The invention relates to the technical field of detection of traffic movement to be counted or controlled, and particularly provides a vehicle weight estimation method and device, a vehicle and a storage medium, and the method comprises the following steps: obtaining static parameters and dynamic data of the vehicle; the static parameters and the dynamic data are calculated based on extended Kalman filtering, and the estimated weight of the vehicle is output; and based on the estimated weight and a preset constraint value, whether the vehicle is overweight or not is judged, and reminding information is output. According to the method, the weight of the vehicle is estimated by using the vehicle longitudinal kinetic equation in combination with the extended Kalman filtering method, and the state estimation is performed by taking the vehicle speed, the vehicle weight and the road slope value as state variables and taking the vehicle speed as the observed quantity in the filtering estimation process, so that the vehicle weight is estimated. The vehicle load can be obtained with small computing power under the condition that a load sensor is not arranged.

    本发明涉及检测要统计或要控制的交通运动技术领域,具体提供一种车辆重量估计方法、装置、车辆及储存介质,方法包括以下步骤:获取车辆的静态参数和动态数据;基于扩展式卡尔曼滤波对所述静态参数和动态数据进行计算,输出车辆的估计重量;基于所述估计重量和预设约束值,判断车辆是否超重并输出提醒信息。本发明通过使用车辆纵向动力学方程结合扩展式卡尔曼滤波方法进行车辆的估计重量,且滤波估计过程中以自车速度、自车重量、道路坡度值为状态变量,以自车速度为观测量,进行状态估计,实现在不布置载重传感器的情况下以较小的算力要求获取车辆载重。


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    Title :

    Vehicle weight estimation method and device, vehicle and storage medium


    Additional title:

    一种车辆重量估计方法、装置、车辆及储存介质


    Contributors:
    ZHONG FEI (author) / LI XIAOKAI (author) / PENG YUANDUO (author) / DENG QIHUI (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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