Vehicle mass estimation method, system and vehicle

Abstract

A vehicle mass estimation method, system, and vehicle are disclosed, comprising: determining the total mass of the vehicle based on ambient temperature and tire pressure when the vehicle is stationary and the open / closed states of the vehicle's doors and / or windows change. The vehicle mass estimation method provided in this disclosure can determine the total mass of the vehicle based on ambient temperature and tire pressure when the vehicle is stationary and the open / closed states of the vehicle's doors and / or windows change. At this time, temperature has a relatively small impact on mass estimation, resulting in a more accurate estimation. This method can more accurately estimate the total mass of the vehicle and can be integrated with intelligent driving to improve the accuracy and intelligence level of vehicle control.

Description

Technical Field

[0001] This disclosure relates to a vehicle mass estimation method, system, and vehicle. Background Technology

[0002] In related technologies, tire pressure / temperature data within a window of stable driving sections are double-calibrated based on a pre-calibrated temperature-pressure relationship curve and a camber-tire force distribution model to obtain equivalent calibrated tire pressure values ​​for each tire. The load weight is then output by querying a pre-calibrated load-pressure mapping table based on these equivalent calibrated tire pressure values. However, under conditions of significant temperature variations in tire pressure, compensation may fail to keep up. Summary of the Invention

[0003] This disclosure provides a vehicle mass estimation method, system, and vehicle to at least partially solve the above-mentioned problems.

[0004] This disclosure provides a method for estimating vehicle mass, including:

[0005] The total mass of the vehicle is determined based on the ambient temperature and tire pressure when the vehicle is stationary and the opening and closing status of the vehicle's doors and / or windows changes.

[0006] In some embodiments, the ambient temperature includes any one of the following: the ambient temperature at a first moment, the ambient temperature at a second moment, the average ambient temperature at the first moment and the second moment, and the average ambient temperature between the first moment and the second moment, wherein the first moment and the second moment are the start and end moments of the monitoring cycle for the opening and closing status of the vehicle door and / or window.

[0007] In some embodiments, the tire pressure of the wheel includes: the tire pressure at a first moment and the tire pressure at a second moment, wherein the first moment and the second moment are the start and end moments of the monitoring cycle for the opening and closing status of the vehicle door and / or window.

[0008] In some embodiments, the monitoring period is 10-60 seconds.

[0009] In some embodiments, the tire pressure is the average tire pressure of all wheels of the vehicle.

[0010] In some embodiments, determining the total mass of the vehicle based on ambient temperature and tire pressure includes: determining the current total mass based on the previously determined total mass of the vehicle and the load change, wherein the load change is determined based on the ambient temperature, the tire pressure at a first moment, and the tire pressure at a second moment.

[0011] In some embodiments, the current total mass is the sum of the previously determined total mass of the vehicle and the change in load.

[0012] In some embodiments, the initial value of the previously determined total mass of the vehicle is the current curb weight of the vehicle.

[0013] In some embodiments, the current curb weight is determined based on the ambient temperature and the tire pressure at a second time.

[0014] In some embodiments, the determination of the current curb weight based on the ambient temperature and the tire pressure at the second moment includes: the current curb weight being determined based on the ambient temperature, the tire pressure at the second moment, and corresponding data on tire pressure and vehicle weight at different temperatures.

[0015] In some embodiments, the load change is determined based on the ambient temperature, the tire pressure at the first moment, and the tire pressure at the second moment, including: the load capacity is determined based on the ambient temperature, the tire pressure at the first moment, the tire pressure at the second moment, and the mass tire pressure coefficient, wherein the mass tire pressure coefficient is a coefficient corresponding to the tire pressure and mass at different temperatures.

[0016] In some embodiments, the load change is the difference between the mass at the second moment and the mass at the first moment, the mass at the second moment is the product of the tire pressure at the second moment and the mass tire pressure coefficient, and the mass at the first moment is the product of the tire pressure at the first moment and the mass tire pressure coefficient.

[0017] In some embodiments, the load change is determined according to the following formula:

[0018] M 载重 =K*P2-K*P1;

[0019] Among them, M 载重 Let K be the load change, K be the mass tire pressure coefficient, P2 be the tire pressure at the second moment, and P1 be the tire pressure at the first moment.

[0020] In some embodiments, the estimation method further includes: updating the total mass of the vehicle if the tire pressure change rate of the wheels is greater than or equal to a first change rate during vehicle operation.

[0021] In some embodiments, updating the total mass of the vehicle includes determining the current total mass based on the total mass before the tire pressure change rate is greater than or equal to a first change rate and the load change.

[0022] In some embodiments, the current total mass is the sum of the total mass before the tire pressure change rate is greater than or equal to the first change rate and the load change.

[0023] In some embodiments, the load change is determined based on the ambient temperature, the tire pressure at a third time, and the tire pressure at a fourth time, wherein the third time and the fourth time are the times before and after the tire pressure change rate is greater than or equal to the first change rate.

[0024] In some embodiments, the load change determined based on ambient temperature, tire pressure at a third time, and tire pressure at a fourth time includes: the load change determined based on ambient temperature, tire pressure at a third time, tire pressure at a fourth time, and a mass tire pressure coefficient, wherein the mass tire pressure coefficient is a coefficient corresponding to tire pressure and mass at different temperatures.

[0025] In some embodiments, the load change is the difference between the mass at the fourth time and the mass at the third time, the mass at the fourth time is the product of the tire pressure at the fourth time and the mass tire pressure coefficient, and the mass at the third time is the product of the tire pressure at the third time and the mass tire pressure coefficient.

[0026] In some embodiments, the load change is determined according to the following formula:

[0027] M 载重 =K*P4-K*P3;

[0028] Among them, M 载重 The load change is K, the tire pressure coefficient is P4, the tire pressure at the fourth moment is P3, and the tire pressure at the third moment is P4.

[0029] In some embodiments, the total mass is adapted to determine the control parameters of the vehicle.

[0030] The vehicle mass estimation method provided in this disclosure can determine the total mass of a vehicle based on ambient temperature and tire pressure when the vehicle is stationary or when the opening and closing states of the vehicle doors and / or windows change. At this time, temperature has a relatively small impact on mass estimation, resulting in a more accurate estimate. This method can more accurately estimate the total mass of a vehicle and can be integrated with intelligent driving systems to improve the accuracy and intelligence level of vehicle control.

[0031] This disclosure also provides a vehicle weight estimation system, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0032] This disclosure also provides an electrical device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0033] This disclosure also provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of any of the methods described above.

[0034] This disclosure also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of any of the methods described above.

[0035] This disclosure also provides a vehicle that includes the vehicle mass estimation system described in any of the preceding claims.

[0036] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this disclosure. Those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0038] To gain a more complete understanding of this disclosure and its beneficial effects, the following description will be made in conjunction with the accompanying drawings, wherein the same reference numerals denote the same parts in the following description.

[0039] Figure 1 This is a flowchart illustrating a vehicle weight estimation method according to some embodiments;

[0040] Figure 2 This is a structural schematic diagram of a vehicle according to some embodiments;

[0041] Figure 3 This is a flowchart illustrating a vehicle weight estimation method according to some other embodiments;

[0042] Figure 4 This is a flowchart illustrating a vehicle weight estimation method according to some other embodiments. Detailed Implementation

[0043] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the protection scope of this disclosure.

[0044] In the description of this disclosure, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or relative positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Unless otherwise specified, the above-mentioned orientational descriptions can be flexibly set in practical applications, provided that the relative positional relationships shown in the accompanying drawings are satisfied.

[0045] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0046] Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0047] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "electrical connection," and "communication" should be interpreted broadly. For example, they can refer to fixed electrical connections, detachable electrical connections, or integral electrical connections. Connections can be direct or indirect through an intermediate medium, and can be internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0048] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in embodiments of this disclosure is not limited. Functions may be performed in the order shown or discussed, or may be performed substantially simultaneously or in reverse order depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0049] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0050] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0051] In some embodiments, such as Figure 1 As shown, this disclosure provides a method for estimating vehicle weight, including:

[0052] The total mass of the vehicle is determined based on the ambient temperature and tire pressure when the vehicle is stationary and the opening and closing status of the vehicle's doors and / or windows changes.

[0053] The vehicle mass estimation method provided in this disclosure can determine the total mass of a vehicle based on ambient temperature and tire pressure when the vehicle is stationary or when the opening and closing states of the vehicle doors and / or windows change. At this time, temperature has a relatively small impact on mass estimation, resulting in a more accurate estimate. This method can more accurately estimate the total mass of a vehicle and can be integrated with intelligent driving systems to improve the accuracy and intelligence level of vehicle control.

[0054] For vehicle tires, when stationary, their temperature is primarily affected by ambient temperature. Unlike tire pressure changes caused by tire friction with the ground during high-speed driving, the actual external temperature of the vehicle's environment has a relatively gradual impact on the temperature of the stationary tires. Therefore, determining the vehicle's total mass based on the ambient temperature and tire pressure can improve the accuracy of the estimate.

[0055] In some embodiments, such as Figure 2 As shown, a vehicle may include a system for real-time monitoring of road conditions. This system receives inputs from tire pressure sensors, wheel speed sensors, a hydraulic braking system, and a yaw rate sensor, including real-time tire pressure, tire temperature, wheel speed (assuming a vehicle has four wheels), hydraulic brake master cylinder pressure, and three-degree-of-freedom acceleration for each of the four wheels. The system outputs real-time vehicle weight, coefficient of friction, and slip ratio ground monitoring data, which can be cross-referenced with intelligent driving road recognition to finely classify the vehicle's road condition and input into the electronic stability control system as decision input for pre-activation functions.

[0056] In some embodiments, the ambient temperature includes any one of the following: the ambient temperature at a first moment, the ambient temperature at a second moment, the average ambient temperature at the first moment and the second moment, and the average ambient temperature between the first moment and the second moment, wherein the first moment and the second moment are the start and end moments of the door and / or window opening / closing status monitoring cycle.

[0057] In some embodiments, the solution disclosed herein can begin monitoring the opening and closing status of the doors and / or windows when the vehicle is powered on (e.g., when the controller is powered on), such as monitoring whether the doors and / or windows change from a closed state to an open state or vice versa. During this process, the total mass of the vehicle changes due to users getting in and out, loading and unloading items, etc. Therefore, the opening and closing status of the doors and / or windows can be monitored periodically to allow for timely and accurate estimation when the total mass of the vehicle changes, thereby improving the accuracy and safety of vehicle control, such as braking force control.

[0058] Meanwhile, periodic monitoring and estimation can reduce the impact of ambient temperature on vehicle tire temperature, as the temperature within the same cycle can be approximated as a single temperature value. This improves the accuracy of quality estimation results.

[0059] When determining the total mass based on ambient temperature, the ambient temperature can be the temperature at various suitable times, such as the start time or the end time. In this case, the total mass is determined by periodic estimation, and the ambient temperature changes relatively smoothly, which can be regarded as the ambient temperature at the start time and the end time being basically the same.

[0060] In some embodiments, the tire pressure of the wheel includes: the tire pressure at a first moment and the tire pressure at a second moment, wherein the first moment and the second moment are the start and end moments of the monitoring cycle for the opening and closing status of the vehicle door and / or window.

[0061] The total mass can be determined by the tire pressure at the start and end of the cycle, thus making the total mass determination simple and accurate.

[0062] In some embodiments, the monitoring period is 10-60 seconds.

[0063] The monitoring period can be any suitable time, such as 10-60 seconds. In some embodiments, the monitoring period can be 30 seconds, so that the opening and closing status changes of the doors and / or windows can be monitored in a timely manner, and the impact of temperature on the accuracy of quality estimation can be reduced.

[0064] In some embodiments, tire pressure is the average tire pressure of all wheels of the vehicle.

[0065] Tire pressure can be any suitable parameter, such as the tire pressure of each individual wheel, or the average tire pressure of all wheels (e.g., the average tire pressure of all four wheels of a vehicle), thus allowing for a more accurate determination of the total mass based on tire pressure.

[0066] In some embodiments, such as Figure 3 As shown, determining the total mass of a vehicle based on ambient temperature and tire pressure includes: determining the current total mass based on the previously determined total mass and the change in load. The change in load is determined based on ambient temperature, tire pressure at the first moment, and tire pressure at the second moment.

[0067] The total mass of a vehicle can be determined in various suitable ways based on ambient temperature and tire pressure. For example, the current total mass can be determined based on the previously determined total mass and the change in load. Alternatively, the current total mass can be the sum of the previously determined total mass and the change in load. In other words, the current total mass is the sum of the previous total mass and the change in load. This method is simple and accurate.

[0068] In some embodiments, the current total mass is the sum of the previously determined total mass of the vehicle and the change in load.

[0069] The current total mass can be determined in various suitable ways, such as by summing the previously determined total mass of the vehicle and the change in load. That is, the current total mass is obtained by adding the change in load to the previous total mass. This method is simple and accurate.

[0070] The change in load can be determined in various suitable ways, such as based on the ambient temperature, the tire pressure at the first moment, and the tire pressure at the second moment. That is, the change in load can be determined by temperature and tire pressure, and the solution is simple and easy to implement.

[0071] In some embodiments, the initial value of the previously determined total mass of the vehicle is the current curb weight of the vehicle.

[0072] The total mass of the vehicle determined in the previous estimation can be determined by its previous total mass and load changes. The initial value of the total mass of the vehicle determined in the previous estimation, i.e. the first estimation, can be based on the current curb weight of the vehicle. The first estimation can be the first estimation after the vehicle is powered on.

[0073] The current curb weight can include: the vehicle's curb weight when it leaves the factory, the weight after the user modifies the vehicle, and the weight of the vehicle and its unloaded items.

[0074] The current curb weight can be estimated based on the above scheme, starting from the current time.

[0075] In some embodiments, the current curb weight is determined based on the ambient temperature and the tire pressure at a second time.

[0076] The current curb weight can be determined in various suitable ways, such as based on ambient temperature and tire pressure at a second moment. That is, the current curb weight can be determined based on temperature and tire pressure, thereby accurately determining the current curb weight of the vehicle and improving the accuracy of the vehicle's total mass estimation.

[0077] In some embodiments, determining the current curb weight based on ambient temperature and tire pressure at a second time includes: determining the current curb weight based on ambient temperature, tire pressure at a second time, and corresponding data on tire pressure and vehicle weight at different temperatures.

[0078] The current curb weight can be determined in various suitable ways based on ambient temperature and tire pressure at a second moment. For example, it can be determined based on ambient temperature, tire pressure at a second moment, and corresponding data on tire pressure and vehicle weight at different temperatures.

[0079] The corresponding data for tire pressure and vehicle weight at different temperatures can be determined through various suitable methods, such as calibration through testing.

[0080] The corresponding data can be in various suitable forms, such as corresponding tables.

[0081] The corresponding data of tire pressure and vehicle weight at different temperatures, that is, the corresponding relationship between tire pressure and vehicle weight under various ambient temperatures, can be used to determine the current curb weight when determining the current curb weight. The corresponding data of tire pressure and vehicle weight can be determined based on the ambient temperature, and then the vehicle weight, that is, the current curb weight, can be determined based on the tire pressure.

[0082] In some embodiments, the load change is determined based on ambient temperature, tire pressure at a first moment, and tire pressure at a second moment, including: the load capacity is determined based on ambient temperature, tire pressure at a first moment, tire pressure at a second moment, and mass tire pressure coefficient, where mass tire pressure coefficient is the coefficient corresponding to tire pressure and mass at different temperatures.

[0083] The load change can be determined in various suitable ways based on the ambient temperature, the tire pressure at the first moment, and the tire pressure at the second moment. For example, it can be determined based on the ambient temperature, the tire pressure at the first moment, the tire pressure at the second moment, and the mass tire pressure coefficient. This method is simple and reliable.

[0084] The mass tire pressure coefficient can be the coefficient corresponding to tire pressure and mass at different temperatures, and it can be calibrated through various suitable methods such as testing.

[0085] When determining the load change, the mass at the first moment (e.g., the product of the tire pressure and the mass-to-weight tire pressure coefficient) and the mass at the second moment can be determined based on the ambient temperature, the tire pressure at the first moment, the tire pressure at the second moment, and the mass-to-weight tire pressure coefficient. Then, the load change can be determined based on the mass at the first moment and the mass at the second moment, for example, the difference between the mass at the second moment and the mass at the first moment. This makes it simple and convenient to determine the load change of the vehicle.

[0086] In some embodiments, the load change is the difference between the mass at the second moment and the mass at the first moment, the mass at the second moment is the product of the tire pressure at the second moment and the mass tire pressure coefficient, and the mass at the first moment is the product of the tire pressure at the first moment and the mass tire pressure coefficient.

[0087] The change in load can be determined in various suitable ways, such as by the difference between the mass at the second moment and the mass at the first moment, thus making it easy and accurate to determine the change in load between the first and second moments.

[0088] The tire pressure coefficient can be determined based on the ambient temperature. For example, the tire pressure coefficient at the first moment can be determined based on the ambient temperature at the first moment, and thus the mass at the first moment can be determined. Similarly, the tire pressure coefficient at the second moment can be determined based on the ambient temperature at the second moment, and thus the mass at the second moment can be determined.

[0089] By setting a reasonable monitoring cycle, the ambient temperature at the first moment can be basically the same as that at the second moment. At this time, the mass at the second moment and the mass at the first moment can also be determined by the same mass tire pressure coefficient. The solution is simple and reliable.

[0090] In some embodiments, the load change is determined according to the following formula:

[0091] M 载重 =K*P2-K*P1;

[0092] Among them, M 载重 Let P1 be the change in load, K be the mass tire pressure coefficient, P2 be the tire pressure at the second moment, and P1 be the tire pressure at the first moment.

[0093] The load variation can be determined in various suitable ways, such as by the formula mentioned above, which is a simple and reliable method.

[0094] In some embodiments, such as Figure 4 As shown, the estimation method also includes: if the tire pressure change rate of the wheels is greater than or equal to the first change rate during vehicle operation, then the total mass of the vehicle is updated.

[0095] If the tire pressure change rate of a vehicle is greater than or equal to the first change rate during vehicle operation, it indicates that an object has fallen from the vehicle, which will cause a change in the vehicle's total mass. At this time, the vehicle's total mass can be updated in time, thereby improving the accuracy of vehicle control, such as braking control.

[0096] The first rate of change can be any suitable value and can be determined through experimental calibration, etc., to characterize the change in the total mass of the vehicle.

[0097] During vehicle operation, tire pressure increases with rising temperature. Under normal conditions, such as without falling objects, tire pressure changes are relatively stable (e.g., the rate of change remains constant or is small). However, when events such as falling objects cause a change in the vehicle's total mass, the rate of change in tire pressure is relatively large, indicating a significant change in pressure. This can indicate the presence of falling objects and / or vehicle parts, allowing for timely updates to the vehicle's total mass and thus improving the accuracy and safety of vehicle control.

[0098] In some embodiments, when the tire pressure change rate of the wheel is greater than or equal to a first change rate, the vehicle can be controlled to issue a notification message to remind the user that the total mass of the vehicle has changed (e.g., an object has fallen).

[0099] In some embodiments, such as Figure 4 As shown, updating the vehicle's total mass includes: determining the current total mass based on the total mass before the tire pressure change rate is greater than or equal to the first change rate and the load change.

[0100] Updating the vehicle's gross vehicle weight (GVW) can be achieved in various suitable ways. For example, the current GVW can be determined based on the GVW before the tire pressure change rate reached or exceeded the first change rate, along with the load change. Alternatively, the current GVW can be the sum of the GVW before the tire pressure change rate reached or exceeded the first change rate and the load change. In other words, the current GVW is the GVW before the tire pressure change rate reached or exceeded the first change rate, plus the load change. This method is simple and accurate.

[0101] In some embodiments, the current total mass is the sum of the total mass before the tire pressure change rate is greater than or equal to the first change rate and the load change.

[0102] The current total mass can be determined in various suitable ways. For example, it can be the sum of the total mass before the tire pressure change rate is greater than or equal to the first change rate and the load change. That is, the current total mass is the total mass before the tire pressure change rate is greater than or equal to the first change rate plus the load change. This method is simple and accurate.

[0103] In some embodiments, the load change is determined based on the ambient temperature, the tire pressure at a third time, and the tire pressure at a fourth time, wherein the third time and the fourth time are the times before and after the tire pressure change rate is greater than or equal to the first change rate.

[0104] The change in load can be determined in various suitable ways, such as based on ambient temperature, tire pressure at the third moment, and tire pressure at the fourth moment. That is, the change in load can be determined by temperature and tire pressure, and the solution is simple and easy to implement.

[0105] In some embodiments, the load change determined based on ambient temperature, tire pressure at a third time, and tire pressure at a fourth time includes: the load change determined based on ambient temperature, tire pressure at a third time, tire pressure at a fourth time, and a mass tire pressure coefficient, wherein the mass tire pressure coefficient is a coefficient corresponding to tire pressure and mass at different temperatures.

[0106] The load change can be determined in various suitable ways based on the ambient temperature, the tire pressure at the third moment, and the tire pressure at the fourth moment. For example, it can be determined based on the ambient temperature, the tire pressure at the third moment, the tire pressure at the fourth moment, and the mass tire pressure coefficient. This method is simple and reliable.

[0107] The mass tire pressure coefficient can be the coefficient corresponding to tire pressure and mass at different temperatures, and it can be calibrated through various suitable methods such as testing.

[0108] When determining the load change, the mass at the third moment (e.g., the product of the tire pressure and the mass-to-volume tire pressure coefficient) and the mass at the fourth moment can be determined based on the ambient temperature, the tire pressure at the third moment, the tire pressure at the fourth moment, and the mass-to-volume tire pressure coefficient. Then, based on the mass at the third moment and the mass at the fourth moment, the load change can be determined as the difference between the mass at the fourth moment and the mass at the third moment. This makes it simple and convenient to determine the load change of the vehicle.

[0109] In some embodiments, the load change is the difference between the mass at the fourth time and the mass at the third time, the mass at the fourth time is the product of the tire pressure at the fourth time and the mass tire pressure coefficient, and the mass at the third time is the product of the tire pressure at the third time and the mass tire pressure coefficient.

[0110] The time intervals before and after the tire pressure change rate is greater than or equal to the first change rate are relatively short, and the ambient temperature can be considered to be basically unchanged. Based on the ambient temperature at which the tire pressure change rate is greater than or equal to the first change rate, the mass tire pressure coefficient at this time can be determined. Thus, the mass at the fourth time point and the mass at the third time point can be determined (using the same mass tire pressure coefficient), thereby allowing for a simple and accurate determination of the load change.

[0111] In some embodiments, the load change is determined according to the following formula:

[0112] M 载重 =K*P4-K*P3;

[0113] Among them, M 载重 Where is the change in load, K is the mass tire pressure coefficient, P4 is the tire pressure at the fourth moment, and P3 is the tire pressure at the third moment.

[0114] The load variation can be determined in various suitable ways, such as by the formula mentioned above, which is a simple and reliable method.

[0115] In some embodiments, the total mass is suitable for determining the control parameters of the vehicle.

[0116] The total mass estimate can be used as a control parameter for various vehicle controls, such as braking control and vehicle stability control, thereby providing more precise control.

[0117] In some embodiments, after estimating / updating the total mass, the current road friction coefficient, vertical load transferred longitudinally by the vehicle, longitudinal force under driving and braking conditions, slip ratio, rolling resistance, air resistance, etc., can be calculated according to various suitable methods such as various formulas, based on the vehicle's four-wheel wheel speed, hydraulic brake master cylinder pressure, three-degree-of-freedom acceleration, and data on the current vehicle's design center of gravity height, wheelbase, distance between the center of gravity and the front and rear wheelbases, and track width. This enables functions such as anti-lock braking control, traction control, and vehicle dynamic control.

[0118] The vehicle mass estimation method provided in this disclosure can determine the total mass of a vehicle based on ambient temperature and tire pressure when the vehicle is stationary or when the opening and closing states of the vehicle doors and / or windows change. At this time, temperature has a relatively small impact on mass estimation, resulting in a more accurate estimate. This method can more accurately estimate the total mass of a vehicle and can be integrated with intelligent driving systems to improve the accuracy and intelligence level of vehicle control.

[0119] This disclosure also provides a vehicle weight estimation system, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0120] This disclosure also provides an electrical device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0121] This disclosure also provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of any of the above methods.

[0122] This disclosure also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of any of the methods described above.

[0123] This disclosure also provides a vehicle that includes the vehicle mass estimation system described in any of the above.

[0124] It should be noted that the aforementioned electrical equipment can be any conventionally power-consuming equipment, such as, but not limited to, controllers, vehicles, skateboard chassis, ships, drones, mobile phones, computers, air conditioners, refrigerators, washing machines, microwave ovens, printers, fax machines, etc.

[0125] The embodiments of this disclosure have been described above with reference to the accompanying drawings. However, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this disclosure without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this disclosure.

Claims

1. A method for estimating vehicle weight, characterized in that, include: When the vehicle is stationary and the opening / closing status of the vehicle's doors and / or windows changes, the total mass of the vehicle is determined based on the ambient temperature and tire pressure.

2. The vehicle weight estimation method according to claim 1, characterized in that, The ambient temperature includes any one of the following: the ambient temperature at a first moment, the ambient temperature at a second moment, the average ambient temperature at the first moment and the second moment, and the average ambient temperature between the first moment and the second moment. And / or the tire pressure of the wheels includes: the tire pressure at a first moment and the tire pressure at a second moment, wherein the first moment and the second moment are the start and end moments of the monitoring cycle for the opening and closing status of the doors and / or windows; wherein the monitoring cycle is 10-60 seconds; and / or the tire pressure is the average tire pressure of all wheels of the vehicle.

3. The vehicle mass estimation method according to claim 2, characterized in that, The process of determining the vehicle's total mass based on ambient temperature and tire pressure includes: determining the current total mass based on the previously determined total mass and the load change, wherein the load change is determined based on the ambient temperature, the tire pressure at a first moment, and the tire pressure at a second moment; wherein the current total mass is the sum of the previously determined total mass and the load change; wherein the initial value of the previously determined total mass is the vehicle's current curb weight; and wherein the current curb weight is determined based on the ambient temperature and the tire pressure at the second moment.

4. The vehicle mass estimation method according to claim 3, characterized in that, The current curb weight is determined based on the ambient temperature and the tire pressure at the second moment, including: the current curb weight is determined based on the ambient temperature, the tire pressure at the second moment, and corresponding data on tire pressure and vehicle weight at different temperatures; and / or The load change is determined based on the ambient temperature, the tire pressure at the first moment, and the tire pressure at the second moment, including: the load capacity is determined based on the ambient temperature, the tire pressure at the first moment, the tire pressure at the second moment, and the mass tire pressure coefficient, where the mass tire pressure coefficient is a coefficient corresponding to tire pressure and mass at different temperatures; wherein, the load change is the difference between the mass at the second moment and the mass at the first moment, the mass at the second moment is the product of the tire pressure at the second moment and the mass tire pressure coefficient, and the mass at the first moment is the product of the tire pressure at the first moment and the mass tire pressure coefficient; wherein, the load change is determined according to the following formula: M 载重 =K*P2-K*P1; Among them, M 载重 Let K be the load change, K be the mass tire pressure coefficient, P2 be the tire pressure at the second moment, and P1 be the tire pressure at the first moment.

5. The vehicle weight estimation method according to claim 1, characterized in that, The estimation method further includes: if the tire pressure change rate of the wheels is greater than or equal to the first change rate during vehicle operation, then the total mass of the vehicle is updated.

6. The vehicle weight estimation method according to claim 5, characterized in that, The updated total mass of the vehicle includes: determining the current total mass based on the total mass before the tire pressure change rate is greater than or equal to the first change rate and the load change; wherein, the current total mass is the sum of the total mass before the tire pressure change rate is greater than or equal to the first change rate and the load change; wherein, the load change is determined based on the ambient temperature, the tire pressure at the third time, and the tire pressure at the fourth time, wherein the third time and the fourth time are the times before and after the tire pressure change rate is greater than or equal to the first change rate.

7. The vehicle mass estimation method according to claim 6, characterized in that, The load change amount, determined based on ambient temperature, tire pressure at the third time, and tire pressure at the fourth time, includes: the load change amount determined based on ambient temperature, tire pressure at the third time, tire pressure at the fourth time, and a mass tire pressure coefficient, where the mass tire pressure coefficient is a coefficient corresponding to tire pressure and mass at different temperatures; wherein, the load change amount is the difference between the mass at the fourth time and the mass at the third time, the mass at the fourth time is the product of the tire pressure at the fourth time and the mass tire pressure coefficient, and the mass at the third time is the product of the tire pressure at the third time and the mass tire pressure coefficient; wherein, the load change amount is determined according to the following formula: M 载重 =K*P4-K*P3; Among them, M 载重 The load change is K, the tire pressure coefficient is P4, the tire pressure at the fourth moment is P3, and the tire pressure at the third moment is P4.

8. The vehicle weight estimation method according to any one of claims 1-7, characterized in that, The total mass is suitable for determining the vehicle's control parameters.

9. A vehicle weight estimation system, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1-8.

10. A vehicle, characterized in that, include: The vehicle mass estimation system as described in claim 9.

Images