CN111497858B - Vehicle weight estimation method and system - Google Patents
Vehicle weight estimation method and system Download PDFInfo
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- CN111497858B CN111497858B CN202010407960.5A CN202010407960A CN111497858B CN 111497858 B CN111497858 B CN 111497858B CN 202010407960 A CN202010407960 A CN 202010407960A CN 111497858 B CN111497858 B CN 111497858B
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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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
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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Abstract
本发明提供了一种车辆重量估算方法及系统，属于车辆领域。该方法包括：通过六轴传感器采集车辆的纵向加速度、侧向加速度和垂向加速度；采集车辆分别处于匀速状态和加速状态时的驱动扭矩和车速；根据车辆处于匀速状态时的驱动扭矩和车速计算第一驱动力；根据车辆在坡度固定的道路行驶且处于加速状态时的驱动扭矩和车速计算第二驱动力，同时计算风阻增量；根据第一驱动力、第二驱动力和风阻增量计算车辆处于加速状态时的外力合力；根据纵向加速度、侧向加速度、垂向加速度和车辆处于加速状态时的外力合力计算车辆的纵向分力；根据纵向分力和纵向加速度估算车辆的质量。本发明的车辆重量估算方法受限条件少并且能够保证所估算的车辆重量的准确性。
The invention provides a vehicle weight estimation method and system, which belong to the field of vehicles. The method includes: collecting the longitudinal acceleration, lateral acceleration and vertical acceleration of the vehicle through a six-axis sensor; collecting the driving torque and vehicle speed when the vehicle is in a uniform speed state and an accelerating state respectively; calculating according to the driving torque and the vehicle speed when the vehicle is in a uniform speed state The first driving force; the second driving force is calculated according to the driving torque and the vehicle speed when the vehicle is driving on a road with a fixed gradient and in an accelerating state, and the wind resistance increment is calculated at the same time; calculation is based on the first driving force, the second driving force and the wind resistance increment The resultant force of the external force when the vehicle is in the acceleration state; the longitudinal component force of the vehicle is calculated according to the longitudinal acceleration, lateral acceleration, vertical acceleration and the resultant force of the external force when the vehicle is in the acceleration state; the mass of the vehicle is estimated according to the longitudinal component force and the longitudinal acceleration. The vehicle weight estimation method of the present invention has few restrictions and can ensure the accuracy of the estimated vehicle weight.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a vehicle weight estimation method and a vehicle weight estimation system.
Background
The change range of the weight of the loaded vehicle along with the loaded mass is large, the weight of the loaded vehicle is a key parameter influencing the performance of the vehicle, the control functions of vehicle acceleration, braking, energy management and the like are influenced, and if the real-time vehicle weight is accurately estimated, the estimated mass can be utilized, and the performance of the vehicle is improved.
In the existing quality estimation scheme, the acceleration of the vehicle is estimated by utilizing the speed of the vehicle so as to estimate the weight, and the precision cannot be ensured; the weighing system has the advantages that the weighing system is specially used for weighing, the weight is calculated according to the suspension stiffness through the deformation of the vehicle suspension system, the cost is high, and the limitation is large.
Disclosure of Invention
An object of the first aspect of the invention is to provide a vehicle weight estimation method that is less subject to restrictions and that can ensure the accuracy of the estimated vehicle weight.
It is another object of the invention to provide stability of the estimated weight.
It is an object of the second aspect of the invention to provide a vehicle weight estimation system capable of ensuring the accuracy of the estimated vehicle weight.
In particular, the present invention provides a vehicle weight estimation method comprising:
acquiring longitudinal acceleration, lateral acceleration and vertical acceleration of the vehicle through a six-axis sensor;
collecting the driving torque and the vehicle speed when the vehicle is in a constant speed state and an acceleration state respectively;
calculating a first driving force according to the driving torque and the vehicle speed when the vehicle is in a constant speed state;
calculating a second driving force according to the driving torque and the vehicle speed when the vehicle runs on a road with a fixed gradient and is in an acceleration state, and meanwhile, calculating the wind resistance increment according to a vehicle dynamics formula;
calculating the resultant force of external force when the vehicle is in an acceleration state according to the first driving force, the second driving force and the wind resistance increment;
calculating a longitudinal component of the vehicle according to the longitudinal acceleration, the lateral acceleration, the vertical acceleration and an external resultant force when the vehicle is in an acceleration state;
estimating the mass of the vehicle from the longitudinal force component and the longitudinal acceleration.
Optionally, before the step of calculating the longitudinal component of the vehicle according to the longitudinal acceleration, the lateral acceleration, the vertical acceleration, and the resultant force of the external force when the vehicle is in an acceleration state, the method further includes:
acquiring a first angular acceleration of the vehicle around a longitudinal axis, a second angular acceleration around a transverse axis and a third angular acceleration around a vertical axis through the six-axis sensor;
and filtering the longitudinal acceleration, the lateral acceleration, the vertical acceleration, the first angular acceleration, the second angular acceleration and the third angular acceleration.
Optionally, after the step of performing filtering processing on the longitudinal acceleration, the lateral acceleration, the vertical acceleration, the first angular acceleration, the second angular acceleration, and the third angular acceleration, the method further includes:
and when the first angular acceleration, the second angular acceleration and the third angular acceleration are all within respective angular velocity threshold ranges, and the lateral acceleration is smaller than a first threshold value, outputting the longitudinal acceleration, the lateral acceleration and the vertical acceleration.
Optionally, when the first angular acceleration, the second angular acceleration, and the third angular acceleration are within respective angular velocity threshold ranges, and the lateral acceleration is smaller than a lateral acceleration threshold, the step of outputting the longitudinal acceleration, the lateral acceleration, and the vertical acceleration includes:
and when the time that the absolute value of the longitudinal acceleration is continuously larger than a second threshold value does not exceed a time threshold value, the longitudinal acceleration is output to be 0.
Optionally, the step of calculating an external force resultant force when the vehicle is in an acceleration state according to the first driving force, the second driving force and the wind resistance increment includes:
calculating the resultant force F of the external force when the vehicle is in an acceleration state according to the following formulav：
Fv＝FT1-FT0-Fw_va，
Wherein, FT1Is a second driving force, FT0Is a first driving force, Fw_vaIs the wind resistance increment.
Optionally, the step of calculating a longitudinal component of the vehicle according to the longitudinal acceleration, the lateral acceleration, the vertical acceleration, and a resultant force of external force when the vehicle is in an acceleration state includes:
calculating the ratio of the longitudinal component force, the lateral component force and the vertical component force of the resultant force of the external force according to the ratio of the longitudinal acceleration, the lateral acceleration and the vertical acceleration;
and calculating the longitudinal component according to the ratio of the longitudinal component, the lateral component and the vertical component and the resultant force of the external force.
In particular, the present invention also provides a vehicle weight estimation system comprising:
the six-axis sensor is used for acquiring the longitudinal acceleration, the lateral acceleration and the vertical acceleration of the vehicle;
the power system is used for acquiring the driving torque and the vehicle speed when the vehicle is in a constant speed state and an acceleration state respectively;
and the controller is in signal connection with both the six-shaft sensor and the power system, and comprises a memory and an actuator, wherein the memory stores a control program, and the control program is used for realizing the vehicle weight estimation method in any one of the above manners when being executed by the actuator.
Optionally, the six-axis sensor is disposed in the controller and is in the same horizontal state as the controller.
The invention provides a vehicle weight estimation method based on a six-axis sensor, which is used for calculating the resultant force of external force of a vehicle in an acceleration state by combining the acceleration of the vehicle in three directions measured by the six-axis sensor and the driving data provided by a power system. The resultant force of external force applied to the vehicle can be analyzed into component forces in all directions according to the accelerations of the six-axis sensor in three directions, and the mass of the whole vehicle can be estimated by utilizing the longitudinal component force and the longitudinal acceleration. The six-axis sensor is combined with signal processing, so that the requirements of the vehicle on the stability and precision of the acceleration signal can be met, and the accuracy of the vehicle quality is also ensured. And the estimation method only needs to add six-axis sensors on the vehicle and design a corresponding calculation strategy, so that the limited conditions are less, and the function implementation cost is lower than that of a single weighing system.
Furthermore, certain extreme working conditions are effectively shielded through processing the acceleration, so that the vehicle weight measurement is more stable.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a flow chart of a vehicle weight estimation method according to one embodiment of the invention;
FIG. 2 is a flow chart of a vehicle weight estimation method according to another embodiment of the invention;
FIG. 3 is a schematic diagram of a vehicle weight estimation system according to one embodiment of the present invention.
Detailed Description
FIG. 1 is a flow chart of a vehicle weight estimation method according to one embodiment of the invention. As shown in fig. 1, in one embodiment of the present invention, the vehicle weight estimation method includes the steps of:
step S10: longitudinal acceleration, lateral acceleration and vertical acceleration of the vehicle are acquired through a six-axis sensor 10;
step S20: collecting the driving torque and the vehicle speed when the vehicle is in a constant speed state and an acceleration state respectively;
step S30: calculating a first driving force according to the driving torque and the vehicle speed when the vehicle is in a constant speed state;
step S40: and calculating the second driving force according to the driving torque and the vehicle speed when the vehicle runs on a road with a fixed gradient and is in an acceleration state, and simultaneously calculating the wind resistance increment according to a vehicle dynamic formula. The slope fixing can be a straight road surface or a slope with a slope different from 0 but a certain slope.
Step S50: calculating the resultant force of the external force when the vehicle is in an acceleration state according to the first driving force, the second driving force and the wind resistance increment;
step S60: calculating the longitudinal component force of the vehicle according to the longitudinal acceleration, the lateral acceleration, the vertical acceleration and the resultant force of the external force when the vehicle is in an acceleration state;
step S70: the mass of the vehicle is estimated from the longitudinal force component and the longitudinal acceleration.
The present embodiment provides a vehicle weight estimation method based on six-axis sensor 10, which calculates the resultant force of external force when the vehicle is in an acceleration state by combining the accelerations of the vehicle in three directions measured by six-axis sensor 10 and the driving data provided by power system 20. The resultant force of external force applied to the vehicle can be analyzed into component forces in all directions according to the accelerations of the six-axis sensor 10 in three directions, and the mass of the whole vehicle can be estimated by utilizing the longitudinal component force and the longitudinal acceleration. The six-axis sensor 10 is combined with signal processing, so that the requirements of the vehicle on the stability and precision of the acceleration signal can be met, and the accuracy of the vehicle quality is also ensured. And the estimation method only needs to be provided with the six-axis sensor 10 on the vehicle and design a corresponding calculation strategy, so that the limited conditions are less, and the function implementation cost is lower than that of a single weighing system.
Alternatively, in step S40, the slope of the current road may be calculated using the ratio of the vertical acceleration and the longitudinal acceleration acquired by the six-axis sensor 10, so as to determine whether the slope value is fixed. Of course, the fixation is not absolutely constant, but may be a small fluctuation of the data within a certain amplitude.
FIG. 2 is a flow chart of a vehicle weight estimation method according to another embodiment of the invention. As shown in fig. 2, in another embodiment of the present invention, before step S60, the method further includes:
step S12: acquiring a first angular acceleration around a longitudinal axis, a second angular acceleration around a transverse axis and a third angular acceleration around a vertical axis of the vehicle by using a six-axis sensor 10;
step S14: and filtering the longitudinal acceleration, the lateral acceleration, the vertical acceleration, the first angular acceleration, the second angular acceleration and the third angular acceleration.
By filtering the data collected by the six-axis sensor 10, the interference data can be removed, the validity of the data can be ensured, and the accuracy of subsequent calculation and analysis can be ensured.
In another embodiment, as shown in fig. 2, after step S14, the method further includes:
step S16: and outputting longitudinal acceleration, lateral acceleration and vertical acceleration when the first angular acceleration, the second angular acceleration and the third angular acceleration are all within respective angular velocity threshold ranges, and the lateral acceleration is smaller than a first threshold value.
Step S16 may be implemented by the acceleration processing module 32 of the vehicle controller 30, which sets a flag and outputs accelerations in three directions when the flag is valid, and does not output data and maintains the previous time value when the flag is invalid. Specifically, when any one of the three absolute values of the first angular acceleration, the second angular acceleration, and the third angular acceleration is larger than the set respective threshold value, the output flag is invalid. Since the acceleration parameters acquired by the six-axis sensor 10 frequently change when the vehicle is on a bumpy road surface, which affects the accuracy of the mass estimation, it is necessary to eliminate the situation. When the lateral acceleration is larger than the first threshold value, the output zone bit is invalid, so that the influence of the lateral force can be eliminated, and when the lateral force is overlarge, namely the lateral acceleration exceeds a certain value, the acceleration is not output, namely the subsequent weight estimation is not carried out. For example, when the measured lateral acceleration is greater than 0.2m/s 2, the vehicle steering amplitude is considered to be large, and no weight estimation is performed, and at this time, the estimated weight remains as it is. Through the processing to acceleration, some extreme operating modes have effectively been shielded, make the car weight measurement more stable.
In some embodiments of the invention, step S16 includes:
and when the absolute value of the longitudinal acceleration is continuously greater than the second threshold value for no more than a time threshold value, outputting the longitudinal acceleration as 0.
In the driving process of the vehicle, due to the influence of a road and a suspension, the change frequency of the longitudinal acceleration is high, the change of the amplitude is large, and in order to shield the influence, the threshold value and the acceleration duration time of the longitudinal acceleration are judged.
The resultant force of the running vehicles is driven by driving force FTRoad resistance FrWind resistance FwAnd ramp resistance FiCo-determination, i.e. FT-Fr-Fw-Fi＝Fv. When the vehicle is in a constant-speed running state on a road with a fixed gradient, the resultant force borne by the vehicle is 0, and F isT0＝Fr+Fw+Fi，FT0The driving force for the vehicle in the constant speed running state on the road with the fixed gradient, that is, the first driving force, may be obtained by calculation according to step S30. When the vehicle is in the acceleration running state on the road with the fixed gradient, the slope resistance is constant because the gradient of the road is not changed, and the value of the rolling resistance is small along with the change of the speed, so that the change can be ignored, namely when the vehicle is in the acceleration running state on the road with the fixed gradient, only the wind resistance is changed, and the wind resistance increment F corresponding to the acceleration statew_vaCan be calculated according to the following equation (1):
wherein, A is the frontal area parameter of the vehicle, CDFor vehicle windage systemNumber parameters, rho is air density, v is relative speed of the vehicle after acceleration relative to wind speed, v0Relative speed of the vehicle relative to wind speed before acceleration.
Thus the resistance F to which the vehicle is subjected during accelerationT_vCan be calculated according to the following equation (2):
further, the resultant force Fv of the external force when the vehicle is in the acceleration state in step S50 may be calculated according to the following formula (3):
Fv＝FT1-FT_v (3)
wherein, FT1Is the second driving force.
The embodiment skillfully utilizes the first driving force of the vehicle in the constant speed state and the second driving force and the wind resistance increment of the road in the fixed gradient acceleration state, and can calculate the external force in the acceleration stage so as to calculate the component force in each direction according to the acceleration component in the following process.
And then calculating the ratio of the longitudinal component force, the lateral component force and the vertical component force of the resultant force of the external force according to the ratio of the longitudinal acceleration, the lateral acceleration and the vertical acceleration. And calculating the longitudinal component force according to the ratio of the longitudinal component force, the lateral component force and the vertical component force and the resultant force of the external force.
Specifically, when | azWhen | is greater than 0, the three direction vectors are perpendicular to each other, and
Fx:Fy:Fz＝ax:ay:az (4)
Fx+Fy+Fz＝Fv (5)
wherein, FxAs a longitudinal component of force, FyAs a lateral component of force, FzIs a vertical component of force, axFor longitudinal acceleration, ayFor lateral acceleration, azVertical acceleration is used. The respective equation can be determined from equations (4) and (5)An upward component of force.
When | azWhen | ═ 0, the longitudinal and lateral vectors are perpendicular to one another, and
Fx:Fy＝ax:ay (6)
Fx+Fy＝Fv (7)
the force components in the respective directions can be determined from equations (6) and (7).
The mass m of the vehicle is then estimated according to the following equation (8):
m＝Fx/ax (8)
optionally, after the mass of the vehicle is obtained, the vehicle is sampled and averaged in a preset time period and then output, so that the calculated value of the vehicle weight can be ensured to be stable and more approximate to an actual value.
FIG. 3 is a schematic diagram of a vehicle weight estimation system according to one embodiment of the present invention. As shown in FIG. 3, in one embodiment, the vehicle weight estimation system of the present invention includes a six-axis sensor 10, a powertrain 20, and a controller 30. The six-axis sensor 10 is used to acquire the longitudinal acceleration, lateral acceleration, and vertical acceleration of the vehicle. The power system 20 is used for acquiring the driving torque and the vehicle speed when the vehicle is in a constant speed state and an acceleration state. The controller 30 is in signal connection with both the six-axis sensor 10 and the powertrain 20, the controller 30 including a memory in which a control program is stored and an actuator, the control program being executed by the actuator for implementing the vehicle weight estimation method according to any one of the above.
In the present embodiment, the six-axis sensor 10 feeds back a corresponding electrical signal, the peripheral processing circuit outputs the processed electrical signal to the control chip of the controller 30, and the controller 30 performs software processing after receiving the electrical signal.
In another embodiment, the six-axis sensor 10 is disposed in the controller 30 and is in the same horizontal state as the controller 30. For example, the six-axis sensor 10 is welded to the controller 30 as horizontally as possible to the controller 30 hardware to facilitate calibration of the six-axis sensor 10.
After the chip of the controller 30 obtains the electrical signal of the sensor, the bottom software of the controller 30 converts the real-time electrical signal into a numerical signal, and transmits the numerical signal to the application layer software for logical processing of the numerical signal.
The software strategy of the controller 30 is divided into several sub-modules for logic operation processing, a signal preprocessing module 31, an acceleration processing module 32, a road gradient estimation module 33, a torque processing module 34 and a weight estimation module 35. The vehicle control unit 30 obtains the longitudinal acceleration and the longitudinal component force by calculation by introducing the signal value of the six-axis sensor 10, and further obtains the vehicle mass by calculation according to the relationship between the vehicle mass and the longitudinal component force and the longitudinal acceleration.
Specifically, the signal preprocessing module 31 has two functions: firstly, designing calibration parameters, and after the controller 30 finishes production, performing zero calibration on the six-axis sensor 10 on a test board of the controller 30 to ensure the precision of signals acquired by the controller 30; and secondly, the sensor signals transmitted to the application layer are mainly filtered. I.e. the signal pre-processing module 31 may be used to implement step S14.
The acceleration processing module 32 is configured to output a flag bit and a processed acceleration. If the flag bit is valid, the magnitude of each acceleration is available; if the time is invalid, the last time value is kept. The flag is set to avoid adverse effects of the six-axis sensor 10 on the quality estimation accuracy under certain conditions. For example, when the vehicle is on a bumpy road, the acceleration parameters acquired by the six-axis sensor 10 will change frequently, thereby affecting the accuracy of the mass estimation. I.e., the acceleration processing module 32, may be used to implement step S16.
The road gradient estimation module 33 is configured to obtain acceleration values in the vertical direction and the longitudinal direction through the six-axis sensor 10 when the vehicle is accelerated, and further estimate the road gradient at that time.
The moment calculation module 34 is used to implement steps S30 to S60, and calculates the force components in each direction to obtain the longitudinal force component.
The weight estimation module 35 is configured to obtain the longitudinal component force and the longitudinal acceleration of the vehicle during acceleration according to the processing procedure, and then calculate the weight of the entire vehicle. I.e., the weight estimation module 35 may be used to implement step S70.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (7)
1. A vehicle weight estimation method, characterized by comprising:
acquiring longitudinal acceleration, lateral acceleration and vertical acceleration of the vehicle through a six-axis sensor;
collecting the driving torque and the vehicle speed when the vehicle is in a constant speed state and an acceleration state respectively;
calculating a first driving force according to the driving torque and the vehicle speed when the vehicle is in a constant speed state;
calculating a second driving force according to the driving torque and the vehicle speed when the vehicle runs on a road with a fixed gradient and is in an acceleration state, and meanwhile, calculating the wind resistance increment according to a vehicle dynamics formula;
calculating the resultant force of external force when the vehicle is in an acceleration state according to the first driving force, the second driving force and the wind resistance increment;
acquiring a first angular acceleration of the vehicle around a longitudinal axis, a second angular acceleration around a transverse axis and a third angular acceleration around a vertical axis through the six-axis sensor;
when the first angular acceleration, the second angular acceleration and the third angular acceleration are all within respective angular velocity threshold ranges, and the lateral acceleration is smaller than a first threshold value, outputting the longitudinal acceleration, the lateral acceleration and the vertical acceleration;
calculating a longitudinal component of the vehicle according to the longitudinal acceleration, the lateral acceleration, the vertical acceleration and an external resultant force when the vehicle is in an acceleration state;
estimating the mass of the vehicle from the longitudinal force component and the longitudinal acceleration.
2. The vehicle weight estimation method according to claim 1, characterized by further comprising, before the step of outputting the longitudinal acceleration, the lateral acceleration, and the vertical acceleration when the first angular acceleration, the second angular acceleration, and the third angular acceleration are within respective angular velocity threshold ranges, and the lateral acceleration is smaller than a first threshold value:
and filtering the longitudinal acceleration, the lateral acceleration, the vertical acceleration, the first angular acceleration, the second angular acceleration and the third angular acceleration.
3. The vehicle weight estimation method according to claim 2, wherein the step of outputting the longitudinal acceleration, the lateral acceleration, and the vertical acceleration when the first angular acceleration, the second angular acceleration, and the third angular acceleration are within respective angular velocity threshold ranges, and the lateral acceleration is smaller than a lateral acceleration threshold value includes:
and when the time that the absolute value of the longitudinal acceleration is continuously larger than a second threshold value does not exceed a time threshold value, the longitudinal acceleration is output to be 0.
4. The vehicle weight estimation method according to any one of claims 1 to 3, characterized in that the step of calculating a resultant force of external forces when the vehicle is in an acceleration state from the first driving force, the second driving force, and the wind resistance increase amount includes:
calculating the resultant force F of the external force when the vehicle is in an acceleration state according to the following formulav：
Fv＝FT1-FT0-Fw_va，
Wherein, FT1Is a second driving force, FT0Is a first driving force, Fw_vaIs the wind resistance increment.
5. The vehicle weight estimation method according to any one of claims 1 to 3, wherein the step of calculating the longitudinal component force of the vehicle from the longitudinal acceleration, the lateral acceleration, the vertical acceleration, and the resultant force of external force when the vehicle is in an acceleration state includes:
calculating the ratio of the longitudinal component force, the lateral component force and the vertical component force of the resultant force of the external force according to the ratio of the longitudinal acceleration, the lateral acceleration and the vertical acceleration;
and calculating the longitudinal component according to the ratio of the longitudinal component, the lateral component and the vertical component and the resultant force of the external force.
6. A vehicle weight estimation system, comprising:
the six-axis sensor is used for acquiring the longitudinal acceleration, the lateral acceleration and the vertical acceleration of the vehicle;
the power system is used for acquiring the driving torque and the vehicle speed when the vehicle is in a constant speed state and an acceleration state respectively;
a controller in signal communication with both the six-axis sensor and the powertrain, the controller including a memory having a control program stored therein and an actuator, the control program when executed by the actuator for implementing the vehicle weight estimation method as recited in any one of claims 1-5.
7. The vehicle weight estimation system according to claim 6,
the six-axis sensor is arranged in the controller and is in the same horizontal state with the controller.
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| CN112590804A (en) * | 2020-12-23 | 2021-04-02 | 苏州挚途科技有限公司 | Load trajectory tracking method and device for unmanned vehicle |
| CN113569339A (en) * | 2021-08-10 | 2021-10-29 | 北京理工大学 | A kind of vehicle weight calculation method |
| CN113859252B (en) * | 2021-10-29 | 2023-07-18 | 北汽福田汽车股份有限公司 | Vehicle weight determining method and device |
| CN114407906B (en) * | 2022-01-25 | 2023-07-07 | 东风柳州汽车有限公司 | Vehicle load measuring method, device, storage medium and equipment |
| CN114771546A (en) * | 2022-05-25 | 2022-07-22 | 南斗六星系统集成有限公司 | A vehicle load estimation method for driving trips |
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