CN-122009208-A - New energy vehicle whole vehicle quality approximate estimation method

CN122009208ACN 122009208 ACN122009208 ACN 122009208ACN-122009208-A

Abstract

The application belongs to the field of vehicle related parameter estimation, and particularly discloses a new energy vehicle whole vehicle quality approximate estimation method, which comprises the following steps of obtaining vehicle parameters of a vehicle and real-time running data in the running process, wherein the real-time running data comprises vehicle speed, acceleration and motor output torque; substituting the fixed parameters and the real-time running data into a preset calculation formula to calculate a current whole vehicle quality estimated value, wherein the preset calculation formula is determined by adopting an approximate parameter to carry out numerical treatment on corresponding parameter items in a longitudinal dynamics equation of the vehicle, adopting a Kalman filtering algorithm to carry out iterative updating on the current whole vehicle quality estimated value to obtain a stable whole vehicle quality estimated value, and carrying out mapping or interpolation processing on the stable whole vehicle quality estimated value according to a pre-established corresponding relation table between the actual vehicle weight and the estimated vehicle weight to obtain a final whole vehicle quality approximate value. The application can accurately judge the total mass of the current vehicle.

Inventors

WANG GANG
WANG KEXUE
ZHU XIAOKUI
HUANG HAO
LI QUANJIANG

Assignees

极景(武汉)智能科技有限公司
极景(淮安)智能科技有限公司
极景(深圳)具身智能有限公司

Dates

Publication Date: 20260512
Application Date: 20260114

Claims (10)

1. The new energy vehicle whole vehicle quality approximate estimation method is applied to unmanned sanitation vehicles and is characterized by comprising the following steps: S10, acquiring vehicle parameters of a vehicle and real-time running data in the running process, wherein the vehicle parameters comprise inherent fixed parameters of the vehicle design and approximate parameters preset based on engineering experience, and the real-time running data comprise vehicle speed, acceleration and motor output torque; S20, substituting the fixed parameters and the real-time running data into a preset calculation formula, and calculating to obtain a current whole vehicle quality estimation value, wherein the preset calculation formula is determined by digitizing corresponding parameter items in a longitudinal dynamics equation of the vehicle by adopting the approximate parameters; s30, carrying out iterative updating on the current whole vehicle quality estimated value by adopting a Kalman filtering algorithm to obtain a stable whole vehicle quality estimated value; And S40, mapping or interpolating the stable whole vehicle quality estimated value according to a pre-established corresponding relation table between the actual vehicle weight and the estimated vehicle weight of the vehicle to obtain a final whole vehicle quality approximate value.
2. The method for approximate estimation of the mass of a whole new energy vehicle according to claim 1, wherein in step S10, the fixed parameters include a main reduction ratio of a rear axle of the vehicle, a rolling radius of a tire, and a windward area of the vehicle.
3. The method for estimating the mass of the entire new energy vehicle according to claim 1, wherein in step S10, the approximation parameters include mechanical efficiency of the transmission system, conversion coefficient of rotational mass, slope inclination angle, air density, air resistance coefficient, and rolling resistance coefficient.
4. The method for estimating the mass of the entire new energy vehicle according to claim 1, wherein in step S20, the longitudinal dynamics equation of the vehicle is: Wherein the method comprises the steps of Representing the actual driving force of the vehicle; representing motor output torque; Representing the current gear speed ratio of the gearbox; Representing the main reduction ratio of the rear axle of the vehicle; representing the mechanical efficiency of the transmission system; representing the rolling radius of the tire; Wherein the method comprises the steps of Representing acceleration resistance of the vehicle; representing the conversion coefficient of the rotating mass of the automobile; the preparation quality of the automobile; Acceleration of the vehicle; Wherein, the Representing rolling resistance; Representing the rolling resistance coefficient; representing gravitational acceleration; Representing the slope inclination of the road; Wherein, the Representing vehicle hill resistance; representing gravitational acceleration; Representing the slope inclination of the road; Wherein, the Represents air resistance; Representing the air resistance coefficient; representing a windward area; Air density; The relative speed of the vehicle and air.
5. The new energy vehicle whole vehicle quality approximate estimation method according to claim 1, wherein, In step S20, the predetermined calculation formula is: In the formula, The method comprises the steps of (1) estimating a current whole vehicle quality; outputting torque for the motor; The main speed reduction ratio of the rear axle of the vehicle; Is the rolling radius of the tire; The windward area of the vehicle; Is the vehicle speed; Is acceleration.
6. The method for approximate estimation of the entire vehicle mass of the new energy vehicle as claimed in claim 1, wherein the step S30 is specifically: S31, setting an initial vehicle mass estimation value And initial estimation error ; S32, setting the measurement error of each measurement ; S33, calculating a Kalman coefficient of the kth measurement when the vehicle accelerates ; S34, calculating and obtaining the current whole vehicle quality estimated value of the kth time according to the step S20 ; S35, according to the formula Calculating the whole vehicle quality estimated value after the kth iteration; s36, according to the formula Updating the estimation error of the kth time; s37, repeating the steps S33 to S36 until the whole vehicle quality estimated value And (5) stabilizing, and taking the value at the moment as the stable whole vehicle quality estimated value.
7. The method for approximate estimation of the entire vehicle quality of a new energy vehicle according to claim 1, wherein in step S40, the step of pre-establishing a correspondence table specifically includes: on a straight road, acquiring a first actual vehicle weight of the vehicle in an idle state ; Successively loading the vehicle with preset mass increment and respectively obtaining the actual vehicle weight after each loading , Wherein For the number of load times sequence number, The quality for each load; For each of the actual vehicle weights Executing the steps S10 to S30 to obtain the corresponding stable whole vehicle quality estimated value ; Will be paired with And (3) with And recording to form the corresponding relation table.
8. The method for estimating the overall mass of the new energy vehicle according to claim 1, wherein in step S40, if the stable overall mass estimated value is located between two adjacent estimated weights in the correspondence table, a linear interpolation method is adopted to calculate the final overall mass estimated value.
9. The method for estimating the entire vehicle mass of a new energy vehicle according to claim 1, wherein in step S10, the real-time traveling data is acquired through a vehicle CAN bus.
10. The new energy vehicle whole vehicle quality approximate estimation system is characterized by comprising the steps of: the system comprises a data acquisition module, a control module and a control module, wherein the data acquisition module is used for acquiring vehicle parameters of a vehicle and real-time driving data in the driving process, wherein the vehicle parameters comprise inherent fixed parameters of the vehicle design and approximate parameters preset based on engineering experience, and the real-time driving data comprise vehicle speed, acceleration and motor output torque; The system comprises a whole vehicle quality estimation value calculation module, a real-time running data calculation module and a real-time running data calculation module, wherein the whole vehicle quality estimation value calculation module is used for substituting the fixed parameters and the real-time running data into a preset calculation formula to calculate to obtain a current whole vehicle quality estimation value, and the preset calculation formula is determined by adopting the approximate parameters to carry out numerical analysis on corresponding parameter items in a longitudinal dynamics equation of the vehicle; the iteration updating module is used for carrying out iteration updating on the current whole vehicle quality estimated value by adopting a Kalman filtering algorithm to obtain a stable whole vehicle quality estimated value; and the data processing module is used for carrying out mapping or interpolation processing on the stable whole vehicle quality estimated value according to a pre-established corresponding relation table between the actual vehicle weight and the estimated vehicle weight of the vehicle to obtain a final whole vehicle quality approximate value.

Description

New energy vehicle whole vehicle quality approximate estimation method Technical Field The application belongs to the field of vehicle related parameter estimation, and particularly relates to a new energy vehicle whole vehicle quality approximate estimation method. Background In recent years, more and more unmanned sanitation vehicles, such as washing and sweeping vehicles and garbage transfer vehicles, are in real time change of the mass of the vehicles in the operation process, on one hand, sewage, sediment, stones or bricks and the like on the ground of the washing and sweeping vehicles can be sucked into a vehicle sewage tank in the washing and sweeping process, the calculation result is often quite different from the actual vehicle weight only by means of a water level sensor in the sewage tank to identify the water level, and on the other hand, the unmanned garbage transfer vehicle does not have whole vehicle mass data, and whether the garbage tank is full or not is inferred according to the operation times every time the garbage is reached is judged to be inaccurate, and the operation efficiency is seriously affected. In addition, sensors are installed on the market to judge the vehicle quality, but the actual effect is not good, periodic calibration is needed, and the accuracy recognition rate is low. Therefore, for unmanned sanitation vehicles, it is necessary to develop a method for accurately judging the total mass of the current vehicle. Disclosure of Invention Aiming at the defects of the prior art, the application aims to provide the new energy vehicle whole vehicle quality approximate estimation method which can accurately judge the current vehicle total quality. In order to achieve the above object, in a first aspect, the present application provides a new energy vehicle whole vehicle quality approximate estimation method, applied to an unmanned sanitation vehicle, comprising the following steps: S10, acquiring vehicle parameters of a vehicle and real-time running data in the running process, wherein the vehicle parameters comprise inherent fixed parameters of the vehicle design and approximate parameters preset based on engineering experience, and the real-time running data comprise vehicle speed, acceleration and motor output torque; S20, substituting the fixed parameters and the real-time running data into a preset calculation formula, and calculating to obtain a current whole vehicle quality estimation value, wherein the preset calculation formula is determined by digitizing corresponding parameter items in a longitudinal dynamics equation of the vehicle by adopting the approximate parameters; s30, carrying out iterative updating on the current whole vehicle quality estimated value by adopting a Kalman filtering algorithm to obtain a stable whole vehicle quality estimated value; And S40, mapping or interpolating the stable whole vehicle quality estimated value according to a pre-established corresponding relation table between the actual vehicle weight and the estimated vehicle weight of the vehicle to obtain a final whole vehicle quality approximate value. The new energy vehicle whole vehicle quality approximate estimation method has the advantages that a core calculation model is built based on a vehicle longitudinal dynamics equation, the calculation is simplified by introducing approximate parameters preset by engineering experience, the existing fixed parameters and real-time driving data of the vehicle can be utilized to initiate estimation without installing an additional weighing sensor, in addition, the error existing in single calculation of the simplified model is subjected to iterative correction and convergence through a Kalman filtering algorithm, and final mapping is carried out by combining a lookup table calibrated in advance for the vehicle model, so that the total quality of the unmanned sanitation vehicle can be accurately judged under the conditions of no dependence on an external sensor and no complex on-line parameter identification. As a further preferred aspect, in step S10, the fixed parameters include a final reduction ratio of a rear axle of the vehicle, a tire rolling radius, and a frontal area of the vehicle. As a further preferred option, in step S10, the approximate parameters include driveline mechanical efficiency, rotational mass conversion coefficient, ramp inclination, air density, air resistance coefficient, and rolling resistance coefficient. As a further preferred aspect, in step S20, the longitudinal dynamics equation of the vehicle is: Wherein the method comprises the steps of Representing the actual driving force of the vehicle; representing motor output torque; Representing the current gear speed ratio of the gearbox; Representing the main reduction ratio of the rear axle of the vehicle; representing the mechanical efficiency of the transmission system; representing the rolling radius of the tire; Wherein the method comprises the steps of