, the calculation module is also used to calculate according to the formula: Determine the optimization factors for vehicle mass under various conditions, where γ1 is the percentage of vehicle mass change rate calculated based on suspension; γ2 is the percentage of vehicle mass change rate calculated based on kinematics; γ3 is the percentage of vehicle mass change rate calculated based on tire pressure; β1 is the percentage of vehicle mass calculated based on suspension; β2 is the percentage of vehicle mass calculated based on kinematics; β3 is the percentage of vehicle mass calculated based on tire pressure; k1 is the vehicle mass optimization factor calculated based on suspension; k2 is the vehicle mass optimization factor calculated based on kinematics; k3 is the vehicle mass optimization factor calculated based on tire pressure; μ is the first coefficient, which is greater than 2; ρ is the second coefficient, where μ > ρ.

[0072] Furthermore, in one possible implementation, the calculation module is also used to calculate according to the formula: Calculate the weighting factors for vehicle mass in each method, where ε1 is the weighting factor for vehicle mass calculated based on suspension; ε2 is the weighting factor for vehicle mass calculated based on kinematics; and ε3 is the weighting factor for vehicle mass calculated based on tire pressure.

[0073] Furthermore, in one possible implementation, the calculation module is also used to calculate according to the formula: Calculate the vehicle's steady-state mass.

[0074] The following reference Figure 3 To describe an electronic device 300 according to this embodiment of the present invention. Figure 3 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0075] like Figure 3As shown, the electronic device 300 is manifested in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including storage unit 320 and processing unit 310).

[0076] The storage unit stores program code that can be executed by the processing unit 310, causing the processing unit 310 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0077] Storage unit 320 may include readable media in the form of volatile storage units, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.

[0078] Storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0079] Bus 330 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0080] Electronic device 300 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 300, and / or any device that enables electronic device 300 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 350. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 360. As shown, network adapter 360 communicates with other modules of electronic device 300 via bus 330. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0081] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0082] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0083] refer to Figure 4 As shown, a program product 400 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0084] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0085] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0086] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0087] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0088] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0089] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0090] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A method for calculating vehicle mass, characterized in that, include: The vehicle mass is calculated using multiple methods, and the results from these methods are then fused to obtain a reference total vehicle mass and its rate of change. These multiple methods include vehicle mass calculated based on suspension, vehicle mass calculated based on kinematics, and vehicle mass calculated based on tire pressure. The vehicle mass results obtained from each method are then summed to obtain the reference total vehicle mass. Based on the calculated vehicle mass, calculate the vehicle mass change rate for each method; By summing the absolute values ​​of the vehicle mass change rates, we obtain the reference total change rate of vehicle mass; Based on the reference sum and its rate of change, the percentage of vehicle mass change rate and the percentage of vehicle mass for each mode are determined, and the optimization factor for vehicle mass for each mode is determined by the percentage of vehicle mass change rate and the percentage of vehicle mass. By using the optimization factors and vehicle mass percentages of each method, the weighting factors of vehicle mass for each method are calculated, and the steady-state vehicle mass is calculated based on the weighting factors.

2. The method according to claim 1, characterized in that, include: According to the formula: Calculate the vehicle mass for each method, among which, The vehicle mass is calculated based on the suspension. For vehicle mass calculated based on kinematics; For vehicle mass calculated based on tire pressure, Let i be the force on the i-th suspension in the vertical direction of the vehicle; This refers to the number of suspension units in the entire vehicle. For driving the entire vehicle; For the overall vehicle wind resistance; To accelerate the entire vehicle; For the entire vehicle ramp; Where is the rolling coefficient, and is a constant; It is the acceleration due to gravity; This represents the mapping relationship between tire pressure and vehicle weight. Real-time tire pressure; According to the formula: Calculate the total reference vehicle mass and the rate of change of the total reference vehicle mass, where, The rate of change of vehicle mass is calculated based on the suspension. The vehicle mass change rate is calculated based on the driving state. The vehicle mass change rate is calculated based on braking conditions; This is a reference total for vehicle mass; This represents the rate of change of the total reference vehicle mass.

3. The method according to claim 1, characterized in that, The determination of the percentage change rate of vehicle mass and the percentage of vehicle mass for each mode based on the reference sum and its rate of change includes: The percentage of vehicle mass change rate is calculated based on the vehicle mass change rate calculated by suspension, the vehicle mass change rate calculated by kinematics, the vehicle mass change rate calculated by tire pressure, and the total reference vehicle mass change rate. The percentage of vehicle mass change rate is equal to its vehicle mass change rate divided by the total reference vehicle mass change rate. The percentage of vehicle mass is calculated based on the vehicle mass calculated from the suspension, the vehicle mass calculated from the kinematics, the vehicle mass calculated from the tire pressure, and the total vehicle mass reference. The percentage of vehicle mass is equal to its vehicle mass divided by the total vehicle mass reference.

4. The method according to claim 1, characterized in that, The process of determining the optimization factors for vehicle quality in various modes using the percentage change rate of vehicle quality and the percentage of vehicle quality includes: According to the formula: To determine the optimization factors for vehicle quality under various methods, among which, This represents the percentage change in vehicle mass calculated based on the suspension. This represents the percentage rate of change in vehicle mass calculated based on kinematics. This represents the percentage change in vehicle mass calculated based on tire pressure. Percentage of vehicle mass calculated based on suspension; This represents the percentage of vehicle mass calculated based on kinematics. This is the percentage of vehicle weight calculated based on tire pressure. The vehicle mass optimization factor is based on suspension calculations. The vehicle mass optimization factor is based on kinematic calculations. The vehicle mass optimization factor is calculated based on tire pressure. It is the first coefficient and is greater than 2; It is the second coefficient, and .

5. The method according to claim 1, characterized in that, The calculation of the weighting factor for vehicle quality in each method, based on the optimization factor and vehicle quality percentage of each method, includes: According to the formula: Calculate the weighting factors for vehicle mass under each method, where, This is a weighting factor for the vehicle mass calculated based on the suspension. The weighting factor for vehicle mass based on kinematic calculations; This is a weighting factor for vehicle mass calculated based on tire pressure.

6. The method according to claim 1, characterized in that, The calculation of the vehicle steady-state mass based on the weighting factor includes: According to the formula: Calculate the steady-state mass of the vehicle.

7. A vehicle mass calculation device, characterized in that, include: The fusion module is used to calculate the vehicle mass using multiple methods and fuse the calculation results from these methods to obtain a reference total of the vehicle mass and its rate of change. The vehicle mass is calculated in multiple ways: based on suspension, based on kinematics, and based on tire pressure. The vehicle mass results calculated by each method are added together to obtain the reference total vehicle mass. Based on the calculated vehicle mass, calculate the vehicle mass change rate for each method; By summing the absolute values ​​of the vehicle mass change rates, we obtain the reference total change rate of vehicle mass; The determination module is used to determine the percentage change rate of vehicle mass and the percentage of vehicle mass for each mode based on the reference sum and its rate of change, and to determine the optimization factor of vehicle mass for each mode through the percentage change rate of vehicle mass and the percentage of vehicle mass. The calculation module is used to calculate the weighting factor of the vehicle quality for each mode by using the optimization factor and the percentage of vehicle quality for each mode, and to calculate the steady-state quality of the vehicle based on the weighting factor.

8. An electronic device, characterized in that, The electronic device includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores computer program instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 6.

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