CN108189843A - A kind of evaluation method of vehicle weight - Google Patents
A kind of evaluation method of vehicle weight Download PDFInfo
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- CN108189843A CN108189843A CN201711456160.7A CN201711456160A CN108189843A CN 108189843 A CN108189843 A CN 108189843A CN 201711456160 A CN201711456160 A CN 201711456160A CN 108189843 A CN108189843 A CN 108189843A
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- car weight
- vehicle
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- 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
- 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
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/107—Longitudinal acceleration
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of evaluation method of vehicle weight, including system initialization, period delimitation, acquisition of information, calculate car weight, terminate.By the estimation to car weight, car weight information is obtained, and confidence is applied in the control operation of AEB systems, realize being precisely controlled for automobile active braking distance.Set method control is simple, and estimation accuracy is high.
Description
Technical field
The present invention relates to Automobile Design and emulation field, and in particular to a kind of to estimate vehicle weight using travel condition of vehicle
Method.
Background technology
In the evolution of auto industry, automotive safety is being emphasized always, possesses a set of maturation in vehicle passive safety
System after, the active safety of automobile becomes the technology development core of many automobile vendors, is avoided by active safety technologies
The generation of accident, then the comprehensive safety performance protected to improve automobile for passing through passive security.The active safety technologies hair of automobile
It opens up for a long time, with universal, automatic emergency brake (the Auto Emergency of the technologies such as ABS (Antilock Brake System)
Braking, AEB) system be considered as can prevent at this stage by driver carelessness or the improper emergency braking of front truck cause
One of the most effective function system of collision damage.
With the development of AEB, the application in commercial car is valued by people, and since 2013, Europe was commercial
Vehicle must all be equipped with AEB systems according to the rules, and China is also losing no time in formulating AEB system correlations solar obligation regulation.
AEB systems measure the distance with front truck or barrier using radar, then will be measured using data analysis module
Distance and alarm distance, safe distance be compared, less than alarm apart from when just carry out alarm sounds, and less than safe distance
Even if when in the case where driver does not have enough time stepping on brake pedal, AEB systems can automatic braking.When vehicle weight is excessive,
Its adjoint inertia can also increase therewith, can seriously increase institutional distance of the vehicle under identical brake force, influence AEB systems
Braking effect.So calculating comparatively accurately vehicle weight, the braking precision of AEB can be effectively promoted.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of evaluation method of vehicle weight.
To achieve the above object, technical scheme is as follows：
A kind of evaluation method of vehicle weight, includes the following steps：
A. system initialization：Initialization condition, system enter initialization, and final car weight output is unloaded car weight；
B. the period delimited：After vehicle starting, using one accelerator of vehicle as a period, the automobile operation period is divided into the
One period, second round, the n-th period of period 3 ...；
C. acquisition of information：The fixed frequency acquisition of setting, vehicle acceleration a and tractive force F is obtained by calculating；
D. car weight is calculated：The information obtained by above-mentioned steps calculates final car weight；
E. terminate：Meet termination condition, jump out car weight estimated value, car weight is reset.
Wherein, system initialization condition is set as vehicle launch.The period delimit condition and completely add at one
Fast period, vehicle are braked, then the end cycle；When entering next boost phase, then delimit as next period.Information is obtained
The frequency acquisition taken is set as 10Hz.
Wherein, above-mentioned information acquiring step includes：
A. information collection：
Prescribed information acquires condition for validity：
Vehicle is in acceleration mode；
Vehicle should have certain speed.
Information collection item：
With the initial speed v in fixed frequency collection vehicle collection period0, real-time speed v, collection period time t, acquisition
Motor/motor torque Ttq, gearratio i, transmission system mechanical efficiency η, radius of wheel r；
B. it calculates：Utilize formula a=(v-v0)/t calculates vehicle acceleration a；
Utilize formula F=TtqI η/r, calculated tractive effort F；
Wherein, average car weight step is calculated to include：
A. real-time car weight is calculated：The real-time car weight value in each period is calculated by formula m=F/a, wherein：
M is the weight of automobile；
F is vehicle traction；
Acceleration when a is vehicle operation；
B. rolling average car weight is calculated：Pass through formula m1=(m11+m12+......+m1n)/n1, rolling average car weight is obtained,
Wherein：
m1For rolling average car weight；
m11、m12......m1nReal-time car weight value for acquisition；
n1, the real-time car weight value quantity for acquisition；
C. average car weight is calculated：Pass through formula M1=(m1+m2+……+mn)/n2, average car weight is obtained, wherein：
M1, for average car weight；
m1, m2……mnRolling average car weight value for acquisition；
n2It is the rolling average car weight value quantity obtained；
D. final car weight is calculated：Pass through formula M=(M1+M2+……+Mn)/n3, final car weight is obtained, wherein：
M is final car weight；
M1、M2……MnAverage car weight value for acquisition；
n3It is the average car weight value quantity obtained；
Above-mentioned rolling average car weight value is calculated using the method for bubble sort.
Description of the drawings
Fig. 1 delimit schematic diagram for the period
Fig. 2 estimates overview flow chart for car weight
Fig. 3 estimates flow chart for car weight
Specific embodiment
The vehicle weight evaluation method of the present invention is described in detail below in conjunction with the accompanying drawings.
Fig. 1 is that vehicle weight evaluation method flow is comprehensively introduced, and is broadly divided into initialization module 101, vehicle
Revaluation 201 stops car weight estimation 301, down time statistics 401 with emptying all 501 5 modules of estimated value.
Fig. 2 is the schematic diagram delimited in the automobile period, as seen from the figure, is divided into first week according to each accelerator of vehicle
Phase, the n-th period of second round ....
First, initialization module 101 mainly includes the following steps that：
1. system initialization：After vehicle launch, initial car weight is defaulted as automobile zero load car weight, at this point, final car weight is defeated
Go out for initial car weight；
2. the period delimited：The period delimit condition a complete acceleration period, and vehicle is braked, then this week
Phase terminates；When entering next boost phase, then delimit as next period.
When vehicle is not when accelerating, the vehicle end cycle, when vehicle is again speeded up, vehicle enters next period.
So as to which according to the information collection stage can be divided into period 1, second round, third week the vehicle whole service period
N-th period of phase ....
3. acquisition of information：
To the initial speed v in an information collection period0, real-time speed v, collection period time t, acquisition motor/start
Machine torque Ttq, gearratio i, mechanical efficiency of power transmission n, radius of wheel r information obtained, pass through above-mentioned acquisition information, profit
With formula a=(v-v。)/t calculates vehicle acceleration a, utilizes formula F=TtqIn/r, calculated tractive effort F, frequency acquisition setting
For 10Hz.
2nd, car weight estimation module 201, as shown in figure 3, main include screening effective information stage 202, the calculating of real-time car weight
Stage 203, rolling average car weight calculation stages 204, average car weight calculation stages 205, final car weight calculation stages 206 are with terminating
207, process step includes：
1. screen the effective information stage 202：The module mainly sets the condition of screening effective information：
A. vehicle is in accelerator；
B. vehicle has certain speed, and range can be further limited to the speed.Such as：Car speed be in 1-
100km/h, 10-100 km/h or 20-100 km/h；
When the above two conditions are met, vehicle acquisition information is effective, and enters real-time car weight calculation stages 203；
When being unsatisfactory for above-mentioned two condition, vehicle jumps directly to average car weight calculation stages 205, and a step of going forward side by side confirms
When car weight timing statistics, if the time>5s is then labeled as effectively and continues to calculate downwards by calculation process；If the time≤5s,
System is back to the screening effective information stage 202, reacquires information.
2. real-time car weight calculation stages 203：
The stage calculates real-time car weight by formula m=F/a, will if car weight is in scope of statistics in real time
The real-time car weight record, if the real-time car weight calculated, not in the scope of statistics of setting, system is back to screening effective information
Stage 202 reacquires information.
3. rolling average car weight calculation stages 204：
The stage employs the calculating of the average computation method progress rolling average car weight of bubble sort, such as：
m1=(mll+m12+m13+……+mlN)/N1；
m2=(m12+m13+m14+m15+mi(N+i))/N1；
m3=(m13+m14+m15+m16+m1(N+2))/Nl：
……
After the completion of calculating, system records the moving average of calculating.
4. average car weight calculation stages 205：
The number that first rolling average car weight calculation stages 204 are calculated with rolling average car weight is detected, and works as the time>5s
When, then the method for continuing through averaged calculates average car weight, and formula is such as：
M1=(m1+m2+m3+……+mt)/t, and by the average car weight value obtained record in systems.
The above-mentioned rolling average car weight record value being calculated is reset.
5. final car weight calculation stages 206：
As average car weight value number >=N of calculating2When a, then final car weight is calculated by the method that averaging calculates,
Original final car weight value of calculating is substituted, original average car weight value being calculated is reset.
When the average car weight value number of calculating<N2When a, then the screening effective information stage 202 is back to, rejudges item
Whether part meets, and obtains real-time car weight information.
6. terminate 207：After real-time car weight information is obtained, meet estimation termination condition, terminate estimation.
Wherein system initialization condition is set as vehicle launch.
3rd, estimating system program is jumped out, and after vehicle stall, then automobile jumps out car weight estimation program, when next time starts
Reenter initialization.
Claims (7)
1. a kind of evaluation method of vehicle weight, which is characterized in that include the following steps：
A. system initialization：Initialization condition, system enter initialization, and final car weight output is unloaded car weight；
B. the period delimited：After vehicle starting, using one accelerator of vehicle as a period, the automobilism period is divided into first week
Phase, second round, the n-th period of period 3 ...；
C. acquisition of information：The fixed frequency acquisition of setting, vehicle acceleration a and tractive force F is obtained by calculating；
D. car weight is calculated：Information is obtained by above-mentioned steps, calculates final car weight；
E. terminate：Meet termination condition, jump out car weight estimation flow.
2. the evaluation method of vehicle weight according to claim 1, the system initialization condition is set as vehicle and opens
It is dynamic.
3. the evaluation method of vehicle weight according to claim 1, the period delimit condition and completely add at one
Fast period, vehicle are braked, then the end cycle；When entering next boost phase, then delimit as next period.
4. the evaluation method of vehicle weight according to claim 1, the frequency acquisition of the acquisition of information is set as
10Hz。
5. the evaluation method of the vehicle weight according to Claims 1 to 4 any claim, the information acquiring step
Including：
A. information collection：
Prescribed information acquires condition for validity：
Vehicle is in acceleration mode；
Vehicle should have certain speed.
Information collection item：
With the initial speed v in fixed frequency collection vehicle collection period0, real-time speed v, collection period time t, acquisition motor/
Motor torque Ttq, gearratio i, transmission system mechanical efficiency η, radius of wheel r；
B. it calculates：Utilize formula a=(v-v0)/t calculates vehicle acceleration a；
Utilize formula F=TtqI η/r, calculated tractive effort F.
6. the evaluation method of vehicle weight according to claim 5 calculates average car weight step and includes：
A. real-time car weight is calculated：The real-time car weight in each period of automobile is calculated by formula m=F/a, wherein：
M is the weight of automobile；
F is vehicle traction；
Acceleration when a is vehicle operation；
B. rolling average car weight is calculated：Pass through formula m1=(m11+m12+......+m1n)/n1, rolling average car weight is obtained,
In：
m1For rolling average car weight；
m11、m12......m1nReal-time car weight value for acquisition；
n1Real-time car weight value quantity for acquisition；
C. average car weight is calculated：Pass through formula M1=(m1+m2+......+mn)/n2, average car weight is obtained, wherein：
M1For average car weight；
m1、m2......mnRolling average car weight value for acquisition；
n2It is the rolling average car weight value quantity obtained；
D. final car weight is calculated：Pass through formula M=(M1+M2+......+Mn)/n3, final car weight is obtained, wherein：
M is final car weight；
M1、M2......MnAverage car weight value for acquisition；
n3It is the average car weight value quantity obtained.
7. the evaluation method of vehicle weight according to claim 6, the rolling average car weight value uses bubble sort
Method calculate.
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| CN201711456160.7A CN108189843A (en) | 2017-12-28 | 2017-12-28 | A kind of evaluation method of vehicle weight |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849931A (en) * | 2019-02-20 | 2019-06-07 | 郑州比克新能源汽车有限公司 | Pure electric automobile cargo dead-weight obtains system and method |
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| JP2017094981A (en) * | 2015-11-26 | 2017-06-01 | ダイムラー・アクチェンゲゼルシャフトＤａｉｍｌｅｒ ＡＧ | Vehicular travel control device |
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Patent Citations (6)
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|---|---|---|---|---|
| CN102410866A (en) * | 2011-08-03 | 2012-04-11 | 武汉嘉工科技有限公司 | Vehicle pass weighing system and vehicle weighing method |
| CN102627108A (en) * | 2012-04-11 | 2012-08-08 | 清华大学 | Entire car mass estimation method based on high-frequency information extraction |
| JP2017094981A (en) * | 2015-11-26 | 2017-06-01 | ダイムラー・アクチェンゲゼルシャフトＤａｉｍｌｅｒ ＡＧ | Vehicular travel control device |
| CN105438178A (en) * | 2015-11-30 | 2016-03-30 | 潍柴动力股份有限公司 | Vehicle loading predicting method and system |
| CN106564504A (en) * | 2016-11-02 | 2017-04-19 | 陕西法士特齿轮有限责任公司 | Computing method of AMT finished automobile mass |
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| CN109849931A (en) * | 2019-02-20 | 2019-06-07 | 郑州比克新能源汽车有限公司 | Pure electric automobile cargo dead-weight obtains system and method |
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Application publication date: 20180622 |