Vehicle load calculation method and vehicle

Abstract

The invention discloses a load calculation method for a vehicle and the vehicle, and the method comprises the steps: continuously obtaining an enable signal of a power output device and the speed of the vehicle after the vehicle is powered on; when the vehicle speed is greater than zero and the enable signal is not obtained, obtaining current working condition information of the vehicle; when the working condition information meets the load calculation enabling condition for the first time, dynamic information of the vehicle is continuously obtained; continuously calculating the estimated load of the vehicle according to the dynamic information on the basis of a recursive least square method; obtaining the accumulated time when the working condition information meets the calculation enabling condition of the load after the vehicle is powered on; determining the actual load of the vehicle according to the cumulative time and the estimated load; acquiring a preset load range of the estimated load according to the actual load; according to the estimated load within the preset time period and a preset load range, obtaining a standard error sum of squares of a recursive least square method; after the standard error sum of squares is obtained, the actual load of the vehicle is determined according to the estimated load and the standard error sum of squares.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and particularly to a method for calculating the load of a vehicle and a vehicle. Background Art

[0002] The load of a vehicle is an important parameter for vehicle control, which affects gear control, braking control, energy recovery control, etc. of the vehicle.

[0003] When calculating the load using dynamic information, the calculated load may be inaccurate due to factors such as road conditions and tire deformation, with a large deviation from the actual load, affecting the control operation of vehicle driving. Summary of the Invention

[0004] The present invention provides a method for calculating the load of a vehicle and a vehicle to solve the problem of inaccurate calculation of the vehicle load.

[0005] According to one aspect of the present invention, there is provided a method for calculating the load of a vehicle, including:

[0006] After the vehicle is powered on, continuously obtain the enable signal of the power output device and the vehicle speed;

[0007] When the vehicle speed is greater than zero and the enable signal is not obtained, obtain the current working condition information of the vehicle;

[0008] When the working condition information first meets the calculation enable condition of the load, continuously obtain the dynamic information of the vehicle;

[0009] Continuously calculate the estimated load of the vehicle based on the recursive least squares method according to the dynamic information;

[0010] Obtain the cumulative time when the working condition information meets the calculation enable condition of the load after the vehicle is powered on;

[0011] Determine the actual load of the vehicle according to the cumulative time and the estimated load;

[0012] Obtain the preset load range of the estimated load according to the actual load;

[0013] Obtain the sum of squared standard errors of the recursive least squares method according to the estimated load and the preset load range within a preset time period;

[0014] After obtaining the sum of squared standard errors, determine the actual load of the vehicle according to the estimated load and the sum of squared standard errors.

[0015] Optionally, determining the actual load of the vehicle according to the cumulative time and the estimated load includes:

[0016] Obtain the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time, and record it as the first estimated load;

[0017] Determine the first estimated load as the actual load.

[0018] Optionally, determining the actual load of the vehicle according to the cumulative time and the estimated load includes:

[0019] Obtain the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time, and record it as the first estimated load;

[0020] Obtain the estimated load at the first preset time and record it as the second estimated load; wherein, the first preset time is before the cumulative time reaches the preset cumulative time;

[0021] Obtain the absolute load difference between the first estimated load and the second estimated load;

[0022] When the absolute load difference is less than or equal to the preset absolute difference, determine the first estimated load as the actual load.

[0023] Optionally, the load calculation method of the vehicle further includes:

[0024] When the absolute load difference is greater than the preset absolute difference, return to execute the step of obtaining the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time and recording it as the first estimated load.

[0025] Optionally, obtaining the preset load range of the estimated load according to the actual load includes:

[0026] Obtain the preset error range of the estimated load;

[0027] According to the actual load and the preset error range, obtain the preset load range of the estimated load.

[0028] Optionally, obtaining the sum of squared standard errors of the recursive least squares method according to the estimated load and the preset load range within a preset time period includes:

[0029] Obtain the estimated load that first meets the preset load range within the preset time period as the standard estimated load;

[0030] Obtain the sum of squared errors of the recursive least squares method when calculating the standard estimated load, and determine it as the sum of squared standard errors.

[0031] Optionally, the moment when the working condition information meets the calculation enabling condition of the load is the first moment, and the moment when the cumulative time for which the working condition information meets the calculation enabling condition of the load reaches a preset cumulative time is the second moment;

[0032] The preset time period is the time period between the first moment and the second moment.

[0033] Optionally, after obtaining the sum of squared standard errors, determining the actual load of the vehicle according to the estimated load and the sum of squared standard errors includes:

[0034] After obtaining the sum of squared standard errors, continuously calculating the estimated load and the sum of squared real-time errors of the vehicle based on the recursive least squares method according to the dynamic information;

[0035] When the sum of squared real-time errors is less than or equal to the sum of squared standard errors, determining the current estimated load as the actual load.

[0036] Optionally, the working condition information includes: the current vehicle speed, longitudinal acceleration, net driving force change rate, jerk, and slope change rate;

[0037] The calculation enabling conditions of the load include: the vehicle speed is within a preset vehicle speed range, the longitudinal acceleration is greater than a preset longitudinal acceleration, the net driving force change rate is less than or equal to a preset net driving force change rate, the jerk is less than or equal to a preset jerk, and the slope change rate is less than or equal to a preset slope change rate.

[0038] According to another aspect of the present invention, a vehicle is provided, including: a controller;

[0039] The controller is configured to execute the above-mentioned vehicle load calculation method.

[0040] The technical solution provided by the present invention continuously obtains the enable signal of the power output device and the vehicle speed after the vehicle is powered on. When the vehicle speed is greater than zero and the enable signal is not obtained, it can be determined that the vehicle is not unloading. At this time, the current working condition information of the vehicle is obtained to detect the state of the vehicle during driving. When the current working condition information meets the calculation enable condition of the load, the dynamic information of the vehicle is continuously obtained to calculate the estimated load of the vehicle during driving based on the recursive least squares method and according to the dynamic information. It can determine the timing of updating the vehicle load according to the working condition information of the vehicle, so that the estimated load of the vehicle can be calculated and updated in a relatively reliable and stable state during the driving process of the vehicle, effectively reducing the error between the estimated load and the actual load and improving the accuracy of the estimated load calculation. On this basis, the cumulative time when the working condition information meets the calculation enable condition of the load after the vehicle is powered on is obtained, and the actual load of the vehicle is determined according to the cumulative time and the estimated load, which can ensure the reliability of the actual load. When obtaining the preset load range of the estimated load according to the actual load, the accuracy of the preset load range can be improved, so that when obtaining the sum of the squares of the standard errors of the recursive least squares method according to the estimated load and the preset load range within the preset time period, the accurate standard error square can be determined. Therefore, when determining the actual load of the vehicle according to the estimated load and the sum of the squares of the standard errors in the subsequent process, the situation that the dynamic information of the vehicle is abnormal due to road conditions and tire failures resulting in too large deviation of the estimated load can be avoided, further improving the accuracy and credibility of the actual load, ensuring the accuracy of vehicle control operations, and being beneficial to improving the driving experience of the driver.

[0041] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Brief Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 is a flowchart of a method for calculating the load of a vehicle provided by an embodiment of the present invention;

[0044] Figure 2 is a flowchart of another method for calculating the load of a vehicle provided by an embodiment of the present invention;

[0045] Figure 3It is a schematic structural diagram of a load calculation device for a vehicle provided by an embodiment of the present invention. Detailed implementation manners

[0046] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0048] An embodiment of the present invention provides a load calculation method for a vehicle, which can improve the accuracy and reliability of the load calculated based on dynamic information. The load calculation method for the vehicle can be executed by the load calculation device for the vehicle provided by the embodiment of the present invention. The load calculation device for the vehicle can be implemented in the form of software and / or hardware, and the device can be configured in the vehicle controller.

[0049] Figure 1 It is a flowchart of a load calculation method for a vehicle provided by an embodiment of the present invention. As Figure 1 shown, the load calculation method for the vehicle includes:

[0050] S110. After the vehicle is powered on, continuously obtain the enable signal of the power output device and the vehicle speed.

[0051] Specifically, a power-take-off device, also known as a power take-off, is a device that outputs the power of the engine to equipment outside the vehicle driving system. For a truck, when an enabling signal of the power-take-off device is obtained, it indicates that the vehicle needs to unload the cargo by lifting the cargo box at this time. If the enabling signal of the power-take-off device is not obtained, it means that the vehicle does not unload the cargo by lifting the cargo box. In addition, the vehicle speed can be obtained through a vehicle speed sensor. If the vehicle speed is greater than zero, it means that the vehicle is in the driving process. If the vehicle speed is equal to zero, it means that the vehicle is in a stationary state. If the vehicle is in a stationary state for a long time, it means that the vehicle may have unloaded the cargo in other ways (such as manual unloading) during the stationary process. After obtaining the power-on signal of the entire vehicle, the controller powers on and enters the working state. In the working state, the vehicle speed and the enabling signal of the power-take-off device can be continuously obtained to detect the unloading situation of the vehicle according to the vehicle speed and the enabling signal of the power-take-off device.

[0052] S120. When the vehicle speed is greater than zero and the enabling signal is not obtained, obtain the current working condition information of the vehicle.

[0053] Specifically, a vehicle speed greater than zero indicates that the vehicle is in the driving state, and the possibility of manual unloading during the driving state is small. If the enabling signal of the power-take-off device is not obtained, it means that the vehicle does not unload the cargo by lifting the cargo box. Therefore, when the vehicle speed is greater than zero and the enabling signal is not obtained, it means that the vehicle is in the driving state and has not unloaded the cargo. At this time, the current working condition information of the vehicle can be obtained to determine whether to recalculate the load of the vehicle according to the working condition information, that is, to determine whether to update the load of the vehicle according to the working condition information.

[0054] Exemplarily, when the enabling signal is obtained, and / or when it is determined that the duration of the vehicle speed being equal to zero reaches a first preset time, the unloaded weight is determined as the current actual load of the vehicle.

[0055] Specifically, if the enabling signal of the power-take-off device is obtained, it means that the vehicle has unloaded the cargo by lifting the cargo box. At this time, it can be considered that the vehicle is in the unloaded state, and the unloaded weight can be determined as the current estimated load of the vehicle. Or, when the duration of the vehicle speed being equal to zero reaches the first preset time, it means that the vehicle has parked for a long time and may have unloaded the cargo by other unloading methods such as manual unloading. At this time, it can be considered that the vehicle is in the unloaded state, and the unloaded weight can also be determined as the current estimated load of the vehicle. Or, if the enabling signal of the power-take-off device is obtained within the first preset time when the vehicle speed is equal to zero, it means that the vehicle has unloaded the cargo by lifting the cargo box, and it can be considered that the vehicle is in the unloaded state. It can be understood that if the vehicle does not unload the cargo at this time, the estimated load can also be recalculated according to the dynamic information after the vehicle starts driving.

[0056] S130. When the working condition information first meets the calculation enabling condition of the load, continuously obtain the dynamic information of the vehicle.

[0057] Specifically, the state of the vehicle during driving can be determined according to the working condition information of the vehicle. Furthermore, it can be judged whether the vehicle currently meets the condition for updating the vehicle load (i.e., the preset condition) according to the working condition information of the vehicle. When it is determined that the current working condition information of the vehicle meets the preset condition, the current dynamic information of the vehicle can be obtained. In this way, the timing for updating the vehicle load can be determined according to the working condition information of the vehicle, so that the estimated load of the vehicle can be calculated and updated when the vehicle is in a relatively reliable and stable state during driving, the error between the estimated load and the actual load can be effectively reduced, the accuracy of the estimated load calculation can be improved, and thus the accuracy and reliability of vehicle control can be improved.

[0058] Exemplarily, the dynamic information includes: the total driving force of the vehicle, air resistance, rolling resistance, longitudinal acceleration, and the slope of the road on which the vehicle is currently driving.

[0059] Among them, the total driving force F1 of the vehicle can be determined according to the engine torque T, transmission ratio n, final drive ratio b, mechanical efficiency η, and tire radius r. The above parameters can be substituted into the formula F1 = (T × n × b × η) / r, so as to determine the total driving force of the vehicle. The air resistance F2 of the vehicle can be determined according to the air resistance coefficient C, air density ρ, the frontal area S of the object, and the relative motion speed V of the object and the air. The above parameters can be substituted into the formula F2 = C × ρ × S × V 2 / 2, so as to determine the air resistance of the vehicle. The acceleration resistance F3 of the vehicle can be understood as the inertial loss of the vehicle and can be determined according to the tire radius r, moment of inertia J, and longitudinal acceleration a of the vehicle. The above parameters can be substituted into the formula F3 = J × a / r 2 to determine the acceleration resistance of the vehicle. The current longitudinal acceleration sensor of the vehicle obtains the current longitudinal acceleration of the vehicle, and the slope of the road on which the vehicle is currently driving can be obtained through a slope sensor. Or, in another feasible embodiment, the slope of the road on which the vehicle is currently driving can be determined according to the acceleration.

[0060] S140. Continuously calculate the estimated load of the vehicle based on the recursive least squares method according to the dynamic information.

[0061] Specifically, after obtaining the dynamic information, the load of the vehicle can be calculated first according to the dynamic information to obtain an initial estimated load, and then the final estimated load can be calculated based on the recursive least squares method according to the initial estimated load.

[0062] Exemplarily, the dynamic information includes: the total driving force F1 of the vehicle, the air resistance F2, the acceleration resistance F3, the longitudinal acceleration a, and the slope θ of the current driving road. When calculating the load of the vehicle based on the dynamic information to obtain the initial estimated load, first, based on the formula F0 = F1 - F2 - F3, and then, based on the formula F0 = f×m×g×cosθ + m×g×sinθ + m×a, the initial estimated load m of the vehicle at present can be determined according to the net driving force F0, the slope, and the longitudinal acceleration a, where g is the acceleration due to gravity.

[0063] The recursive least squares method is a mathematical optimization method that attempts to find one or a set of estimated values to make the actual value as similar as possible to the estimated value with the minimum distance. The purpose is to predict the target data through the existing data. The basic principle is to estimate the required filter parameters by using the existing observed data and finding the data by minimizing the sum of squared errors to obtain the best matching function. Therefore, the filter parameters can be determined through each historical estimated load. Substituting the estimated load calculated by the current dynamic parameters into the filter, the optimal estimated load of the vehicle at present can be determined. The optimal estimated load can be determined as the current estimated load of the vehicle for storage, and when controlling the vehicle, various aspects of the vehicle can be controlled according to this estimated load, which can effectively improve the accuracy of vehicle control. Moreover, when calculating the estimated load next time, the current estimated load can be used as one of the historical actual loads, and the recursive least squares method can be recursively optimized again, that is, the filter parameters are optimized, which can further improve the accuracy of the estimated load.

[0064] Exemplarily, the function for calculating the estimated load based on the recursive least squares method can be preset as M1 = c1 + c2×m, which is formula (1). Where M1 is the estimated load, m is the initial estimated load calculated according to the dynamic information, and c1 and c2 are filter parameters. Assume that after the working condition information first satisfies the calculation enabling condition of the load, the initial estimated loads calculated only according to the dynamic information at each moment are m1, m2, m3, ……, mn respectively. Then, the minimum of the sum of squares of the differences between each initial estimated load and the estimated load calculated based on the recursive least squares method (i.e., the sum of squared errors φ) can be used as the "optimization criterion". That is, φ = (m1 - M1) 2 +(m2 - M1) 2 +(m3 - M1) 2 +……(mn - M1) 2, which is Formula 2. By combining Formula 1 and Formula 2, c1 and c2 when the sum of squared errors φ is minimized can be obtained. Therefore, as the number of data groups increases and the filtering parameters c1 and c2 are gradually adjusted, the dynamic information may change instantaneously and significantly due to road conditions and tire failures, resulting in a large instantaneous change in the initially estimated load calculated based on the dynamic information, with a large deviation from the actual load. At this time, the sum of squared errors φ will also change instantaneously and significantly. Therefore, the sum of squared errors can be used as a criterion to evaluate whether the estimated load is accurate, which can avoid the situation where the abnormal dynamic information of the vehicle caused by road conditions and tire failures leads to an excessive deviation in the estimated load.

[0065] S150. Obtain the cumulative time when the operating condition information meets the calculation enabling condition for the load after the vehicle is powered on.

[0066] S160. Determine the actual load of the vehicle according to the cumulative time and the estimated load.

[0067] Specifically, after the vehicle is powered on, when the operating condition information first meets the calculation enabling condition for the load, start timing and accumulating the duration of each time the operating condition information meets the calculation enabling condition for the load, so as to obtain the cumulative time when the operating condition information meets the calculation enabling condition for the load after being powered on. Then, the actual load of the vehicle can be determined according to the cumulative time and the estimated load.

[0068] In a feasible embodiment, for example, when determining the actual load of the vehicle according to the cumulative time and the estimated load, first obtain the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time and record it as the first estimated load; then determine the first estimated load as the actual load.

[0069] Specifically, it can be determined whether the cumulative time reaches the preset cumulative time. When it is determined that the cumulative time reaches the preset cumulative time, it can be determined that after the convergence of the preset cumulative time, the currently estimated load calculated based on the recursive least squares method and according to the dynamic information is relatively reliable and has a high credibility, and this estimated load (i.e., the first estimated load) can be directly used as the actual load of the vehicle. If the cumulative time does not reach the preset cumulative time, then at this time, the estimated load calculated based on the recursive least squares method and according to the dynamic information does not reach a high credibility. At this time, the time when the operating condition information meets the calculation enabling condition for the load can continue to be accumulated, and the estimated load can continue to be calculated based on the recursive least squares method and according to the dynamic information.

[0070] In another feasible embodiment, for example, when determining the actual load of a vehicle based on the cumulative time and the estimated load, after obtaining the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time and denoting it as the first estimated load, the estimated load at the first preset time can be obtained and denoted as the second estimated load; wherein, the first preset time is before the cumulative time reaches the preset cumulative time; then obtain the absolute load difference between the first estimated load and the second estimated load; when the absolute load difference is less than or equal to the preset absolute difference, determine the first estimated load as the actual load.

[0071] Specifically, when it is determined that the cumulative time reaches the preset cumulative time, in order to further improve the credibility of the actual load, the first estimated load can be compared and subtracted from the estimated load (i.e., the second estimated load) calculated at a certain time (i.e., the first preset time) before reaching the preset cumulative time. When the absolute value of the difference between the two (i.e., the absolute load difference) is less than or equal to the preset absolute difference, it indicates that the estimated load has reached a sufficient degree of convergence, and the first estimated load can be used as the actual load of the vehicle.

[0072] For example, when the absolute load difference is greater than the preset absolute difference, the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time can be obtained again and denoted as the first estimated load. It can be understood that if the absolute load difference between the first estimated load and the second estimated load is greater than the preset absolute difference, it indicates that the current estimated load has insufficient convergence and the credibility of the first estimated load is low. At this time, the cumulative time can be judged again to obtain the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time again and denoted as the first estimated load, until the absolute load difference between the first estimated load and the second estimated load is less than or equal to the preset absolute difference, and the first estimated load is used as the actual load of the vehicle. In this way, the determined actual load of the vehicle can be relatively accurate and reliable, with high credibility, so that the subsequent calculated sum of squares of standard errors can be relatively reliable, which is conducive to improving the accuracy and credibility of the subsequent actual load.

[0073] According to big data statistics, when the convergence time of the estimated load reaches 120 s, the calculated estimated load is relatively accurate and has high credibility. Therefore, in a feasible embodiment, the preset cumulative time can be set to 120 s, and the first preset time can be 200 ms before the preset cumulative time. In other feasible embodiments of the present invention, the preset cumulative time and the first preset time can also be other values, and the embodiments of the present invention do not make specific limitations in this regard.

[0074] S170. Obtain the preset load range of the estimated load according to the actual load.

[0075] Specifically, after determining the actual load, the range of the estimated load within the allowable error range can be obtained according to the actual load, that is, the preset load range of the estimated load. The estimated load within the preset load range can be determined to be relatively accurate and consistent with the actual load, so as to obtain the corresponding sum of squared errors.

[0076] Exemplarily, when obtaining the preset load range of the estimated load according to the actual load, the preset error range of the estimated load can be obtained first; then, according to the actual load and the preset error range, the preset load range of the estimated load can be obtained.

[0077] Specifically, the preset error range of the estimated load can be determined through actual tests, so as to be directly obtained during use and facilitate the simplification of the program.

[0078] According to actual tests, an error where the estimated load satisfies [(M0 - 0.1t) × (1 - 10%), (M0 + 0.1t) × (1 + 10%)] has no impact on the energy management and gear shift correction of the vehicle, where M0 is the actual load. Therefore, in an exemplary embodiment, the preset error range is [(M0 - 0.1t) × (1 - 10%), (M0 + 0.1t) × (1 + 10%)]. The determined actual load M0 can be substituted into this formula, so as to determine the specific numerical range, making the estimated load within this range have higher accuracy and credibility.

[0079] S180. Obtain the standard sum of squared errors of the recursive least squares method according to the estimated load and the preset load range within the preset time period.

[0080] Specifically, after determining the preset load range, all the estimated loads calculated within the preset time period can be obtained, and each estimated load is compared with the preset load range, so as to determine the standard sum of squared errors according to the estimated load that meets the preset load range. That is, one of the estimated loads that meets the preset load range can be used as the standard estimated load, and the sum of squared errors of the recursive least squares method when calculating this standard estimated load is used as the standard sum of squared errors.

[0081] S190. After obtaining the standard sum of squared errors, determine the actual load of the vehicle according to the estimated load and the standard sum of squared errors.

[0082] Specifically, during the subsequent driving of the vehicle, after obtaining the estimated load, the sum of squared errors corresponding to the estimated load can be compared with the standard error square. According to the comparison result, the actual load of the vehicle can be determined, which can avoid the situation that the dynamic information of the vehicle is abnormal due to road conditions and tire failures, resulting in too large a deviation of the estimated load. On the basis of improving the accuracy of the actual load, it can ensure the accuracy of vehicle control operations and is beneficial to improving the driving experience of the driver.

[0083] The load calculation method for a vehicle provided by an embodiment of the present invention, after the vehicle is powered on, continuously obtains the enable signal of the power output device and the vehicle speed. When the vehicle speed is greater than zero and the enable signal is not obtained, it can be determined that the vehicle is not unloading goods. At this time, the current working condition information of the vehicle is obtained to detect the state of the vehicle during driving according to the working condition information. When the current working condition information meets the load calculation enable condition, continuously obtain the dynamic information of the vehicle, and calculate the estimated load of the vehicle during driving based on the recursive least squares method according to the dynamic information. It can determine the timing of updating the vehicle load according to the working condition information of the vehicle, so that the estimated load of the vehicle can be calculated and updated when the vehicle is in a relatively reliable and stable state during driving, which can effectively reduce the error between the estimated load and the actual load and improve the accuracy of the estimated load calculation. On this basis, obtain the cumulative time after the vehicle is powered on when the working condition information meets the load calculation enable condition, and determine the actual load of the vehicle according to the cumulative time and the estimated load, which can ensure the reliability of the actual load. When obtaining the preset load range of the estimated load according to the actual load, the accuracy of the preset load range can be improved, so that when obtaining the sum of the squared standard errors of the recursive least squares method according to the estimated load and the preset load range within a preset time period, the accurate standard error square can be determined. Therefore, when determining the actual load of the vehicle according to the estimated load and the sum of the squared standard errors in the subsequent process, the situation that the dynamic information of the vehicle is abnormal due to road conditions and tire failures resulting in too large deviation of the estimated load can be avoided, which can further improve the accuracy and credibility of the actual load, ensure the accuracy of vehicle control operations, and is beneficial to improving the driving experience of the driver.

[0084] Optionally, Figure 2 is a flowchart of another load calculation method for a vehicle provided by an embodiment of the present invention, as Figure 2 shown, this vehicle load calculation method includes:

[0085] S211. After the vehicle is powered on, continuously obtain the enable signal of the power output device and the vehicle speed.

[0086] S212. When the vehicle speed is greater than zero and the enable signal is not obtained, obtain the current working condition information of the vehicle.

[0087] S213. When the working condition information first meets the load calculation enable condition, continuously obtain the dynamic information of the vehicle.

[0088] S214. Continuously calculate the estimated load of the vehicle based on the recursive least squares method according to the dynamic information.

[0089] S215. Obtain the cumulative time after the vehicle is powered on when the working condition information meets the load calculation enable condition.

[0090] S216. Determine the actual load of the vehicle according to the cumulative time and the estimated load.

[0091] S217. Obtain the preset load range of the estimated load according to the actual load.

[0092] S218. Obtain the estimated load that first meets the preset load range within the preset time period as the standard estimated load.

[0093] S219. Obtain the sum of squared errors of the recursive least squares method when calculating the standard estimated load, and determine it as the standard sum of squared errors.

[0094] Specifically, within the preset time period, taking the estimated load that first meets the preset load range as the standard estimated load can, on the basis of ensuring the accuracy of the estimated load, prevent the convergence degree of the estimated load from being too large. Thus, during the continuous calculation of the estimated load, the sum of squared errors corresponding to this estimated load (i.e., the standard sum of squared errors) can enable most of the estimated loads to be used as the actual load for vehicle control applications, without affecting the vehicle control operation, and can avoid the situation where abnormal dynamic information of the vehicle caused by road conditions and tire failures leads to excessive deviation of the estimated load. It can ensure the accuracy of vehicle control operations while improving the accuracy of the estimated load, which is beneficial to enhancing the driving experience of the driver.

[0095] Exemplarily, the moment when the working condition information meets the calculation enabling condition of the load is the first moment, and the moment when the cumulative time for which the working condition information meets the calculation enabling condition of the load reaches the preset cumulative time is the second moment; the preset time period includes the time period between the first moment and the second moment. In this way, the preset time period is the time period after the cumulative time for which the working condition information meets the calculation enabling condition of the first load reaches the preset cumulative time. That is, after determining a relatively reliable preset load range based on the first estimated load after the preset cumulative time, the estimated load that first meets the preset load range before the preset cumulative time is determined as the standard estimated load, and the sum of squared errors of calculating this standard estimated load is used as the standard sum of squared errors. In this way, the evaluation criterion for the credibility of the estimated load can be improved through this sum of squared errors, and the accuracy and credibility of the actual load determined based on the estimated load can be further enhanced.

[0096] S220. After obtaining the standard sum of squared errors, continuously calculate the estimated load and the real-time sum of squared errors of the vehicle based on the recursive least squares method according to the dynamic information.

[0097] S221. When the real-time sum of squared errors is less than or equal to the standard sum of squared errors, determine the current estimated load as the actual load.

[0098] Specifically, during the subsequent driving of the vehicle, after obtaining the estimated load, if the sum of squared errors of the estimated load is less than or equal to the standard sum of squared errors, the estimated load can be determined as the actual load, which can further improve the accuracy and reliability of the finally determined actual load on the basis of calculating the estimated load based on the recursive least squares method and dynamic information. Additionally, when the real-time sum of squared errors is greater than the standard sum of squared errors, the actual load is not updated, so that the actual load remains unchanged.

[0099] Based on the same inventive concept, an embodiment of the present invention further provides a load calculation device for a vehicle. The load calculation device for the vehicle is used to execute the load calculation method for the vehicle provided in any embodiment of the present invention. The load calculation device for the vehicle can be implemented by software and / or hardware. Therefore, the load calculation device for the vehicle provided in the embodiment of the present invention includes the technical features of the load calculation method for the vehicle provided in any embodiment of the present invention, and can achieve the beneficial effects of the load calculation method for the vehicle provided in any embodiment of the present invention. The same parts can refer to the description of the load calculation method for the vehicle provided in the embodiment of the present invention above, and will not be elaborated here.

[0100] Optionally, Figure 3 is a schematic structural diagram of a load calculation device for a vehicle provided in an embodiment of the present invention. As Figure 3 shown, the load calculation device for the vehicle includes: a first information acquisition module 100, configured to continuously acquire the enable signal of the power output device and the vehicle speed after the vehicle is powered on; a working condition information acquisition module 200, configured to acquire the current working condition information of the vehicle when the vehicle speed is greater than zero and the enable signal is not acquired; a dynamic information acquisition module 300, configured to continuously acquire the dynamic information of the vehicle when the working condition information first meets the calculation enable condition for the load; an estimated load calculation module 400, configured to continuously calculate the estimated load of the vehicle based on the recursive least squares method according to the dynamic information; an accumulated time acquisition module 500, configured to acquire the accumulated time when the working condition information meets the calculation enable condition for the load after the vehicle is powered on; a first actual load determination module 600, configured to determine the actual load of the vehicle according to the accumulated time and the estimated load; a preset load range acquisition module 700, configured to acquire the preset load range of the estimated load according to the actual load; a standard sum of squared errors acquisition module 800, configured to acquire the standard sum of squared errors of the recursive least squares method according to the estimated load and the preset load range within a preset time period; a second actual load acquisition module 900, configured to determine the actual load of the vehicle according to the estimated load and the standard sum of squared errors after acquiring the standard sum of squared errors.

[0101] The load calculation device of a vehicle provided by an embodiment of the present invention can determine the timing for updating the vehicle load according to the operating conditions information of the vehicle, so that the estimated load of the vehicle can be calculated and updated when the vehicle is in a relatively reliable and stable state during driving. It can effectively reduce the error between the estimated load and the actual load, improve the accuracy of the estimated load calculation. On this basis, it can avoid the situation where the dynamic information of the vehicle is abnormal due to road conditions and tire failures, resulting in an excessive deviation of the estimated load, and can further improve the accuracy and reliability of the actual load, ensure the accuracy of vehicle control operations, and is beneficial to improving the driving experience of the driver.

[0102] Based on the same inventive concept, an embodiment of the present invention further provides a vehicle, including a controller, and the controller is used to execute the vehicle load calculation method provided by any embodiment of the present invention. Therefore, the vehicle provided by the embodiment of the present invention includes the technical features of the vehicle load calculation method provided by any embodiment of the present invention, and can achieve the beneficial effects of the vehicle load calculation method provided by any embodiment of the present invention. The same parts can refer to the description of the vehicle load calculation method provided by the embodiment of the present invention above, and will not be repeated here.

[0103] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A load calculation method for a vehicle, characterized in that, Including: After the vehicle is powered on, continuously obtain the enable signal of the power output device and the vehicle speed; When the vehicle speed is greater than zero and the enable signal is not obtained, obtain the current working condition information of the vehicle; When the working condition information first meets the calculation enable condition of the load, continuously obtain the dynamic information of the vehicle; Continuously calculate the estimated load of the vehicle based on the recursive least squares method according to the dynamic information; Obtain the cumulative time when the working condition information meets the calculation enable condition of the load after the vehicle is powered on; Determine the actual load of the vehicle according to the cumulative time and the estimated load; Obtain the preset load range of the estimated load according to the actual load; Obtain the sum of the squares of the standard errors of the recursive least squares method according to the estimated load and the preset load range within a preset time period; After obtaining the sum of the squares of the standard errors, determine the actual load of the vehicle according to the estimated load and the sum of the squares of the standard errors.

2. The load calculation method for a vehicle according to claim 1, wherein, Determining the actual load of the vehicle according to the cumulative time and the estimated load includes: Obtain the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time and record it as the first estimated load; Determine the first estimated load as the actual load.

3. The load calculation method of the vehicle according to claim 1, wherein, Determining the actual load of the vehicle according to the cumulative time and the estimated load includes: Obtain the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time and record it as the first estimated load; Obtain the estimated load at the first preset time and record it as the second estimated load; wherein, the first preset time is before the cumulative time reaches the preset cumulative time; Obtain the absolute load difference between the first estimated load and the second estimated load; When the absolute load difference is less than or equal to the preset absolute difference, determine the first estimated load as the actual load.

4. The load calculation method for a vehicle according to claim 3, wherein It also includes: When the absolute load difference is greater than the preset absolute difference, return to execute the step of obtaining the estimated load of the vehicle when the cumulative time is greater than or equal to the preset cumulative time and record it as the first estimated load.

5. The load calculation method of a vehicle according to claim 1, characterized in that Obtaining the preset load range of the estimated load according to the actual load includes: Obtain the preset error range of the estimated load; Obtain the preset load range of the estimated load according to the actual load and the preset error range.

6. The load calculation method for a vehicle according to claim 1, characterized in that, Obtaining the sum of the squares of the standard errors of the recursive least squares method according to the estimated load and the preset load range within a preset time period includes: Obtain the estimated load that first meets the preset load range within the preset time period as the standard estimated load; Obtain the sum of the squares of the errors of the recursive least squares method when calculating the standard estimated load and determine it as the sum of the squares of the standard errors.

7. The load calculation method of the vehicle according to claim 6, characterized in that, The moment when the working condition information meets the calculation enable condition of the load is the first moment, and the moment when the cumulative time when the working condition information meets the calculation enable condition of the load reaches the preset cumulative time is the second moment; The preset time period is the time period between the first moment and the second moment.

8. The load calculation method for a vehicle according to claim 5, characterized in that, After obtaining the sum of squared standard errors, determining the actual load of the vehicle according to the estimated load and the sum of squared standard errors includes: After obtaining the sum of squared standard errors, continuously calculating the estimated load and the real-time sum of squared errors of the vehicle based on the recursive least squares method according to the dynamic information; When the real-time sum of squared errors is less than or equal to the sum of squared standard errors, determining the current estimated load as the actual load.

9. The load calculation method of a vehicle according to claim 1, characterized in that, The operating condition information includes: the current vehicle speed, longitudinal acceleration, net driving force change rate, jerk, and slope change rate; The enabling conditions for load calculation include: the vehicle speed is within a preset vehicle speed range, the longitudinal acceleration is greater than a preset longitudinal acceleration, the net driving force change rate is less than or equal to a preset net driving force change rate, the jerk is less than or equal to a preset jerk, and the slope change rate is less than or equal to a preset slope change rate.

10. A vehicle, characterized in that, including: a controller; The controller is configured to execute the vehicle load calculation method according to any one of claims 1 to 9.

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