Method and device for evaluating load eccentricity of vehicle, electronic equipment, computer readable medium and vehicle

Abstract

The invention discloses a method and device for evaluating the load eccentricity of a vehicle, electronic equipment, a computer readable medium and the vehicle, and relates to the field of vehicle control. According to one specific embodiment, the method comprises the steps that current load distribution of a vehicle is obtained, and the load distribution comprises position information and weight information of a plurality of weighing parts on the vehicle; the eccentricity of the current load is calculated, and the eccentricity represents the degree that the current load center of the vehicle deviates from the geometric center of the multiple weighing parts; and outputting the eccentricity and the relative position of the load center relative to the geometric center. According to the embodiment, the current load distribution state can be simply and intuitively given to the vehicle user.

Description

Method, device, electronic device, computer-readable medium, and vehicle for evaluating load eccentricity of a vehicle Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a method, a device, an electronic device, a computer-readable medium, and a vehicle for evaluating load eccentricity of a vehicle. Background Art

[0002] Vehicles, particularly trucks, often use a weighing system consisting of multiple load cells to measure the weight of a container or vehicle load. These weighing systems are installed between the vehicle's chassis rails and the container. Each load cell performs an independent weighing operation, and the container weight or vehicle load is determined by summing the weighing results from all the load cells.

[0003] The main function of weighing systems known in the prior art is to provide the total weight carried by the weighing system, i.e., the weight of the container or the vehicle load. However, these weighing systems do not provide the load distribution of the cargo in the container. Therefore, the current load distribution state of the vehicle, in particular the eccentricity of the vehicle load, is unknown and / or unavailable.

[0004] Therefore, a method is needed to simply and intuitively provide the vehicle user with the current load distribution status.

[0005] Summary of the Invention

[0006] In view of this, an embodiment of the present invention provides a method and apparatus for evaluating the load eccentricity of a vehicle, which can simply and intuitively provide the current load distribution status to the vehicle user.

[0007] To achieve the above object, according to one aspect of the present invention, a method for evaluating load eccentricity of a vehicle is provided, characterized in that it includes the following steps:

[0008] Obtaining a current load distribution of the vehicle, wherein the load distribution includes position information and weight information of a plurality of weighing locations on the vehicle;

[0009] Calculating the eccentricity of the current load, wherein the eccentricity represents the degree to which the current load center of the vehicle deviates from the geometric center of the plurality of weighing locations;

[0010] The eccentricity and the relative position of the load center with respect to the geometric center are output.

[0011] The concept of this invention is to establish a parameter representing the relative position of the vehicle's load center and geometric center to assess the degree to which the load center deviates from the geometric center. The resulting technical advantage is that it can determine the current load distribution, particularly the load eccentricity, enabling more accurate estimation of vehicle parameters within the vehicle's ADAS (Advanced Driver Assistance Systems) or AD (Autonomous Driving) systems. Furthermore, it can simply and intuitively present the current load distribution to the vehicle user.

[0012] The method according to the present invention is preferably used for commercial vehicles, such as semi-trailers, full trailers, dump trucks, and other cargo vehicles, construction vehicles, and passenger vehicles, as long as they are equipped with multiple weighing stations. The weighing stations can provide position information and weight information. The position information is the location or two-dimensional coordinates on the vehicle's weighing plane, and the weight information is the respective weight measurement value.

[0013] In a preferred embodiment, the vehicle's current load distribution is acquired using multiple weight acquisition elements arranged on the vehicle. A weight acquisition element is one that directly measures gravity, such as a load cell positioned between the vehicle chassis and the cargo container, which directly acquires the container's weight. Alternatively, a weight acquisition element can be one that indirectly measures gravity, such as a height sensor that measures the height of the vehicle body relative to the vehicle chassis, where this height varies with vehicle load. Thus, the vehicle's current load distribution can be acquired using various types of load cells.

[0014] In a preferred embodiment, the eccentricity is determined by the ratio of the distance between the geometric center and the load center to the distance between the geometric center and the farthest weight acquisition element. The distance between the geometric center and the farthest weighing point is used as a reference to measure the degree to which the load center deviates from the geometric center. This provides a visual indication of the degree of eccentricity to the vehicle user.

[0015] In a preferred embodiment, the vehicle is divided into multiple sub-regions based on their relative position from the geometric center, and the sub-region where the load center is located is output. Relative position from the geometric center refers to coordinates in a two-dimensional coordinate system with the geometric center as the origin, which includes not only distance information but also orientation information. For example, the vehicle is divided into a central sub-region near the geometric center and front, rear, left, and right sub-regions surrounding the central sub-region (and at a greater distance). This provides intuitive eccentricity information to vehicle users.

[0016] In a preferred embodiment, the current load distribution is also displayed visually. Visual output means converting the position data and weight data of the weighing points into a graph or image and displaying it on a display. This allows vehicle users to intuitively monitor the real-time load distribution.

[0017] In a preferred embodiment, a historical record of the eccentricity and the relative position of the load center relative to the geometric center is output. Outputting the historical record means presenting a time function of the outputted quantity, for example, the temporal trend of the eccentricity and the relative position of the load center relative to the geometric center during loading or unloading of a cargo vehicle. This allows vehicle users to intuitively monitor the real-time load distribution status, particularly the eccentricity information.

[0018] According to another aspect of the present invention, there is provided an apparatus for evaluating load eccentricity of a vehicle, comprising:

[0019] an acquisition module, the acquisition module being configured to acquire a current load distribution of the vehicle, wherein the load distribution includes position information and weight information of a plurality of weighing locations on the vehicle;

[0020] a calculation module, configured to calculate the eccentricity of the current load, wherein the eccentricity represents the degree to which the current load center of the vehicle deviates from the geometric center of the plurality of weighing locations;

[0021] An output module is used to output the eccentricity and the relative position of the load center with respect to the geometric center.

[0022] In a preferred embodiment, it is provided that the acquisition module comprises a plurality of weight acquisition elements for acquiring the load distribution.

[0023] In a preferred embodiment, it is provided that the output module comprises a display for visual output.

[0024] According to another aspect of the present invention, there is provided an electronic device for evaluating load eccentricity of a vehicle, characterized by comprising:

[0025] one or more processors;

[0026] a storage device for storing one or more programs,

[0027] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for evaluating load eccentricity of a vehicle according to the present invention.

[0028] According to another aspect of the present invention, a computer-readable medium is provided, on which a computer program is stored, wherein when the program is executed by a processor, the method for evaluating load eccentricity of a vehicle according to the present invention is implemented.

[0029] According to another aspect of the invention, a vehicle is provided having a plurality of weight acquisition elements for acquiring load distribution, characterized in that the vehicle has a device or an electronic device according to the invention for evaluating load eccentricity of the vehicle.

[0030] The advantages or beneficial effects described with respect to the method according to the invention for assessing load eccentricity of a vehicle also apply to the device and electronic device according to the invention for assessing load eccentricity of a vehicle as well as the computer-readable medium and vehicle according to the invention.

[0031] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0033] FIG1 shows an exemplary application scenario of the method for evaluating load eccentricity of a vehicle according to the present invention;

[0034] FIG2 shows the geometric center and the load center in a top view according to the application scenario of FIG1 ;

[0035] FIG3 shows the vehicle sub-area division in a top view according to the application scenario of FIG1 ;

[0036] FIG4 shows a first example of a visual output of a load distribution according to the present invention;

[0037] FIG5 shows a second example of a visual output of a load distribution according to the present invention;

[0038] 6 is a schematic diagram of the main process of the method for evaluating the load eccentricity of a vehicle according to the present invention;

[0039] FIG7 is a schematic diagram of main modules of an apparatus for a method of evaluating load eccentricity of a vehicle;

[0040] FIG8 is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following description of exemplary embodiments of the present invention is made in conjunction with the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding. These details should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0042] Figure 1 illustrates an exemplary application scenario for the method for assessing vehicle load eccentricity according to the present invention. The vehicle, for example, is a truck, and a three-dimensional xyz coordinate system is established within the vehicle. The x-direction corresponds to the vehicle's longitudinal direction, i.e., the direction of travel; the y-direction corresponds to the vehicle's lateral direction, which is perpendicular to the x-direction; and the z-direction corresponds to the vehicle's height, which is perpendicular to both the x-direction and the y-direction.

[0043] As can be seen in the top view to the right (a plane extending along the xy axis), the vehicle weighing system of this embodiment includes load cells LC1, LC2, and LC3 arranged sequentially from front to back on the left side, and load cells LC6, LC5, and LC4 arranged sequentially from front to back on the right side. Load cells LC1 and LC6 are positioned opposite each other, LC2 and LC5 are positioned opposite each other, and LC3 and LC4 are positioned opposite each other. Each load cell can independently perform weighing, and the container weight or vehicle load can be obtained by summing the weighing results of all load cells.

[0044] In the upper left side view (a plane extending from the xz direction), it can be seen that the load cells are installed between the cargo box and the chassis longitudinal beams of the vehicle, wherein only the load cells LC4 , LC5 , LC6 on the right are visible.

[0045] The installation positions of the load cells can also be seen in the lower left rear view (a plane extending from the yz direction), wherein only the rearmost load cells LC3 and LC4 are visible.

[0046] It is understandable that the number of weighing sensors is not limited to six, and can be more or less, for example, four, wherein the weighing sensors LC2 and LC5 are eliminated, or for example, eight, wherein additional weighing sensors are added between the weighing sensors LC1, LC2 and between the weighing sensors LC5, LC6.

[0047] FIG. 2 shows the geometric center and the load center in a top view of the application scenario according to FIG. 1 .

[0048] In the xy plane where the weighing system is located, the coordinate x of the geometric center of the weighing system is gc ,y gcIt can be calculated as follows:

[0049]

[0050]

[0051] Among them, x i and y i (i=1-6) are the coordinates of the six load cells in the xy plane.

[0052] In the xy plane where the weighing system is located, the coordinate x of the load center of the vehicle is lc ,y lc It can be calculated as follows:

[0053]

[0054]

[0055] Among them, x i and y i (i=1~6) are the coordinates of the six weighing sensors in the xy plane, and F i (i=1-6) are the weight measurement values ​​of the six load cells.

[0056] Eccentricity δ lc The calculation formula is:

[0057]

[0058] Among them, l ref It is the distance between the geometric center and the farthest load cell (LC1 or LC6 in the application scenario of Figure 1).

[0059] Each weighing sensor is fixed relative to the vehicle in the assembled state, so the weighing system has a fixed geometric center. In an optional calculation method, the geometric center is used as the origin o of the xoy coordinate system in the top view of Figure 2. In this coordinate system, in addition to calculating the eccentricity δ lc In addition, according to the calculated coordinate x of the load center lc ',y lc The position in one of the four quadrants also directly indicates the direction in which the load center deviates relative to the geometric center, that is, the direction in which the current vehicle load deviates.

[0060] FIG3 shows the vehicle sub-area division in a top view according to the application scenario of FIG1 , wherein the vehicle is divided into a central sub-area and front, rear, left, and right sub-areas surrounding the central sub-area. Those skilled in the art will also appreciate that other methods for dividing the sub-areas are also feasible.

[0061] According to the present invention, in addition to calculating the eccentricity δ lc In addition, it is checked in which of the five sub-areas the load center is located, thereby intuitively indicating to the vehicle user the direction in which the vehicle load is biased.

[0062] Since the weighing system of the vehicle is usually arranged in a symmetrical manner, the geometric center of the weighing system basically corresponds to the geometric center of the vehicle. When using the above-mentioned optional calculation method, the division of sub-areas can depend on the relative position to the geometric center. For example, the area whose distance from the geometric center (origin o) does not exceed a certain threshold is set as the middle area, and the vehicle area around the middle area can be divided into right front, right rear, left rear and left front sub-areas according to the quadrant in which it is located. As a result, it becomes very simple to check in which sub-area the load center is located. However, the vehicle area around the middle area can also be divided as shown in Figure 3, for example, using two straight lines y=x and y=-x to divide the front, rear, left and right sub-areas.

[0063] It is understood that for vehicles equipped with air suspension, the load on each axle of the vehicle can be indirectly determined using information such as the height sensor and air pressure in the air suspension, thereby providing information on the vehicle's overall weight and load distribution. Furthermore, known weighing elements can be used, as long as multiple such elements can be deployed in the vehicle.

[0064] Figure 4 shows a first example of a visualization output of a load distribution according to the present invention. A graphical interface displays the load mass measured by each load cell: a grid diagram shows the relative positions of the six load cells and circles representing their respective measured masses. Circles of varying sizes represent the mass measured by each load cell, with larger circles representing larger mass values. Optionally, but not shown, the relationship between circle size and mass value is also displayed. Different colors can also be used to represent different mass values.

[0065] FIG5 shows a second example of a visualization output of the load distribution according to the present invention. A graphical interface displays a history of the load distribution state. The horizontal axis of the history is time, and the vertical axis is mass. The history shows the change history of the container mass (measured total load), for example, during the loading process of a vehicle. Furthermore, at each moment within the entire history from 0 to 3000 seconds, in addition to the container mass, information on the eccentricity of the load center is also provided. For example, at 1560 seconds, the container mass is approximately 9000 kg, the eccentricity is 64.8%, and the load center is located in the rear subarea of ​​the vehicle.

[0066] In order to output the graphical interface shown in FIG. 4 and / or FIG. 5 , an onboard display of the vehicle or an additional portable display, such as a tablet computer, a touch screen, etc., may be used.

[0067] According to the present invention, a method for evaluating the load eccentricity of a vehicle is proposed. FIG6 shows a schematic diagram of the main process of the method, which includes the following steps:

[0068] Step S201: Acquire the current load distribution of the vehicle, wherein the load distribution includes position information and weight information of multiple weighing locations on the vehicle.

[0069] Optionally, the current load distribution of the vehicle is acquired by a plurality of weight acquisition elements arranged on the vehicle.

[0070] Step S202: Calculate the eccentricity of the current load, wherein the eccentricity represents the degree to which the current load center of the vehicle deviates from the geometric center of the multiple weighing locations.

[0071] Optionally, the eccentricity is taken as the ratio of the distance between the geometric center and the load center to the distance between the geometric center and the farthest weighing position.

[0072] Step S203: outputting the eccentricity and the relative position of the load center with respect to the geometric center.

[0073] Optionally, the vehicle is divided into a plurality of vehicle sub-areas depending on the relative positions to the geometric center, and the vehicle sub-area where the load center is located is output.

[0074] Optionally, the current load distribution is also output visually.

[0075] Optionally, a historical record of the eccentricity and the relative position of the load center with respect to the geometric center is output.

[0076] FIG7 is a schematic diagram of main modules of an apparatus 300 for evaluating a load eccentricity of a vehicle, the apparatus comprising:

[0077] The acquisition module 301 is used to acquire the current load distribution of the vehicle, wherein the load distribution includes position information and weight information of multiple weighing locations on the vehicle.

[0078] Optionally, the acquisition module 301 includes a plurality of weighing sensors for acquiring load distribution.

[0079] The calculation module 302 is used to calculate the eccentricity of the current load, wherein the eccentricity represents the degree to which the current load center of the vehicle deviates from the geometric center of the multiple weighing locations.

[0080] The output module 303 is used to output the eccentricity and the relative position of the load center with respect to the geometric center.

[0081] Optionally, the output module 303 includes a display for visual output.

[0082] 8, which shows a schematic diagram of a computer system 400 suitable for implementing a terminal device according to an embodiment of the present invention. The terminal device shown in FIG8 is merely an example and should not limit the functionality and scope of use of the embodiment of the present invention.

[0083] As shown in FIG8 , a computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage unit 408 into a random access memory (RAM) 403. Various programs and data required for the operation of the system 400 are also stored in the RAM 403. The CPU 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0084] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 408 including a hard disk; and a communication section 409 including a network interface card such as a LAN card or a modem. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 410 as needed, so that computer programs read therefrom can be installed into the storage section 408 as needed.

[0085] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present invention are performed.

[0086] It should be noted that the computer-readable medium described in the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can 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 computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0087] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0088] The modules described in the embodiments of the present invention may be implemented in software or hardware. The modules described may also be provided in a processor. For example, a processor may be described as comprising an acquisition module, a calculation module, and an output module. The names of these modules do not, in some cases, limit the modules themselves. For example, an acquisition module may also be described as a "collection module."

[0089] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiment, or may exist independently and not be incorporated into the device. The computer-readable medium carries one or more programs, which, when executed by the device, cause the device to: obtain a current load distribution of a vehicle, wherein the load distribution includes position information and weight information of multiple weighing locations on the vehicle; calculate the eccentricity of the current load, wherein the eccentricity indicates the degree to which the current load center of the vehicle deviates from the geometric center of the multiple weighing locations; and output the eccentricity and the relative position of the load center relative to the geometric center.

[0090] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for evaluating load eccentricity of a vehicle, It is characterized in that The steps include: Acquire the current load distribution of the vehicle, wherein the load distribution includes position information and weight information of multiple weighing locations on the vehicle; Calculating the eccentricity of the current load, wherein the eccentricity represents the degree to which the current load center of the vehicle deviates from the geometric center of the plurality of weighing locations; The eccentricity and the relative position of the load center with respect to the geometric center are output.

2. The method according to claim 1, It is characterized in that The current load distribution of the vehicle is detected by a plurality of weight detection elements arranged on the vehicle.

3. The method according to claim 1, It is characterized in that The eccentricity is the ratio of the distance between the geometric center and the load center to the distance between the geometric center and the farthest weighing position.

4. The method according to claim 1, It is characterized in that The vehicle is divided into a plurality of vehicle sub-regions depending on the relative position to the geometric center, and the vehicle sub-region where the load center is located is output.

5. The method according to claim 1, It is characterized in that The current load distribution is also output visually.

6. The method according to any one of claims 1 to 5, It is characterized in that A history of the eccentricity and the relative position of the load center with respect to the geometric center is output.

7. A device for evaluating load eccentricity of a vehicle, It is characterized in that include: An acquisition module, the acquisition module is used to acquire the current load distribution of the vehicle, wherein the load distribution includes position information and weight information of multiple weighing locations on the vehicle; A calculation module, the calculation module is used to calculate the eccentricity of the current load, wherein the eccentricity represents the degree to which the current load center of the vehicle deviates from the geometric center of the multiple weighing locations; An output module is used to output the eccentricity and the relative position of the load center with respect to the geometric center.

8. The device according to claim 7, It is characterized in that The acquisition module includes a plurality of weight acquisition elements for acquiring load distribution.

9. The device according to claim 7, It is characterized in that The output module includes a display for visual output.

10. An electronic device for evaluating load eccentricity of a vehicle, It is characterized in that include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

11. A computer readable medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

12. A vehicle having a plurality of weight acquisition elements for acquiring load distribution, It is characterized in that The vehicle has the device according to claim 7 or the electronic device according to claim 10 .

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