CN118144803A - Whole vehicle weight determining method and device, vehicle and storage medium - Google Patents
Whole vehicle weight determining method and device, vehicle and storage medium Download PDFInfo
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- CN118144803A CN118144803A CN202410476111.3A CN202410476111A CN118144803A CN 118144803 A CN118144803 A CN 118144803A CN 202410476111 A CN202410476111 A CN 202410476111A CN 118144803 A CN118144803 A CN 118144803A
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- 238000012423 maintenance Methods 0.000 abstract description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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Abstract
The invention discloses a method and a device for determining the weight of a whole vehicle, a vehicle and a storage medium, wherein the method comprises the following steps: in the running process of the target vehicle, the corresponding driving motor rotating speed, target torque, actual torque and whole vehicle speed of the target vehicle in a preset time period are obtained; determining an average power consumption value and an average resistance acting value of the driving motor in a preset time period according to the corresponding driving motor rotating speed and actual torque of the target vehicle in the preset time period; determining the kinetic energy of the whole vehicle corresponding to the target vehicle according to the average power consumption value and the average resistance acting value of the driving motor; and determining the predicted weight corresponding to the target vehicle according to the vehicle kinetic energy and the vehicle speed of the whole vehicle, and adjusting the predicted weight to obtain the target weight corresponding to the target vehicle. The technical scheme of the embodiment of the invention can improve the accuracy of the weight determination result of the whole vehicle and reduce the maintenance cost of the vehicle.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method and apparatus for determining a weight of a whole vehicle, a vehicle, and a storage medium.
Background
The weight of the whole vehicle of the electric drive transport vehicle has great influence on the control performance such as the braking distance, the acceleration response speed and the like of the whole vehicle, the weight of the whole vehicle is determined in the running process of the vehicle, and the control performance of the whole vehicle is improved by adjusting the braking strength and the like according to the weight of the whole vehicle.
In the prior art, for a transport vehicle, a common method for acquiring the weight of the whole vehicle is to install a resistance strain gauge on the vehicle to sense the weight of the whole vehicle or to sense the weight of the whole vehicle through tire pressure data acquired by a tire pressure sensor.
However, in the existing method for determining the weight of the whole vehicle, a sensor is usually required to be additionally installed on the vehicle, so that the maintenance cost of the vehicle is increased, and the accuracy of the determined weight result is lower.
Disclosure of Invention
The invention provides a method and a device for determining the weight of a whole vehicle, a vehicle and a storage medium, which can improve the accuracy of the weight determination result of the whole vehicle and reduce the maintenance cost of the vehicle.
According to an aspect of the present invention, there is provided a method for determining a weight of a whole vehicle, the method including:
In the running process of the target vehicle, the corresponding driving motor rotating speed, target torque, actual torque and whole vehicle speed of the target vehicle in a preset time period are obtained;
Determining an average power consumption value and an average resistance acting value of the driving motor in a preset time period according to the corresponding driving motor rotating speed and actual torque of the target vehicle in the preset time period;
Determining the kinetic energy of the whole vehicle corresponding to the target vehicle according to the average power consumption value and the average resistance acting value of the driving motor;
And determining the predicted weight corresponding to the target vehicle according to the vehicle kinetic energy and the vehicle speed of the whole vehicle, and adjusting the predicted weight to obtain the target weight corresponding to the target vehicle.
Optionally, determining an average power consumption value and an average resistance acting value of the driving motor in a preset duration according to the rotation speed and the actual torque of the driving motor corresponding to the target vehicle in the preset duration, including:
Judging whether the target vehicle runs at a constant speed;
If so, determining an average power consumption value and an average resistance acting value of the driving motor in a preset time period according to the corresponding driving motor rotating speed and actual torque of the target vehicle in the preset time period.
Optionally, determining whether the target vehicle runs at a constant speed includes:
obtaining a maximum value and a minimum value of a target torque corresponding to the driving motor and a maximum value and a minimum value of a rotating speed of the driving motor in a preset time period;
Judging whether the difference value between the maximum value of the target torque and the minimum value of the target torque is smaller than a first threshold value, and whether the difference value between the maximum value of the rotating speed and the minimum value of the rotating speed is smaller than a second threshold value;
if yes, the target vehicle is determined to run at a constant speed.
Optionally, determining the average power consumption value of the driving motor in the preset duration according to the driving motor rotation speed and the actual torque corresponding to the target vehicle in the preset duration includes:
Determining the power of a driving motor according to the corresponding driving motor rotating speed and actual torque of the target vehicle within a preset time period;
And determining the power consumption value of the driving motor in a preset time period according to the power of the driving motor, and determining the average power consumption value of the driving motor according to the power consumption value of the driving motor and the preset time period.
Optionally, determining the average resistance acting value in the preset time period according to the rotation speed of the driving motor and the actual torque corresponding to the target vehicle in the preset time period includes:
Determining a resistance acting value according to the corresponding driving motor rotating speed and actual torque of the target vehicle within a preset time period;
and determining an average resistance acting value according to the resistance acting value and the preset duration.
Optionally, adjusting the predicted weight to obtain a target weight corresponding to the target vehicle, including:
Acquiring reference vehicle information in the same running environment as the target vehicle;
The reference vehicle information comprises average power consumption values of the driving motors corresponding to the reference vehicle under different preset vehicle speeds and different preset weights;
determining a corresponding driving motor reference power consumption value of the target vehicle under different preset weights according to the current whole vehicle speed of the target vehicle and the reference vehicle information;
Determining a reference weight according to the average power consumption value of the driving motor corresponding to the target vehicle in a preset time period and the reference power consumption value of the driving motor;
And adjusting the predicted weight by using the reference weight to obtain the target weight corresponding to the target vehicle.
Optionally, the adjusting the predicted weight by using the reference weight to obtain a target weight corresponding to the target vehicle includes:
acquiring a weight difference value between the reference weight and the predicted weight, and judging whether the weight difference value is smaller than a preset difference value or not;
if so, acquiring an average value of the reference weight and the predicted weight, and taking the average value as a target weight corresponding to the target vehicle.
According to another aspect of the present invention, there is provided a vehicle weight determining apparatus, the apparatus including:
The data acquisition module is used for acquiring the corresponding driving motor rotating speed, target torque, actual torque and whole vehicle speed of the target vehicle within a preset time period in the running process of the target vehicle;
The data processing module is used for determining an average power consumption value and an average resistance acting value of the driving motor in the preset time according to the corresponding driving motor rotating speed and the actual torque of the target vehicle in the preset time;
The kinetic energy determining module is used for determining the kinetic energy of the whole vehicle corresponding to the target vehicle according to the average power consumption value and the average resistance acting value of the driving motor;
And the weight determining module is used for determining the predicted weight corresponding to the target vehicle according to the whole vehicle kinetic energy and the whole vehicle speed, and adjusting the predicted weight to obtain the target weight corresponding to the target vehicle.
According to another aspect of the present invention, there is provided a vehicle including:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the vehicle weight determination method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the method for determining the weight of the whole vehicle according to any embodiment of the present invention.
According to the technical scheme provided by the embodiment of the invention, the rotation speed, the target torque, the actual torque and the whole vehicle speed of the driving motor corresponding to the target vehicle in the preset time period are obtained in the running process of the target vehicle, the average power consumption value and the average resistance acting value of the driving motor in the preset time period are determined according to the rotation speed and the actual torque of the driving motor corresponding to the target vehicle in the preset time period, the whole vehicle kinetic energy corresponding to the target vehicle is determined according to the average power consumption value and the average resistance acting value of the driving motor, the predicted weight corresponding to the target vehicle is determined according to the whole vehicle kinetic energy and the whole vehicle speed, and the predicted weight is adjusted to obtain the technical means of the target weight corresponding to the target vehicle, so that the accuracy of the whole vehicle weight determination result can be improved, and the vehicle maintenance cost is reduced.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for determining the weight of a whole vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another vehicle weight determination method provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle weight determining device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle implementing the whole vehicle weight determining method according to the embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a method for determining a weight of a whole vehicle according to an embodiment of the present invention, where the method may be performed by a whole vehicle weight determining device, and the whole vehicle weight determining device may be implemented in hardware and/or software, and the whole vehicle weight determining device may be configured in a vehicle. As shown in fig. 1, the method includes:
step 110, acquiring the corresponding driving motor rotation speed, target torque, actual torque and whole vehicle speed of the target vehicle in a preset time period in the running process of the target vehicle.
In this embodiment, the target vehicle may be a transport vehicle waiting for determining the weight of the whole vehicle, and optionally, during the running process of the target vehicle, the rotation speed of the driving motor, the target torque, the actual torque and the speed of the whole vehicle within a preset period of time may be obtained through an instrument panel in the target vehicle.
And 120, determining an average power consumption value and an average resistance acting value of the driving motor in a preset time period according to the corresponding driving motor rotating speed and actual torque of the target vehicle in the preset time period.
In this step, optionally, after the rotation speed and the actual torque of the driving motor corresponding to the target vehicle within the preset duration are obtained, linear or nonlinear operation may be performed on the rotation speed and the actual torque of the driving motor, so as to obtain an average power consumption value of the driving motor within the preset duration and an average acting value of the corresponding resistance of the target vehicle.
And 130, determining the kinetic energy of the whole vehicle corresponding to the target vehicle according to the average power consumption value and the average resistance acting value of the driving motor.
In one implementation manner of this embodiment, after determining the average power consumption value and the average resistance acting value of the driving motor through the above steps, the kinetic energy of the whole vehicle corresponding to the target vehicle may be determined through the average power consumption value and the average resistance acting value of the driving motor.
Specifically, assuming that the average power consumption value of the driving motor is W and the average acting value of the resistance is W f, the kinetic energy E k of the whole vehicle corresponding to the target vehicle can be determined by the following formula:
Ek＝W-Wf
In another implementation manner of this embodiment, in order to improve accuracy of the determination result of the kinetic energy of the whole vehicle, after determining the average power consumption value and the average power application value of the resistance of the driving motor through the above steps, the average power consumption value of the target electric device in the target vehicle may be further obtained, and then the kinetic energy of the whole vehicle is determined according to the average power consumption value, the average power application value of the resistance of the driving motor and the average power consumption value of the target electric device. Specifically, the target electric equipment comprises an air conditioner, a water pump and the like on the target vehicle.
And 140, determining the predicted weight corresponding to the target vehicle according to the vehicle kinetic energy and the vehicle speed of the whole vehicle, and adjusting the predicted weight to obtain the target weight corresponding to the target vehicle.
In this step, specifically, after the vehicle kinetic energy E k corresponding to the target vehicle is obtained, assuming that the vehicle speed of the vehicle is v, the predicted weight m i of the target vehicle may be determined by the following formula:
mi＝2·Ek/v2
In this embodiment, optionally, after determining the predicted weight in the above manner, the predicted weight may be adjusted according to the association relationship between the different vehicle running data and the actual vehicle weight, so as to obtain the final vehicle weight (i.e., the target weight) corresponding to the target vehicle. The target weight comprises the dead weight and the load of the whole vehicle of the target vehicle.
According to the technical scheme provided by the embodiment of the invention, the rotation speed, the target torque, the actual torque and the whole vehicle speed of the driving motor corresponding to the target vehicle in the preset time period are obtained in the running process of the target vehicle, the average power consumption value and the average resistance acting value of the driving motor in the preset time period are determined according to the rotation speed and the actual torque of the driving motor corresponding to the target vehicle in the preset time period, the whole vehicle kinetic energy corresponding to the target vehicle is determined according to the average power consumption value and the average resistance acting value of the driving motor, the predicted weight corresponding to the target vehicle is determined according to the whole vehicle kinetic energy and the whole vehicle speed, and the predicted weight is adjusted to obtain the technical means of the target weight corresponding to the target vehicle, so that the accuracy of the whole vehicle weight determining result can be improved, and the technical difficulty of the whole vehicle weight determining process is reduced; secondly, the technical scheme of the embodiment does not need to additionally install a sensor on the vehicle, so that the maintenance cost of the vehicle can be reduced.
Fig. 2 is a flowchart of another method for determining the weight of a whole vehicle according to an embodiment of the present invention, as shown in fig. 2, where the method includes:
Step 210, acquiring a driving motor rotating speed, a target torque, an actual torque and a whole vehicle speed corresponding to the target vehicle in a preset time period in the running process of the target vehicle.
Step 220, it is determined whether the target vehicle is traveling at a constant speed, if so, step 230 is executed, and if not, step 210 is executed again.
In this embodiment, after the rotation speed, the target torque, the actual torque and the vehicle speed of the driving motor corresponding to the target vehicle in the preset time period are obtained, whether the target vehicle runs at a constant speed can be judged, if yes, the average power consumption value and the average resistance acting value of the driving motor are continuously determined; if not, the method returns to step 210 to continue to acquire the data until the target vehicle is determined to travel at a constant speed.
In one implementation of the present embodiment, determining whether the target vehicle is traveling at a constant speed includes: obtaining a maximum value and a minimum value of a target torque corresponding to the driving motor and a maximum value and a minimum value of a rotating speed of the driving motor in a preset time period; judging whether the difference value between the maximum value of the target torque and the minimum value of the target torque is smaller than a first threshold value, and whether the difference value between the maximum value of the rotating speed and the minimum value of the rotating speed is smaller than a second threshold value; if yes, the target vehicle is determined to run at a constant speed.
Step 230, determining an average power consumption value and an average resistance acting value of the driving motor in a preset time period according to the corresponding driving motor rotating speed and actual torque of the target vehicle in the preset time period.
In one implementation manner of the embodiment, determining, according to the rotation speed of the driving motor and the actual torque of the target vehicle corresponding to the preset time period, the average power consumption value of the driving motor within the preset time period includes: determining the power of a driving motor according to the corresponding driving motor rotating speed and actual torque of the target vehicle within a preset time period; and determining the power consumption value of the driving motor in a preset time period according to the power of the driving motor, and determining the average power consumption value of the driving motor according to the power consumption value of the driving motor and the preset time period.
In a specific embodiment, the average power consumption value W of the driving motor may be determined by the following formula:
wherein T is the actual torque of the driving motor, n is the rotating speed of the driving motor, and Deltat is the preset time length.
In one implementation manner of this embodiment, determining the average resistance acting value in the preset time period according to the rotation speed of the driving motor and the actual torque corresponding to the target vehicle in the preset time period includes: determining a resistance acting value according to the corresponding driving motor rotating speed and actual torque of the target vehicle within a preset time period; and determining an average resistance acting value according to the resistance acting value and the preset duration.
In a specific embodiment, the average resistive work value W f may be determined by the following equation:
wherein T is the actual torque of the driving motor, n is the rotating speed of the driving motor, deltat is the preset duration, mu is the preset resistance coefficient, mu value can be adjusted according to the gear of the gear box, and mu values corresponding to different gear positions of the gear box are different.
And 240, determining the kinetic energy of the whole vehicle corresponding to the target vehicle according to the average power consumption value and the average resistance acting value of the driving motor.
And 250, determining the predicted weight corresponding to the target vehicle according to the whole vehicle kinetic energy and the whole vehicle speed.
Step 260, obtaining reference vehicle information in the same running environment as the target vehicle, where the reference vehicle information includes average power consumption values of the driving motors corresponding to the reference vehicle at different preset speeds and different preset weights.
In a specific embodiment, reference vehicle information corresponding to the same electric equipment and the same driving gear as those of the target vehicle can be obtained, wherein the reference vehicle information can comprise a driving motor average power consumption value W 00 corresponding to the reference vehicle under the condition of vehicle speed v 0 and vehicle weight m 0; the average power consumption value W 01 of the corresponding driving motor under the whole vehicle weight m 1 is calculated by referring to the vehicle at the speed v 0; the average power consumption value W 10 of the corresponding driving motor under the whole vehicle weight m 0 is calculated by referring to the vehicle at the speed v 1; the average power consumption value W 11 of the corresponding driving motor under the whole vehicle weight m 1 is calculated by referring to the vehicle at the speed v 1.
Step 270, determining a reference power consumption value of the driving motor corresponding to the target vehicle under different preset weights according to the current vehicle speed of the target vehicle and the reference vehicle information.
In this step, the current vehicle speed v x of the target vehicle may be obtained, and then, according to the mapping relationship between the different vehicle speeds, the vehicle weights and the average power consumption values of the driving motors in the reference vehicle information, the reference power consumption values W x0 and W x1 of the driving motors of the target vehicle corresponding to the preset weights m 0 and m 1 respectively under the current vehicle speed of the target vehicle are determined.
And 280, determining a reference weight according to the average power consumption value of the driving motor and the reference power consumption value of the driving motor corresponding to the target vehicle in the preset time period, and adjusting the predicted weight by using the reference weight to obtain the target weight corresponding to the target vehicle.
In this step, the above-mentioned driving motor reference power consumption value W x0、Wx1 may be used to perform linear difference calculation with the driving motor average power consumption value W x corresponding to the target vehicle within the preset time period to obtain a reference weight m ref, and then the reference weight m ref is used to adjust the predicted weight m i to obtain the target weight.
In one implementation manner of the present embodiment, the adjusting the predicted weight by using the reference weight to obtain the target weight corresponding to the target vehicle includes: acquiring a weight difference value between the reference weight m ref and the predicted weight m i, and judging whether the weight difference value is smaller than a preset difference value or not; if so, an average value of the reference weight m ref and the predicted weight m i is obtained, and the average value is taken as a target weight corresponding to the target vehicle.
According to the technical scheme provided by the embodiment of the invention, the rotation speed, the target torque, the actual torque and the whole vehicle speed of the driving motor corresponding to the target vehicle in the preset time period are obtained in the running process of the target vehicle, whether the target vehicle runs at a constant speed is judged, if so, the average power consumption value and the average resistance acting value of the driving motor are determined according to the rotation speed and the actual torque of the driving motor, the whole vehicle kinetic energy corresponding to the target vehicle is determined, the predicted weight is determined according to the whole vehicle kinetic energy and the whole vehicle speed, the reference vehicle information in the same running environment with the target vehicle is obtained, the reference power consumption value of the driving motor corresponding to the target vehicle under different preset weights is determined according to the current whole vehicle speed and the reference vehicle information of the target vehicle, the reference weight is determined according to the average power consumption value of the driving motor corresponding to the target vehicle in the preset time period and the reference power consumption value of the driving motor, and the reference weight is adjusted by using the reference weight to obtain the technical means of the target weight corresponding to the target vehicle, the accuracy of the whole vehicle weight determination result can be improved, and the vehicle maintenance cost is reduced.
Fig. 3 is a schematic structural diagram of a device for determining the weight of a whole vehicle according to an embodiment of the present invention, where the device is applied to a vehicle, as shown in fig. 3, and the device includes: a data acquisition module 310, a data processing module 320, a kinetic energy determination module 330, and a weight determination module 340.
The data acquisition module 310 is configured to acquire a driving motor rotation speed, a target torque, an actual torque and a vehicle speed of the whole vehicle, which correspond to the target vehicle within a preset duration, during a running process of the target vehicle;
The data processing module 320 is configured to determine an average power consumption value and an average resistance acting value of the driving motor within a preset duration according to a rotational speed and an actual torque of the driving motor corresponding to the target vehicle within the preset duration;
The kinetic energy determining module 330 is configured to determine the kinetic energy of the whole vehicle corresponding to the target vehicle according to the average power consumption value and the average resistance acting value of the driving motor;
the weight determining module 340 is configured to determine a predicted weight corresponding to the target vehicle according to the kinetic energy of the whole vehicle and the speed of the whole vehicle, and adjust the predicted weight to obtain a target weight corresponding to the target vehicle.
According to the technical scheme provided by the embodiment of the invention, the rotation speed, the target torque, the actual torque and the whole vehicle speed of the driving motor corresponding to the target vehicle in the preset time period are obtained in the running process of the target vehicle, the average power consumption value and the average resistance acting value of the driving motor in the preset time period are determined according to the rotation speed and the actual torque of the driving motor corresponding to the target vehicle in the preset time period, the whole vehicle kinetic energy corresponding to the target vehicle is determined according to the average power consumption value and the average resistance acting value of the driving motor, the predicted weight corresponding to the target vehicle is determined according to the whole vehicle kinetic energy and the whole vehicle speed, and the predicted weight is adjusted to obtain the technical means of the target weight corresponding to the target vehicle, so that the accuracy of the whole vehicle weight determination result can be improved, and the vehicle maintenance cost is reduced.
On the basis of the above embodiment, the data processing module 320 includes:
The uniform speed judging unit is used for judging whether the target vehicle runs at a uniform speed; if so, determining an average power consumption value and an average resistance acting value of the driving motor in a preset time period according to the corresponding driving motor rotating speed and actual torque of the target vehicle in the preset time period;
The maximum value acquisition unit is used for acquiring a maximum value and a minimum value of the target torque corresponding to the driving motor and a maximum value and a minimum value of the rotating speed of the driving motor in a preset time period;
A maximum value judging unit for judging whether the difference between the maximum value of the target torque and the minimum value of the target torque is smaller than a first threshold value, and whether the difference between the maximum value of the rotational speed and the minimum value of the rotational speed is smaller than a second threshold value; if yes, determining that the target vehicle runs at a constant speed;
The power determining unit is used for determining the power of the driving motor according to the corresponding driving motor rotating speed and the actual torque of the target vehicle in the preset time period;
The average power consumption determining unit is used for determining a power consumption value of the driving motor in a preset time period according to the power of the driving motor and determining an average power consumption value of the driving motor according to the power consumption value of the driving motor and the preset time period;
the resistance acting determining unit is used for determining a resistance acting value according to the rotating speed of the driving motor and the actual torque corresponding to the target vehicle in the preset time period;
And the average acting unit is used for determining the average acting value of the resistance according to the acting value of the resistance and the preset duration.
The weight determination module 340 includes:
A reference information acquisition unit configured to acquire reference vehicle information in the same running environment as the target vehicle; the reference vehicle information comprises average power consumption values of the driving motors corresponding to the reference vehicle under different preset vehicle speeds and different preset weights;
The reference power consumption determining unit is used for determining a corresponding driving motor reference power consumption value of the target vehicle under different preset weights according to the current whole vehicle speed of the target vehicle and the reference vehicle information;
the reference weight determining unit is used for determining a reference weight according to the average power consumption value of the driving motor corresponding to the target vehicle in the preset time period and the reference power consumption value of the driving motor;
The weight adjusting unit is used for adjusting the predicted weight by using the reference weight to obtain a target weight corresponding to a target vehicle;
a weight difference judging unit, configured to obtain a weight difference between the reference weight and the predicted weight, and judge whether the weight difference is smaller than a preset difference;
and the average value obtaining unit is used for obtaining the average value of the reference weight and the predicted weight when the weight difference value between the reference weight and the predicted weight is smaller than the preset difference value, and taking the average value as the target weight corresponding to the target vehicle.
The device can execute the method provided by all the embodiments of the invention, and has the corresponding functional modules and beneficial effects of executing the method. Technical details not described in detail in the embodiments of the present invention can be found in the methods provided in all the foregoing embodiments of the present invention.
Fig. 4 shows a schematic structural diagram of a vehicle 10 that may be used to implement an embodiment of the present invention. As shown in fig. 4, the vehicle 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the vehicle 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunications networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the whole vehicle weight determination method.
In some embodiments, the vehicle weight determination method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the vehicle 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the above-described vehicle weight determination method may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle weight determination method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or a trackball) by which a user can provide input to the vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The method for determining the weight of the whole vehicle is characterized by comprising the following steps of:
In the running process of the target vehicle, the corresponding driving motor rotating speed, target torque, actual torque and whole vehicle speed of the target vehicle in a preset time period are obtained;
Determining an average power consumption value and an average resistance acting value of the driving motor in a preset time period according to the corresponding driving motor rotating speed and actual torque of the target vehicle in the preset time period;
Determining the kinetic energy of the whole vehicle corresponding to the target vehicle according to the average power consumption value and the average resistance acting value of the driving motor;
And determining the predicted weight corresponding to the target vehicle according to the vehicle kinetic energy and the vehicle speed of the whole vehicle, and adjusting the predicted weight to obtain the target weight corresponding to the target vehicle.
2. The method of claim 1, wherein determining the average power consumption value and the average work resistance value of the driving motor for the preset time period according to the corresponding driving motor rotation speed and the actual torque of the target vehicle for the preset time period comprises:
Judging whether the target vehicle runs at a constant speed;
If so, determining an average power consumption value and an average resistance acting value of the driving motor in a preset time period according to the corresponding driving motor rotating speed and actual torque of the target vehicle in the preset time period.
3. The method of claim 2, wherein determining whether the target vehicle is traveling at a constant speed comprises:
obtaining a maximum value and a minimum value of a target torque corresponding to the driving motor and a maximum value and a minimum value of a rotating speed of the driving motor in a preset time period;
Judging whether the difference value between the maximum value of the target torque and the minimum value of the target torque is smaller than a first threshold value, and whether the difference value between the maximum value of the rotating speed and the minimum value of the rotating speed is smaller than a second threshold value;
if yes, the target vehicle is determined to run at a constant speed.
4. The method of claim 1, wherein determining the average power consumption value of the driving motor for the preset time period based on the driving motor rotation speed and the actual torque corresponding to the target vehicle for the preset time period comprises:
Determining the power of a driving motor according to the corresponding driving motor rotating speed and actual torque of the target vehicle within a preset time period;
And determining the power consumption value of the driving motor in a preset time period according to the power of the driving motor, and determining the average power consumption value of the driving motor according to the power consumption value of the driving motor and the preset time period.
5. The method of claim 1, wherein determining the average resistive work value for the preset duration based on the corresponding rotational speed of the drive motor and the actual torque of the target vehicle for the preset duration comprises:
Determining a resistance acting value according to the corresponding driving motor rotating speed and actual torque of the target vehicle within a preset time period;
and determining an average resistance acting value according to the resistance acting value and the preset duration.
6. The method of claim 1, wherein adjusting the predicted weight to obtain a target weight for a target vehicle comprises:
Acquiring reference vehicle information in the same running environment as the target vehicle;
The reference vehicle information comprises average power consumption values of the driving motors corresponding to the reference vehicle under different preset vehicle speeds and different preset weights;
determining a corresponding driving motor reference power consumption value of the target vehicle under different preset weights according to the current whole vehicle speed of the target vehicle and the reference vehicle information;
Determining a reference weight according to the average power consumption value of the driving motor corresponding to the target vehicle in a preset time period and the reference power consumption value of the driving motor;
And adjusting the predicted weight by using the reference weight to obtain the target weight corresponding to the target vehicle.
7. The method of claim 6, wherein adjusting the predicted weight using the reference weight to obtain a target weight for a target vehicle comprises:
acquiring a weight difference value between the reference weight and the predicted weight, and judging whether the weight difference value is smaller than a preset difference value or not;
if so, acquiring an average value of the reference weight and the predicted weight, and taking the average value as a target weight corresponding to the target vehicle.
8. A vehicle weight determination apparatus, the apparatus comprising:
The data acquisition module is used for acquiring the corresponding driving motor rotating speed, target torque, actual torque and whole vehicle speed of the target vehicle within a preset time period in the running process of the target vehicle;
The data processing module is used for determining an average power consumption value and an average resistance acting value of the driving motor in the preset time according to the corresponding driving motor rotating speed and the actual torque of the target vehicle in the preset time;
The kinetic energy determining module is used for determining the kinetic energy of the whole vehicle corresponding to the target vehicle according to the average power consumption value and the average resistance acting value of the driving motor;
And the weight determining module is used for determining the predicted weight corresponding to the target vehicle according to the whole vehicle kinetic energy and the whole vehicle speed, and adjusting the predicted weight to obtain the target weight corresponding to the target vehicle.
9. A vehicle, characterized in that the vehicle comprises:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle weight determination method of any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the vehicle weight determination method of any one of claims 1-7 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410476111.3A CN118144803A (en) | 2024-04-19 | 2024-04-19 | Whole vehicle weight determining method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410476111.3A CN118144803A (en) | 2024-04-19 | 2024-04-19 | Whole vehicle weight determining method and device, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118144803A true CN118144803A (en) | 2024-06-07 |
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|---|---|---|---|
| CN202410476111.3A Pending CN118144803A (en) | 2024-04-19 | 2024-04-19 | Whole vehicle weight determining method and device, vehicle and storage medium |
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| Country | Link |
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| CN (1) | CN118144803A (en) |
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2024
- 2024-04-19 CN CN202410476111.3A patent/CN118144803A/en active Pending
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