Abstract: The weight estimation of heavy commercial vehicles is of great significance for overloading control, vehicle lateral and longitudinal control, and vehicle power economy analysis. This paper proposes an online dynamic weighing algorithm for vehicles without adding acceleration and slope sensors. By identifying the vehicle state and road conditions from the data collected from the controller area network (CAN) bus, and applying mathematical statistical methods such as variance analysis and box plot analysis, combined with vehicle dynamics theory, a vehicle mass estimation algorithm based on effective driving process is developed. The simulation results show that the average error of this algorithm under comprehensive working conditions is 4.52%, and it has the advantages of high calculation accuracy, strong robustness, and wide application scenarios.

Key words: heavy commercial vehicles; dynamic weighing; effective driving process

摘要： 重型商用车的重量估计对治理超载、车辆横纵向控制以及车辆动力经济性分析具有重 要意义。文章提出了一种无需增加加速度及坡度传感器的车辆在线动态称重算法。利用从控 制器局域网（CAN）总线采集到的数据识别车辆状态及道路工况，应用方差分析、箱线图分 析等数理统计方法，结合车辆动力学理论，开发基于有效行程的整车质量估计算法。仿真结 果表明，该算法在综合工况下的平均误差为 4.52%，具有计算精度高、鲁棒性强、适用场景 广的优点。

关键词: 重型商用车；动态称重；有效行程