The invention provides a vehicle load high-precision estimation method based on vehicle-mounted CAN data, and belongs to the technical field of vehicle loads, and the method comprises the following steps: obtaining vehicle basic parameters; acquiring CAN data in real time; preprocessing the CAN data; selecting a time sequence data fragment; constructing a longitudinal dynamic model; discretizing the kinetic model; judging the current gear of the vehicle; selecting a vehicle track fragment, and estimating a vehicle load backwards; on the basis of the smoothed state at the last moment, smooth state estimation and smooth covariance estimation at all moments on the whole time sequence are obtained; and executing all moments on the track fragment, and outputting the smoothed state estimation to complete the high-precision estimation of the vehicle load. The method is suitable for various rapid application scenes, and provides technical support for rapid and accurate estimation; extra sensors, professional monitoring equipment and other hardware are not needed, a large number of computing resources are not needed, the deployment and application cost is greatly reduced, an economic and effective solution is brought to the cost sensitive field, and higher accuracy is achieved.
本发明提供一种基于车载CAN数据的车辆载荷高精度估算方法,属于车辆载荷技术领域,包括如下步骤:获取车辆基础参数;实时获取CAN数据;预处理CAN数据;选定时序数据片段;构建纵向动力学模型;离散化动力学模型;判断车辆当前档位;选择一个车辆轨迹片段,向后估算车辆载荷;基于最后时刻的平滑后状态,得到整个时间序列上所有时刻的平滑状态估计和平滑协方差估计;执行该轨迹片段上所有时刻,输出平滑后的状态估计,完成车辆载荷的高精度估算。本发明适用于各类快速应用场景,为迅速准确的估算提供技术支持;无需额外传感器、专业监测设备等硬件,无需大量计算资源,大幅降低部署和应用成本,为成本敏感领域带来经济有效解决方案,更具准确性。
Vehicle load high-precision estimation method based on vehicle-mounted CAN data
一种基于车载CAN数据的车辆载荷高精度估算方法
2024-07-30
Patent
Electronic Resource
Chinese
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