Vehicle load determination method and device

Abstract

The invention provides a vehicle load determination method and device. The determination method comprises the following steps: judging whether first driving data of real-time acquired driving data of a target vehicle within a first preset time step length before the current moment meets a load updating trigger condition or not; if yes, a first vehicle load value is determined based on second driving data of the driving data within a second preset time step length before the current moment, and a second vehicle load value is determined based on spring characteristic parameters of a vehicle suspension; determining a target vehicle load value of the target vehicle based on the historical vehicle load data, the first vehicle load value and the second vehicle load value; based on the second travel data, a target vehicle load value is assigned to each wheel to determine a target angular load value for each wheel. By means of the method, the accuracy and stability of determining the vehicle load are improved, and then the safety of vehicle driving is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle load calculation technology, and in particular to a method and apparatus for determining vehicle load. Background Technology

[0002] Currently, the main methods for calculating vehicle load include using mass sensors for detection and using multi-source signal fusion calculation based on Newton's laws. Among these methods, using mass sensors to detect vehicle load requires additional sensors, and even if the load does not change significantly during vehicle operation because the doors are always closed, the detected load data will still fluctuate greatly, reducing the accuracy and stability of determining vehicle load.

[0003] Furthermore, the load data obtained by fusing calculations based on Newton's laws and multi-source signals is constantly fluctuating. When this load data is transmitted to the vehicle suspension controller, it may cause disorder in the vehicle suspension controller's regulation of the continuously damped variable shock absorber, reducing the safety of vehicle driving. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method and apparatus for determining vehicle load. This method determines whether a vehicle meets the load update triggering conditions based on real-time collected vehicle driving data. If the vehicle meets the load update triggering conditions, the vehicle load value is determined based on the vehicle driving data and the spring characteristic parameters corresponding to the vehicle suspension. The vehicle load value is then corrected based on historical vehicle load data to determine the target vehicle load value. Furthermore, the target vehicle load value is allocated to each wheel of the vehicle based on the vehicle driving data to determine the target angular load value corresponding to each wheel. This method achieves accurate identification of vehicle load in scenarios where the doors are always closed, ensuring that the vehicle load does not change significantly during driving. This improves the accuracy and stability of determining vehicle load, thereby enhancing vehicle driving safety.

[0005] This application provides a method for determining vehicle load, the method comprising: Real-time acquisition of driving data corresponding to the target vehicle, and determination of whether the first driving data corresponding to the driving data within a first preset time step before the current moment meets the preset load update trigger condition; If the first driving data satisfies the load update triggering condition, then based on the second driving data corresponding to the driving data within the second preset time step before the current moment, the first vehicle load value corresponding to the target vehicle is determined, and based on the spring characteristic parameters corresponding to the vehicle suspension set by the target vehicle, the second vehicle load value corresponding to the target vehicle is determined. Based on the stored historical vehicle load data, the first vehicle load value, and the second vehicle load value, the target vehicle load value corresponding to the target vehicle is determined. Based on the second driving data, the target vehicle load value is allocated to each wheel of the target vehicle to determine the target angular load value corresponding to each wheel.

[0006] Furthermore, determining whether the first driving data corresponding to the driving data within a first preset time step before the current moment satisfies the preset load update trigger condition includes: The first driving data corresponding to a first preset time step before the current moment is obtained from the driving data; wherein, the first driving data includes at least the average driving speed, the average longitudinal acceleration, the average lateral acceleration, the average driving force, the average road slope, and the door action signal; Determine whether the average driving speed is less than a preset speed threshold, determine whether the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, determine whether the average lateral acceleration is less than a preset lateral acceleration threshold, determine whether the average driving force is greater than a preset driving force threshold, determine whether the average road slope is less than a preset road slope threshold, and determine whether the door action signal has not indicated a door opening action. If at least one of the following conditions is met: the average driving speed is greater than or equal to a preset speed threshold, the average longitudinal acceleration is less than or equal to a preset longitudinal acceleration threshold, the average lateral acceleration is greater than or equal to a preset lateral acceleration threshold, the average driving force is less than or equal to a preset driving force threshold, the average road slope is greater than or equal to a preset road slope threshold, and the door action signal indicates a door opening action, then it is determined that the first driving data does not meet the preset load update triggering conditions. If the average driving speed is less than a preset speed threshold, the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, the average lateral acceleration is less than a preset lateral acceleration threshold, the average driving force is greater than a preset driving force threshold, the average road slope is less than a preset road slope threshold, and the door action signal does not indicate a door opening action, then it is determined that the first driving data meets the load update triggering condition.

[0007] Furthermore, determining the first vehicle load value corresponding to the target vehicle based on the second driving data within a second preset time step prior to the current moment includes: The second driving data corresponding to a second preset time step prior to the current moment is obtained from the driving data; wherein, the second driving data includes at least the average target driving force and the average target acceleration; the second preset time step is less than the first preset time step; Based on the average target driving force and the average target acceleration, the first vehicle load value corresponding to the target vehicle is determined using Newton's laws.

[0008] Furthermore, determining the second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters of the vehicle suspension set for the target vehicle includes: Based on the spring type corresponding to the vehicle suspension of the target vehicle, the spring characteristic parameters corresponding to each wheel of the vehicle suspension after the suspension height is adjusted while the vehicle is stationary are obtained; wherein, the spring type includes air springs and coil springs; The angular load value corresponding to each wheel of the target vehicle is determined by multiplying the spring characteristic parameters corresponding to each wheel under the spring type; The sum of the angular load values ​​is determined as the second vehicle load value corresponding to the target vehicle.

[0009] Furthermore, based on the spring type corresponding to the vehicle suspension set for the target vehicle, obtaining the spring characteristic parameters corresponding to each wheel of the vehicle suspension after adjusting the suspension height while stationary includes: When the spring type is the air spring, the first height coefficient and air spring pressure value corresponding to each wheel are obtained after the vehicle suspension is stationary and the suspension height is adjusted; When the spring type is the coil spring, obtain the second height coefficient and preset angular load value corresponding to each wheel after the vehicle suspension is stationary and the suspension height is adjusted.

[0010] Furthermore, determining the target vehicle load value corresponding to the target vehicle based on the stored historical vehicle load data, the first vehicle load value, and the second vehicle load value includes: Obtain stored historical vehicle load data, and determine in the historical vehicle load data at least one first historical vehicle load value corresponding to the first vehicle load value, a first update number corresponding to the first vehicle load value, at least one second historical vehicle load value corresponding to the second vehicle load value, and a second update number corresponding to the second vehicle load value; Based on the first vehicle load value, the first historical vehicle load value, and the first update count, a first corrected vehicle load value is determined, and based on the second vehicle load value, the second historical vehicle load value, and the second update count, a second corrected vehicle load value is determined. The average of the first corrected vehicle load value and the second corrected vehicle load value is determined as the target vehicle load value corresponding to the target vehicle.

[0011] Furthermore, the step of allocating the target vehicle load value to each wheel of the target vehicle based on the second driving data to determine the target angular load value corresponding to each wheel includes: The average lateral acceleration and average longitudinal acceleration of the target vehicle are determined from the second driving data. Based on the target vehicle load value, the average lateral acceleration of the target vehicle, and the preset center of gravity height and wheelbase value of the target vehicle, the forward load transfer amount and the rear load transfer amount corresponding to the target vehicle are determined respectively. Based on the target vehicle load value, the target longitudinal acceleration average value, and the target vehicle's corresponding preset center of gravity height value and wheelbase value, the left load transfer amount and right load transfer amount corresponding to the target vehicle are determined respectively. Based on the target vehicle load value and the gravitational acceleration value corresponding to the location of the target vehicle, the front axle static load value and rear axle static load value corresponding to the target vehicle are determined respectively; Based on the forward load transfer amount, the rear load transfer amount, the left load transfer amount, the right load transfer amount, the front axle static load value, and the rear axle static load value, the target angular load value corresponding to each wheel is determined.

[0012] Furthermore, determining the target angular load value corresponding to each wheel based on the forward load transfer amount, the rearward load transfer amount, the leftward load transfer amount, the rightward load transfer amount, the front axle static load value, and the rear axle static load value includes: Based on the front axle static load value, the forward load transfer amount, and the left load transfer amount, determine the first target angle load value corresponding to the left front wheel; Based on the front axle static load value, the forward load transfer amount, and the rightward load transfer amount, determine the second target angle load value corresponding to the right front wheel; Based on the rear axle static load value, the rearward load transfer amount, and the leftward load transfer amount, determine the third target angle load value corresponding to the left rear wheel; Based on the rear axle static load value, the rearward load transfer amount, and the rightward load transfer amount, the fourth target angle load value corresponding to the right rear wheel is determined.

[0013] Furthermore, after determining the target angular load value, the determination method further includes: In response to the target vehicle completing its current journey and triggering the switch of any door before starting its next journey, if the driving data collected in real time during the next journey of the target vehicle meets the load update triggering condition, the updated vehicle load value corresponding to the target vehicle and the updated angular load value corresponding to each wheel are determined based on the driving data and the spring characteristic parameters.

[0014] This application embodiment also provides a vehicle load determination device, the determination device comprising: The trigger judgment module is used to collect driving data corresponding to the target vehicle in real time and determine whether the first driving data corresponding to the driving data within a first preset time step before the current moment meets the preset load update trigger condition. The load determination module is used to determine the first vehicle load value corresponding to the target vehicle based on the second driving data corresponding to the driving data within a second preset time step before the current time if the first driving data meets the load update triggering condition, and to determine the second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters corresponding to the vehicle suspension set by the target vehicle. The load correction module is used to determine the target vehicle load value corresponding to the target vehicle based on the stored historical vehicle load data, the first vehicle load value and the second vehicle load value; The load distribution module is used to distribute the target vehicle load value to each wheel of the target vehicle based on the second driving data, so as to determine the target angular load value corresponding to each wheel.

[0015] Furthermore, when the triggering judgment module determines whether the first driving data corresponding to the driving data within a first preset time step before the current time satisfies the preset load update triggering condition, the triggering judgment module is used to: The first driving data corresponding to a first preset time step before the current moment is obtained from the driving data; wherein, the first driving data includes at least the average driving speed, the average longitudinal acceleration, the average lateral acceleration, the average driving force, the average road slope, and the door action signal; Determine whether the average driving speed is less than a preset speed threshold, determine whether the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, determine whether the average lateral acceleration is less than a preset lateral acceleration threshold, determine whether the average driving force is greater than a preset driving force threshold, determine whether the average road slope is less than a preset road slope threshold, and determine whether the door action signal has not indicated a door opening action. If at least one of the following conditions is met: the average driving speed is greater than or equal to a preset speed threshold, the average longitudinal acceleration is less than or equal to a preset longitudinal acceleration threshold, the average lateral acceleration is greater than or equal to a preset lateral acceleration threshold, the average driving force is less than or equal to a preset driving force threshold, the average road slope is greater than or equal to a preset road slope threshold, and the door action signal indicates a door opening action, then it is determined that the first driving data does not meet the preset load update triggering conditions. If the average driving speed is less than a preset speed threshold, the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, the average lateral acceleration is less than a preset lateral acceleration threshold, the average driving force is greater than a preset driving force threshold, the average road slope is less than a preset road slope threshold, and the door action signal does not indicate a door opening action, then it is determined that the first driving data meets the load update triggering condition.

[0016] Furthermore, when the load determination module determines the first vehicle load value corresponding to the target vehicle based on the second driving data within a second preset time step before the current moment, the load determination module is used to: The second driving data corresponding to a second preset time step prior to the current moment is obtained from the driving data; wherein, the second driving data includes at least the average target driving force and the average target acceleration; the second preset time step is less than the first preset time step; Based on the average target driving force and the average target acceleration, the first vehicle load value corresponding to the target vehicle is determined using Newton's laws.

[0017] Furthermore, when determining the second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters corresponding to the vehicle suspension set for the target vehicle, the load determination module is used to: Based on the spring type corresponding to the vehicle suspension of the target vehicle, the spring characteristic parameters corresponding to each wheel of the vehicle suspension after the suspension height is adjusted while the vehicle is stationary are obtained; wherein, the spring type includes air springs and coil springs; The angular load value corresponding to each wheel of the target vehicle is determined by multiplying the spring characteristic parameters corresponding to each wheel under the spring type; The sum of the angular load values ​​is determined as the second vehicle load value corresponding to the target vehicle.

[0018] Furthermore, when the load determination module obtains the spring characteristic parameters corresponding to each wheel of the vehicle suspension after the suspension height has been adjusted and the vehicle suspension is stationary, based on the spring type corresponding to the vehicle suspension set for the target vehicle, the load determination module is used to: When the spring type is the air spring, the first height coefficient and air spring pressure value corresponding to each wheel are obtained after the vehicle suspension is stationary and the suspension height is adjusted; When the spring type is the coil spring, obtain the second height coefficient and preset angular load value corresponding to each wheel after the vehicle suspension is stationary and the suspension height is adjusted.

[0019] Furthermore, when determining the target vehicle load value corresponding to the target vehicle based on stored historical vehicle load data, the first vehicle load value, and the second vehicle load value, the load correction module is used to: Obtain stored historical vehicle load data, and determine in the historical vehicle load data at least one first historical vehicle load value corresponding to the first vehicle load value, a first update number corresponding to the first vehicle load value, at least one second historical vehicle load value corresponding to the second vehicle load value, and a second update number corresponding to the second vehicle load value; Based on the first vehicle load value, the first historical vehicle load value, and the first update count, a first corrected vehicle load value is determined, and based on the second vehicle load value, the second historical vehicle load value, and the second update count, a second corrected vehicle load value is determined. The average of the first corrected vehicle load value and the second corrected vehicle load value is determined as the target vehicle load value corresponding to the target vehicle.

[0020] Furthermore, when the load allocation module is used to allocate the target vehicle load value to each wheel of the target vehicle based on the second driving data, so as to determine the target angular load value corresponding to each wheel, the load allocation module is used to: The average lateral acceleration and average longitudinal acceleration of the target vehicle are determined from the second driving data. Based on the target vehicle load value, the average lateral acceleration of the target vehicle, and the preset center of gravity height and wheelbase value of the target vehicle, the forward load transfer amount and the rear load transfer amount corresponding to the target vehicle are determined respectively. Based on the target vehicle load value, the target longitudinal acceleration average value, and the target vehicle's corresponding preset center of gravity height value and wheelbase value, the left load transfer amount and right load transfer amount corresponding to the target vehicle are determined respectively. Based on the target vehicle load value and the gravitational acceleration value corresponding to the location of the target vehicle, the front axle static load value and rear axle static load value corresponding to the target vehicle are determined respectively; Based on the forward load transfer amount, the rear load transfer amount, the left load transfer amount, the right load transfer amount, the front axle static load value, and the rear axle static load value, the target angular load value corresponding to each wheel is determined.

[0021] Furthermore, when the load distribution module determines the target angular load value corresponding to each wheel based on the forward load transfer amount, the rearward load transfer amount, the leftward load transfer amount, the rightward load transfer amount, the front axle static load value, and the rear axle static load value, the load distribution module is used to: Based on the front axle static load value, the forward load transfer amount, and the left load transfer amount, determine the first target angle load value corresponding to the left front wheel; Based on the front axle static load value, the forward load transfer amount, and the rightward load transfer amount, determine the second target angle load value corresponding to the right front wheel; Based on the rear axle static load value, the rearward load transfer amount, and the leftward load transfer amount, determine the third target angle load value corresponding to the left rear wheel; Based on the rear axle static load value, the rearward load transfer amount, and the rightward load transfer amount, the fourth target angle load value corresponding to the right rear wheel is determined.

[0022] Furthermore, the determining device also includes a load update module, which is used for: In response to the target vehicle completing its current journey and triggering the switch of any door before starting its next journey, if the driving data collected in real time during the next journey of the target vehicle meets the load update triggering condition, the updated vehicle load value corresponding to the target vehicle and the updated angular load value corresponding to each wheel are determined based on the driving data and the spring characteristic parameters.

[0023] This application also provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the vehicle load determination method described above are performed.

[0024] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the vehicle load determination method described above.

[0025] The vehicle load determination method and apparatus provided in this application include: real-time acquisition of driving data corresponding to a target vehicle, and determination of whether the first driving data corresponding to the driving data within a first preset time step before the current moment meets a preset load update trigger condition; if the first driving data meets the load update trigger condition, determining a first vehicle load value corresponding to the target vehicle based on the second driving data corresponding to the driving data within a second preset time step before the current moment, and determining a second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters corresponding to the vehicle suspension set by the target vehicle; determining a target vehicle load value corresponding to the target vehicle based on stored historical vehicle load data, the first vehicle load value, and the second vehicle load value; and allocating the target vehicle load value to each wheel of the target vehicle based on the second driving data to determine a target angular load value corresponding to each wheel.

[0026] Compared to existing technologies that utilize mass sensors for detection and multi-source signal fusion calculation based on Newton's laws, this method determines whether a vehicle meets the load update trigger condition based on real-time acquired vehicle driving data. If the condition is met, the vehicle load value is determined based on the driving data and the spring characteristic parameters of the vehicle suspension. This value is then corrected based on historical vehicle load data to determine the target load value. Finally, the target load value is allocated to each wheel of the vehicle based on the driving data to determine the target angular load value for each wheel. This method achieves accurate vehicle load identification even when the doors are always closed, preventing significant changes in vehicle load during driving. This improves the accuracy and stability of vehicle load determination, thereby enhancing vehicle driving safety.

[0027] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 One of the flowcharts for a method of determining vehicle load provided in an embodiment of this application; Figure 2 A second flowchart illustrating a method for determining vehicle load provided in an embodiment of this application; Figure 3 One of the structural schematic diagrams of a vehicle load determination device provided in an embodiment of this application; Figure 4 This is a second schematic diagram of a vehicle load determination device provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0031] Research has found that currently, for vehicle suspensions that combine continuously damped variable shock absorbers with air spring suspension or coil spring suspension, it is not possible to control the continuously damped variable shock absorbers based on the vehicle's real-time load. The main methods for calculating vehicle load include using mass sensors for detection and fusing multi-source signals based on Newton's laws.

[0032] The method of detecting vehicle load using mass sensors requires additional sensors, and even if the load does not change significantly due to the doors remaining closed during vehicle operation, the detected load data will still fluctuate considerably, reducing the accuracy and stability of determining the vehicle load. In addition, the load data obtained by fusing Newton's laws and multi-source signals is also constantly fluctuating. When this load data is transmitted to the vehicle suspension controller, it may cause disorder in the vehicle suspension controller's regulation of the continuously damped variable shock absorber, reducing the safety of vehicle operation.

[0033] Based on this, this application provides a method for determining vehicle load. It determines whether a vehicle meets the load update triggering condition based on real-time collected vehicle driving data. If the vehicle meets the load update triggering condition, it determines the vehicle load value based on the vehicle driving data and the spring characteristic parameters corresponding to the vehicle suspension. The vehicle load value is then corrected based on historical vehicle load data to determine the target vehicle load value. Furthermore, the target vehicle load value is allocated to each wheel of the vehicle based on the vehicle driving data to determine the target angular load value corresponding to each wheel. This method achieves accurate identification of vehicle load in scenarios where the doors are always closed, ensuring that the vehicle load does not change significantly during driving. This improves the accuracy and stability of determining vehicle load, thereby enhancing vehicle driving safety.

[0034] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for determining vehicle load according to an embodiment of this application. Figure 1 As shown in the embodiments of this application, the method for determining vehicle load includes: S101. Real-time acquisition of driving data corresponding to the target vehicle, and determination of whether the first driving data corresponding to the driving data within a first preset time step before the current moment meets the preset load update trigger condition.

[0035] It should be noted that the target vehicle is the vehicle for which the vehicle load is to be determined using the method described in the embodiments of this application.

[0036] The first driving data includes, but is not limited to, the average driving speed, average longitudinal acceleration, average lateral acceleration, average driving force, average road slope, and door action signal within a first preset time step before the current moment.

[0037] Here, the first preset time step can be specifically calibrated based on the specific parameters of the vehicle, the specific content of the data, and the actual vehicle load requirements.

[0038] In this embodiment of the application, the load update triggering conditions include the average driving speed being less than a preset speed threshold, the average longitudinal acceleration being greater than a preset longitudinal acceleration threshold, the average lateral acceleration being less than a preset lateral acceleration threshold, the average driving force being greater than a preset driving force threshold, the average road surface slope being less than a preset road surface slope threshold, and the door action signal not indicating a door opening action.

[0039] Here, when the door action signal indicates that there is a door opening action, the reliable flag bit of the target vehicle load value determined in this application embodiment will be set from 1 to 0, and the target vehicle load value will be updated at the next time the load update trigger condition is met.

[0040] Furthermore, if the first driving data does not meet the preset load update triggering condition, the judgment on the load update triggering condition of the corresponding first driving data within the next first preset time step continues.

[0041] In one possible implementation of this application, in specific implementation, the step S101 of determining whether the first driving data corresponding to the driving data within a first preset time step before the current time satisfies the preset load update trigger condition may include: S1011. Obtain the first driving data corresponding to the first preset time step before the current moment from the driving data.

[0042] S1012. Determine whether the average driving speed is less than a preset speed threshold, determine whether the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, determine whether the average lateral acceleration is less than a preset lateral acceleration threshold, determine whether the average driving force is greater than a preset driving force threshold, determine whether the average road slope is less than a preset road slope threshold, and determine whether the door action signal has not indicated a door opening action.

[0043] In this embodiment, the preset speed threshold, preset longitudinal acceleration threshold, preset lateral acceleration threshold, preset driving force threshold, and preset road slope threshold can be specifically calibrated according to the specific parameters of the vehicle, the specific content of the data, and the actual vehicle load requirements.

[0044] S1013. If at least one of the following conditions is met: the average driving speed is greater than or equal to a preset speed threshold, the average longitudinal acceleration is less than or equal to a preset longitudinal acceleration threshold, the average lateral acceleration is greater than or equal to a preset lateral acceleration threshold, the average driving force is less than or equal to a preset driving force threshold, the average road slope is greater than or equal to a preset road slope threshold, and the door action signal indicates a door opening action, then it is determined that the first driving data does not meet the preset load update triggering conditions.

[0045] Here, if at least one of the following is inconsistent with the load update triggering conditions: average driving speed, average longitudinal acceleration, average lateral acceleration, average driving force, average road slope, and door action signal, the first driving data is determined not to meet the load update triggering conditions.

[0046] S1014. If the average driving speed is less than a preset speed threshold, the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, the average lateral acceleration is less than a preset lateral acceleration threshold, the average driving force is greater than a preset driving force threshold, the average road slope is less than a preset road slope threshold, and the door action signal does not indicate door opening action, then it is determined that the first driving data meets the load update triggering condition.

[0047] Here, when all the judgments on the average driving speed, average longitudinal acceleration, average lateral acceleration, average driving force, average road slope, and door action signal are consistent with the contents of the load update triggering condition, it is determined that the first driving data meets the load update triggering condition.

[0048] In this embodiment, the determination of the average driving speed ensures the accuracy of load determination at low vehicle speeds; the determination of the average longitudinal acceleration ensures the vehicle is in an accelerating state; the determination of the average lateral acceleration ensures the vehicle is in a straight-line driving state; the determination of the average road slope ensures the vehicle is driving on a flat road; and the determination of the door action signal ensures that the vehicle load has not changed.

[0049] S102. If the first driving data satisfies the load update triggering condition, then based on the second driving data corresponding to the driving data within the second preset time step before the current time, determine the first vehicle load value corresponding to the target vehicle, and based on the spring characteristic parameters corresponding to the vehicle suspension set by the target vehicle, determine the second vehicle load value corresponding to the target vehicle.

[0050] Here, the second preset time step can be specifically calibrated based on the specific parameters of the vehicle, the specific content of the data, and the actual vehicle load requirements; the second preset time step is smaller than the first preset time step.

[0051] In this application, when the first driving data meets the load update triggering condition, two parts of vehicle load values ​​are calculated. Specifically, one part is based on the second driving data, using the correspondence between driving force, acceleration and mass in Newton's laws to calculate the first vehicle load value corresponding to the target vehicle; the other part is for different vehicle suspension spring types, based on the spring characteristic parameters corresponding to the vehicle suspension set for the target vehicle, to determine the second vehicle load value corresponding to the target vehicle.

[0052] In one possible implementation of this application, in specific implementation, the step S102 of determining the first vehicle load value corresponding to the target vehicle based on the second driving data within a second preset time step before the current time may include: S1021. Obtain the second driving data corresponding to the second preset time step before the current moment from the driving data.

[0053] The second driving data includes at least the average target driving force and the average target acceleration.

[0054] S1022. Based on the average target driving force and the average target acceleration, determine the first vehicle load value corresponding to the target vehicle using Newton's laws.

[0055] Here, the Newton's laws include the corresponding functional relationship between driving force, acceleration, and mass in Newton's second law, that is, driving force is equal to the product of acceleration and mass.

[0056] In this embodiment of the application, the first vehicle load value corresponding to the target vehicle is determined by the following formula.

[0057] .

[0058] in, This represents the first vehicle load value corresponding to the target vehicle; Indicates the mean of the target driving force; This represents the average target acceleration.

[0059] In one possible implementation of this application, in specific implementation, the step S102 of determining the second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters corresponding to the vehicle suspension set for the target vehicle may include: S1023. Based on the spring type of the vehicle suspension set for the target vehicle, obtain the spring characteristic parameters corresponding to each wheel of the vehicle suspension after the suspension height is adjusted in place.

[0060] The spring types mentioned include air springs and coil springs.

[0061] Here, air springs and coil springs are the elastic elements in a vehicle's suspension system, that is, the core components that provide support and cushioning. Air springs can actively adjust the vehicle's height and stiffness by inflating and deflating the air; coil springs follow Hooke's Law, and their stiffness is determined by the material, wire diameter, number of coils, pitch, etc., and cannot be adjusted after leaving the factory.

[0062] In this embodiment, when the spring type is an air spring, the spring characteristic parameters include a first height coefficient and an air spring pressure value; when the spring type is a helical spring, the spring characteristic parameters include a second height coefficient and a preset angular load value.

[0063] In one possible implementation of this application, step S1023 may include: S10231. When the spring type is the air spring, obtain the first height coefficient and air spring pressure value corresponding to each wheel after the vehicle suspension is stationary and the suspension height is adjusted.

[0064] Here, the first height coefficient is determined by looking up a table based on the corresponding relationship between the suspension height of a vehicle with air springs in place and the suspension height after adjustment.

[0065] S10232. When the spring type is the coil spring, obtain the second height coefficient and preset angular load value corresponding to each wheel after the vehicle suspension is stationary and the suspension height is adjusted.

[0066] The preset angular load value for each wheel is determined by the factory parameters of the coil spring corresponding to each wheel.

[0067] Here, the second height coefficient is determined by looking up a table to find the corresponding relationship between the suspension height of the vehicle with coil springs in place and the suspension height after adjustment.

[0068] S1024. Determine the angular load value corresponding to each wheel of the target vehicle by multiplying the spring characteristic parameters corresponding to each wheel under the spring type.

[0069] In this step, for each wheel of a vehicle suspension with an air spring, the product of the first height coefficient corresponding to that wheel and the air spring pressure value is determined as the angular load value corresponding to that wheel.

[0070] Specifically, the angular load value corresponding to each wheel of the target vehicle with air springs is calculated using the following formula.

[0071] ; .

[0072] in, This indicates the angular load value for each wheel of a vehicle suspension with air springs. This represents the first height coefficient corresponding to each wheel; This indicates the air spring pressure value corresponding to each wheel; These represent the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively.

[0073] Furthermore, for each wheel of a vehicle suspension with a coil spring, the product of the second height coefficient corresponding to that wheel and the preset angular load value is determined as the angular load value corresponding to that wheel.

[0074] Specifically, the angular load value corresponding to each wheel of the target vehicle with coil springs is calculated using the following formula.

[0075] ; .

[0076] in, This indicates the angular load value for each wheel of a vehicle suspension with coil springs. This represents the second height coefficient corresponding to each wheel; This indicates the preset angular load value corresponding to each wheel; These represent the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively.

[0077] S1025. The sum of the angular load values ​​is determined as the second vehicle load value corresponding to the target vehicle.

[0078] In this embodiment of the application, when calculating the second vehicle load value corresponding to the target vehicle, a reliable flag bit of the second vehicle load value is also determined.

[0079] Specifically, for air springs, when the vehicle speed is 0 or the vehicle suspension height is adjusted and pressure is measured, the confidence flag of the second vehicle load value is set to 1; when the vehicle opens and closes a door once, the confidence flag of the second vehicle load value is set to 0; when the vehicle suspension height is readjusted and the pressure of each air spring needs to be measured and the second vehicle load value is updated, the confidence flag of the second vehicle load value is set to 1.

[0080] For the coil spring, when the stationary vehicle speed is 0, the confidence flag of the second vehicle load value is set to 1; when the vehicle door is opened, the confidence flag of the second vehicle load value is set to 0; when the vehicle door is closed and the second vehicle load value is updated again, the confidence flag of the second vehicle load value is set to 1.

[0081] S103. Based on the stored historical vehicle load data, the first vehicle load value, and the second vehicle load value, determine the target vehicle load value corresponding to the target vehicle.

[0082] In this embodiment of the application, the historical vehicle load data includes a first vehicle load value obtained in each update and the number of times the first vehicle load value is updated, as well as a second vehicle load value obtained in each update and the number of times the second vehicle load value is updated.

[0083] In one possible implementation of this application, step S103 may include: S1031. Obtain the stored historical vehicle load data, and determine in the historical vehicle load data at least one first historical vehicle load value corresponding to the first vehicle load value, a first update number corresponding to the first vehicle load value, at least one second historical vehicle load value corresponding to the second vehicle load value, and a second update number corresponding to the second vehicle load value.

[0084] In this embodiment of the application, whenever the load update triggering condition is met, the update of the first vehicle load value and the second vehicle load value will be triggered. Specifically, based on the historically stored first and second historical vehicle load values, and the reset status of the trusted flag bits corresponding to the first and second historical vehicle load values, the first update number corresponding to the first vehicle load value and the second update number corresponding to the second vehicle load value can be determined.

[0085] Here, since there may be cases where the currently calculated first vehicle load value and / or second vehicle load value is consistent with the previously calculated first vehicle load value and / or second vehicle load value, it is not necessary to update the first vehicle load value and / or second vehicle load value in this case. This application embodiment only discusses the number of updates.

[0086] S1032. Based on the first vehicle load value, the first historical vehicle load value, and the first update count, determine a first corrected vehicle load value, and based on the second vehicle load value, the second historical vehicle load value, and the second update count, determine a second corrected vehicle load value.

[0087] In this embodiment of the application, the first corrected vehicle load value is determined by the following formula.

[0088]

[0089] in, This indicates the first corrected vehicle load value; Indicates the first update count; when hour, Represents the load value of each first historical vehicle; when hour, This indicates the load value of the first vehicle.

[0090] In this embodiment of the application, the second corrected vehicle load value is determined by the following formula.

[0091]

[0092] in, This indicates the second corrected vehicle load value; Indicates the second update count; when hour, This represents the load value for each second historical vehicle; when hour, This indicates the load value of the second vehicle.

[0093] S1033. The average value of the first corrected vehicle load value and the second corrected vehicle load value is determined as the target vehicle load value corresponding to the target vehicle.

[0094] In this step, the target vehicle load value corresponding to the target vehicle is determined by the following formula.

[0095]

[0096] in, Indicates the target vehicle load value; This indicates the first corrected vehicle load value; This indicates the second corrected vehicle load value.

[0097] S104. Based on the second driving data, the target vehicle load value is allocated to each wheel of the target vehicle to determine the target angular load value corresponding to each wheel.

[0098] Here, the target angle load value includes the first target angle load value corresponding to the left front wheel, the second target angle load value corresponding to the left rear wheel, the third target angle load value corresponding to the right front wheel, and the fourth target angle load value corresponding to the right rear wheel.

[0099] In one possible implementation of this application, step S104 may include: S1041. Determine the average lateral acceleration and average longitudinal acceleration of the target vehicle from the second driving data.

[0100] S1042. Based on the target vehicle load value, the target average lateral acceleration value, and the target vehicle's corresponding preset center of gravity height value and wheelbase value, determine the forward load transfer amount and the rear load transfer amount corresponding to the target vehicle, respectively.

[0101] In this embodiment of the application, the forward load transfer amount and the backward load transfer amount corresponding to the target vehicle are determined by the following formula.

[0102] .

[0103] .

[0104] in, Indicates the forward load transfer amount; Indicates the amount of backward load transfer; Indicates the target vehicle load value; This represents the mean lateral acceleration of the target. This indicates the preset center of gravity height value corresponding to the target vehicle; This indicates the preset wheelbase value corresponding to the target vehicle.

[0105] S1043. Based on the target vehicle load value, the target longitudinal acceleration average value, and the preset center of gravity height value and wheelbase value of the target vehicle, determine the left load transfer amount and right load transfer amount corresponding to the target vehicle, respectively.

[0106] In this embodiment of the application, the leftward load transfer amount and the rightward load transfer amount corresponding to the target vehicle are determined by the following formula.

[0107] .

[0108] .

[0109] in, Indicates the amount of load transferred to the left; Indicates the amount of load transferred to the right; Indicates the target vehicle load value; This represents the mean longitudinal acceleration of the target. This indicates the preset center of gravity height value corresponding to the target vehicle; This indicates the preset wheelbase value corresponding to the target vehicle.

[0110] S1044. Based on the target vehicle load value and the gravitational acceleration value corresponding to the location of the target vehicle, determine the front axle static load value and the rear axle static load value of the target vehicle respectively.

[0111] In this embodiment of the application, the front axle static load value and the rear axle static load value of the target vehicle are determined by the following formula.

[0112] .

[0113] .

[0114] in, This indicates the static load value of the front axle; This indicates the static load value of the rear axle; Indicates the target vehicle load value; This represents the gravitational acceleration value corresponding to the location of the target vehicle; This indicates the front axle load distribution ratio coefficient; This indicates the rear axle load distribution ratio coefficient.

[0115] S1045. Based on the forward load transfer amount, the rear load transfer amount, the left load transfer amount, the right load transfer amount, the front axle static load value, and the rear axle static load value, determine the target angular load value corresponding to each wheel.

[0116] In one possible implementation of this application, step S1045 may include: S10451. Based on the front axle static load value, the forward load transfer amount, and the left load transfer amount, determine the first target angle load value corresponding to the left front wheel.

[0117] In this embodiment of the application, the first target angular load value corresponding to the left front wheel is determined by the following formula.

[0118] .

[0119] in, This indicates the first target angular load value corresponding to the left front wheel; This indicates the static load value of the front axle; Indicates the forward load transfer amount; This indicates the amount of load transferred to the left.

[0120] S10452. Based on the front axle static load value, the forward load transfer amount, and the rightward load transfer amount, determine the second target angle load value corresponding to the right front wheel.

[0121] In this embodiment of the application, the second target angular load value corresponding to the right front wheel is determined by the following formula.

[0122] .

[0123] in, This indicates the second target angular load value corresponding to the right front wheel; This indicates the static load value of the front axle; Indicates the forward load transfer amount; This indicates the amount of load transferred to the right.

[0124] S10453. Based on the rear axle static load value, the rearward load transfer amount, and the leftward load transfer amount, determine the third target angle load value corresponding to the left rear wheel.

[0125] In this embodiment of the application, the third target angle load value corresponding to the left rear wheel is determined by the following formula.

[0126] .

[0127] in, This indicates the third target angle load value corresponding to the left rear wheel; This indicates the static load value of the rear axle; Indicates the amount of backward load transfer; This indicates the amount of load transferred to the left.

[0128] S10454. Based on the rear axle static load value, the rearward load transfer amount, and the rightward load transfer amount, determine the fourth target angle load value corresponding to the right rear wheel.

[0129] In this embodiment of the application, the fourth target angular load value corresponding to the right rear wheel is determined by the following formula.

[0130] .

[0131] in, This indicates the fourth target angle load value corresponding to the right rear wheel; This indicates the static load value of the rear axle; Indicates the amount of backward load transfer; This indicates the amount of load transferred to the right.

[0132] Optionally, please refer to Figure 2 , Figure 2 This is a second flowchart illustrating a method for determining vehicle load provided in an embodiment of this application. Figure 2 As shown in the embodiment of this application, the method for determining vehicle load includes step S105 in addition to steps S101 to S104. Specifically, step S105 is used to explain the method for updating vehicle load when the vehicle finishes its current journey and triggers the door opening and closing action before the next journey.

[0133] S105. In response to the target vehicle starting its next driving process after ending the current driving and triggering the switch action of any door, when the driving data collected in real time during the next driving process of the target vehicle meets the load update triggering condition, the updated vehicle load value corresponding to the target vehicle and the updated angular load value corresponding to each wheel are determined based on the driving data and the spring characteristic parameters.

[0134] Here, since the doors of the target vehicle are generally not opened and closed again during the driving process, the vehicle load value will not change significantly during the driving process. Based on this, during a single driving process, whenever the driving data meets the load update trigger condition, the target vehicle load value and target angle load value corresponding to the condition will be determined and stored in the historical vehicle load data until the target vehicle ends the current driving and triggers the switch action of any door.

[0135] Furthermore, when the target vehicle finishes its current journey and triggers the switch action on any door, the reliable flags for the target vehicle load value and the target angle load value are set to 0. That is, the historical vehicle load data corresponding to this journey is cleared so that a new round of vehicle load determination can be carried out in the next journey.

[0136] Furthermore, when the target vehicle resumes its next journey, the driving data corresponding to the target vehicle is collected in real time, and the vehicle load determination method provided in this application embodiment is used to determine the target vehicle load value and the target angular load value corresponding to each wheel during the next journey.

[0137] Specifically, the description in S105 of "determining the updated vehicle load value corresponding to the target vehicle and the updated angular load value corresponding to each wheel based on the driving data and the spring characteristic parameters" can refer to the descriptions in S101 to S104 and achieve the same technical effect, so it will not be elaborated further.

[0138] The vehicle load determination method provided in this application determines whether the vehicle meets the load update triggering condition based on real-time collected vehicle driving data. If the vehicle meets the load update triggering condition, the vehicle load value is determined based on the vehicle driving data and the spring characteristic parameters corresponding to the vehicle suspension. The vehicle load value is then corrected based on historical vehicle load data to determine the target vehicle load value. Subsequently, the target vehicle load value is allocated to each wheel of the vehicle based on the vehicle driving data to determine the target angular load value corresponding to each wheel. This method achieves accurate identification of vehicle load changes in scenarios where the doors are always closed, ensuring that the vehicle load does not change significantly during driving. This improves the accuracy and stability of determining the vehicle load, thereby enhancing vehicle driving safety.

[0139] Please see Figure 3 , Figure 4 , Figure 3 This is one of the structural schematic diagrams of a vehicle load determination device provided in an embodiment of this application. Figure 4 This is a second schematic diagram of a vehicle load determination device provided in an embodiment of this application. Figure 3 As shown, the determining device 300 includes: The trigger judgment module 310 is used to collect driving data corresponding to the target vehicle in real time and determine whether the first driving data corresponding to the driving data within a first preset time step before the current moment meets the preset load update trigger condition. The load determination module 320 is used to determine the first vehicle load value corresponding to the target vehicle based on the second driving data corresponding to the driving data within a second preset time step before the current time if the first driving data meets the load update triggering condition, and to determine the second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters corresponding to the vehicle suspension set by the target vehicle. The load correction module 330 is used to determine the target vehicle load value corresponding to the target vehicle based on the stored historical vehicle load data, the first vehicle load value and the second vehicle load value; The load distribution module 340 is used to distribute the target vehicle load value to each wheel of the target vehicle based on the second driving data, so as to determine the target angular load value corresponding to each wheel.

[0140] Furthermore, when the triggering judgment module 310 determines whether the first driving data corresponding to the driving data within a first preset time step before the current time satisfies the preset load update triggering condition, the triggering judgment module 310 is used to: The first driving data corresponding to a first preset time step before the current moment is obtained from the driving data; wherein, the first driving data includes at least the average driving speed, the average longitudinal acceleration, the average lateral acceleration, the average driving force, the average road slope, and the door action signal; Determine whether the average driving speed is less than a preset speed threshold, determine whether the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, determine whether the average lateral acceleration is less than a preset lateral acceleration threshold, determine whether the average driving force is greater than a preset driving force threshold, determine whether the average road slope is less than a preset road slope threshold, and determine whether the door action signal has not indicated a door opening action. If at least one of the following conditions is met: the average driving speed is greater than or equal to a preset speed threshold, the average longitudinal acceleration is less than or equal to a preset longitudinal acceleration threshold, the average lateral acceleration is greater than or equal to a preset lateral acceleration threshold, the average driving force is less than or equal to a preset driving force threshold, the average road slope is greater than or equal to a preset road slope threshold, and the door action signal indicates a door opening action, then it is determined that the first driving data does not meet the preset load update triggering conditions. If the average driving speed is less than a preset speed threshold, the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, the average lateral acceleration is less than a preset lateral acceleration threshold, the average driving force is greater than a preset driving force threshold, the average road slope is less than a preset road slope threshold, and the door action signal does not indicate a door opening action, then it is determined that the first driving data meets the load update triggering condition.

[0141] Furthermore, when the load determination module 320 determines the first vehicle load value corresponding to the target vehicle based on the second driving data within a second preset time step before the current time, the load determination module 320 is used to: The second driving data corresponding to a second preset time step prior to the current moment is obtained from the driving data; wherein, the second driving data includes at least the average target driving force and the average target acceleration; the second preset time step is less than the first preset time step; Based on the average target driving force and the average target acceleration, the first vehicle load value corresponding to the target vehicle is determined using Newton's laws.

[0142] Furthermore, when determining the second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters corresponding to the vehicle suspension set for the target vehicle, the load determination module 320 is used to: Based on the spring type corresponding to the vehicle suspension of the target vehicle, the spring characteristic parameters corresponding to each wheel of the vehicle suspension after the suspension height is adjusted while the vehicle is stationary are obtained; wherein, the spring type includes air springs and coil springs; The angular load value corresponding to each wheel of the target vehicle is determined by multiplying the spring characteristic parameters corresponding to each wheel under the spring type; The sum of the angular load values ​​is determined as the second vehicle load value corresponding to the target vehicle.

[0143] Furthermore, when the load determination module 320 obtains the spring characteristic parameters corresponding to each wheel of the vehicle suspension after the suspension height has been adjusted and the vehicle suspension is in place, based on the spring type corresponding to the vehicle suspension set for the target vehicle, the load determination module 320 is used to: When the spring type is the air spring, the first height coefficient and air spring pressure value corresponding to each wheel are obtained after the vehicle suspension is stationary and the suspension height is adjusted; When the spring type is the coil spring, obtain the second height coefficient and preset angular load value corresponding to each wheel after the vehicle suspension is stationary and the suspension height is adjusted.

[0144] Furthermore, when determining the target vehicle load value corresponding to the target vehicle based on stored historical vehicle load data, the first vehicle load value, and the second vehicle load value, the load correction module 330 is used to: Obtain stored historical vehicle load data, and determine in the historical vehicle load data at least one first historical vehicle load value corresponding to the first vehicle load value, a first update number corresponding to the first vehicle load value, at least one second historical vehicle load value corresponding to the second vehicle load value, and a second update number corresponding to the second vehicle load value; Based on the first vehicle load value, the first historical vehicle load value, and the first update count, a first corrected vehicle load value is determined, and based on the second vehicle load value, the second historical vehicle load value, and the second update count, a second corrected vehicle load value is determined. The average of the first corrected vehicle load value and the second corrected vehicle load value is determined as the target vehicle load value corresponding to the target vehicle.

[0145] Furthermore, when the load distribution module 340 is used to distribute the target vehicle load value to each wheel of the target vehicle based on the second driving data to determine the target angular load value corresponding to each wheel, the load distribution module 340 is used to: The average lateral acceleration and average longitudinal acceleration of the target vehicle are determined from the second driving data. Based on the target vehicle load value, the average lateral acceleration of the target vehicle, and the preset center of gravity height and wheelbase value of the target vehicle, the forward load transfer amount and the rear load transfer amount corresponding to the target vehicle are determined respectively. Based on the target vehicle load value, the target longitudinal acceleration average value, and the target vehicle's corresponding preset center of gravity height value and wheelbase value, the left load transfer amount and right load transfer amount corresponding to the target vehicle are determined respectively. Based on the target vehicle load value and the gravitational acceleration value corresponding to the location of the target vehicle, the front axle static load value and rear axle static load value corresponding to the target vehicle are determined respectively; Based on the forward load transfer amount, the rear load transfer amount, the left load transfer amount, the right load transfer amount, the front axle static load value, and the rear axle static load value, the target angular load value corresponding to each wheel is determined.

[0146] Furthermore, when the load distribution module 340 determines the target angular load value corresponding to each wheel based on the forward load transfer amount, the rearward load transfer amount, the leftward load transfer amount, the rightward load transfer amount, the front axle static load value, and the rear axle static load value, the load distribution module 340 is used to: Based on the front axle static load value, the forward load transfer amount, and the left load transfer amount, determine the first target angle load value corresponding to the left front wheel; Based on the front axle static load value, the forward load transfer amount, and the rightward load transfer amount, determine the second target angle load value corresponding to the right front wheel; Based on the rear axle static load value, the rearward load transfer amount, and the leftward load transfer amount, determine the third target angle load value corresponding to the left rear wheel; Based on the rear axle static load value, the rearward load transfer amount, and the rightward load transfer amount, the fourth target angle load value corresponding to the right rear wheel is determined.

[0147] Furthermore, such as Figure 4 As shown, the determining device 300 further includes a load update module 350, which is used for: In response to the target vehicle completing its current journey and triggering the switch of any door before starting its next journey, if the driving data collected in real time during the next journey of the target vehicle meets the load update triggering condition, the updated vehicle load value corresponding to the target vehicle and the updated angular load value corresponding to each wheel are determined based on the driving data and the spring characteristic parameters.

[0148] The vehicle load determination device provided in this application determines whether a vehicle meets the load update triggering condition based on real-time collected vehicle driving data. If the vehicle meets the load update triggering condition, the device determines the vehicle load value based on the vehicle driving data and the spring characteristic parameters corresponding to the vehicle suspension. The device then corrects the vehicle load value based on historical vehicle load data to determine the target vehicle load value. Subsequently, the target vehicle load value is allocated to each wheel of the vehicle based on the vehicle driving data to determine the target angular load value corresponding to each wheel. This device achieves accurate identification of vehicle load changes in scenarios where the doors are always closed, ensuring that the vehicle load does not change significantly during driving. This improves the accuracy and stability of determining the vehicle load, thereby enhancing the safety of vehicle driving.

[0149] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0150] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530. When the machine-readable instructions are executed by the processor 510, they can perform the operations described above. Figure 1 as well as Figure 2The steps of the method for determining vehicle load in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0151] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 as well as Figure 2 The steps of the method for determining vehicle load in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0152] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0153] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0154] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0155] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0156] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0157] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining vehicle load, characterized in that, The determination method includes: Real-time acquisition of driving data corresponding to the target vehicle, and determination of whether the first driving data corresponding to the driving data within a first preset time step before the current moment meets the preset load update trigger condition; If the first driving data satisfies the load update triggering condition, then based on the second driving data corresponding to the driving data within the second preset time step before the current moment, the first vehicle load value corresponding to the target vehicle is determined, and based on the spring characteristic parameters corresponding to the vehicle suspension set by the target vehicle, the second vehicle load value corresponding to the target vehicle is determined. Based on the stored historical vehicle load data, the first vehicle load value, and the second vehicle load value, the target vehicle load value corresponding to the target vehicle is determined. Based on the second driving data, the target vehicle load value is allocated to each wheel of the target vehicle to determine the target angular load value corresponding to each wheel.

2. The method according to claim 1, characterized in that, The step of determining whether the first driving data within a first preset time step prior to the current moment meets the preset load update trigger condition includes: The first driving data corresponding to a first preset time step before the current moment is obtained from the driving data; wherein, the first driving data includes at least the average driving speed, the average longitudinal acceleration, the average lateral acceleration, the average driving force, the average road slope, and the door action signal; Determine whether the average driving speed is less than a preset speed threshold, determine whether the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, determine whether the average lateral acceleration is less than a preset lateral acceleration threshold, determine whether the average driving force is greater than a preset driving force threshold, determine whether the average road slope is less than a preset road slope threshold, and determine whether the door action signal has not indicated a door opening action. If at least one of the following conditions is met: the average driving speed is greater than or equal to a preset speed threshold, the average longitudinal acceleration is less than or equal to a preset longitudinal acceleration threshold, the average lateral acceleration is greater than or equal to a preset lateral acceleration threshold, the average driving force is less than or equal to a preset driving force threshold, the average road slope is greater than or equal to a preset road slope threshold, and the door action signal indicates a door opening action, then it is determined that the first driving data does not meet the preset load update triggering conditions. If the average driving speed is less than a preset speed threshold, the average longitudinal acceleration is greater than a preset longitudinal acceleration threshold, the average lateral acceleration is less than a preset lateral acceleration threshold, the average driving force is greater than a preset driving force threshold, the average road slope is less than a preset road slope threshold, and the door action signal does not indicate a door opening action, then it is determined that the first driving data meets the load update triggering condition.

3. The method according to claim 1, characterized in that, The step of determining the first vehicle load value corresponding to the target vehicle based on the second driving data within a second preset time step prior to the current moment includes: The second driving data corresponding to a second preset time step prior to the current moment is obtained from the driving data; wherein, the second driving data includes at least the average target driving force and the average target acceleration; the second preset time step is less than the first preset time step; Based on the average target driving force and the average target acceleration, the first vehicle load value corresponding to the target vehicle is determined using Newton's laws.

4. The method according to claim 1, characterized in that, The determination of the second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters of the vehicle suspension set for the target vehicle includes: Based on the spring type corresponding to the vehicle suspension of the target vehicle, the spring characteristic parameters corresponding to each wheel of the vehicle suspension after the suspension height is adjusted while the vehicle is stationary are obtained; wherein, the spring type includes air springs and coil springs; The angular load value corresponding to each wheel of the target vehicle is determined by multiplying the spring characteristic parameters corresponding to each wheel under the spring type; The sum of the angular load values ​​is determined as the second vehicle load value corresponding to the target vehicle.

5. The method according to claim 4, characterized in that, The method of obtaining the spring characteristic parameters of each wheel after adjusting the suspension height and setting the vehicle suspension based on the spring type of the target vehicle includes: When the spring type is the air spring, the first height coefficient and air spring pressure value corresponding to each wheel are obtained after the vehicle suspension is stationary and the suspension height is adjusted; When the spring type is the coil spring, obtain the second height coefficient and preset angular load value corresponding to each wheel after the vehicle suspension is stationary and the suspension height is adjusted.

6. The method according to claim 1, characterized in that, The determination of the target vehicle load value corresponding to the target vehicle based on the stored historical vehicle load data, the first vehicle load value, and the second vehicle load value includes: Obtain stored historical vehicle load data, and determine in the historical vehicle load data at least one first historical vehicle load value corresponding to the first vehicle load value, a first update number corresponding to the first vehicle load value, at least one second historical vehicle load value corresponding to the second vehicle load value, and a second update number corresponding to the second vehicle load value; Based on the first vehicle load value, the first historical vehicle load value, and the first update count, a first corrected vehicle load value is determined, and based on the second vehicle load value, the second historical vehicle load value, and the second update count, a second corrected vehicle load value is determined. The average of the first corrected vehicle load value and the second corrected vehicle load value is determined as the target vehicle load value corresponding to the target vehicle.

7. The method according to claim 1, characterized in that, The step of allocating the target vehicle load value to each wheel of the target vehicle based on the second driving data, to determine the target angular load value corresponding to each wheel, includes: The average lateral acceleration and average longitudinal acceleration of the target vehicle are determined from the second driving data. Based on the target vehicle load value, the average lateral acceleration of the target vehicle, and the preset center of gravity height and wheelbase value of the target vehicle, the forward load transfer amount and the rear load transfer amount corresponding to the target vehicle are determined respectively. Based on the target vehicle load value, the target longitudinal acceleration average value, and the target vehicle's corresponding preset center of gravity height value and wheelbase value, the left load transfer amount and right load transfer amount corresponding to the target vehicle are determined respectively. Based on the target vehicle load value and the gravitational acceleration value corresponding to the location of the target vehicle, the front axle static load value and rear axle static load value corresponding to the target vehicle are determined respectively; Based on the forward load transfer amount, the rear load transfer amount, the left load transfer amount, the right load transfer amount, the front axle static load value, and the rear axle static load value, the target angular load value corresponding to each wheel is determined.

8. The method according to claim 7, characterized in that, The determination of the target angular load value for each wheel based on the forward load transfer amount, the rearward load transfer amount, the leftward load transfer amount, the rightward load transfer amount, the front axle static load value, and the rear axle static load value includes: Based on the front axle static load value, the forward load transfer amount, and the left load transfer amount, determine the first target angle load value corresponding to the left front wheel; Based on the front axle static load value, the forward load transfer amount, and the rightward load transfer amount, determine the second target angle load value corresponding to the right front wheel; Based on the rear axle static load value, the rearward load transfer amount, and the leftward load transfer amount, determine the third target angle load value corresponding to the left rear wheel; Based on the rear axle static load value, the rearward load transfer amount, and the rightward load transfer amount, the fourth target angle load value corresponding to the right rear wheel is determined.

9. The method according to claim 1, characterized in that, After determining the target angular load value, the determination method further includes: In response to the target vehicle completing its current journey and triggering the switch of any door before starting its next journey, if the driving data collected in real time during the next journey of the target vehicle meets the load update triggering condition, the updated vehicle load value corresponding to the target vehicle and the updated angular load value corresponding to each wheel are determined based on the driving data and the spring characteristic parameters.

10. A device for determining vehicle load, characterized in that, The determining device includes: The trigger judgment module is used to collect driving data corresponding to the target vehicle in real time and determine whether the first driving data corresponding to the driving data within a first preset time step before the current moment meets the preset load update trigger condition. The load determination module is used to determine the first vehicle load value corresponding to the target vehicle based on the second driving data corresponding to the driving data within a second preset time step before the current time if the first driving data meets the load update triggering condition, and to determine the second vehicle load value corresponding to the target vehicle based on the spring characteristic parameters corresponding to the vehicle suspension set by the target vehicle. The load correction module is used to determine the target vehicle load value corresponding to the target vehicle based on the stored historical vehicle load data, the first vehicle load value and the second vehicle load value; The load distribution module is used to distribute the target vehicle load value to each wheel of the target vehicle based on the second driving data, so as to determine the target angular load value corresponding to each wheel.

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