CN116811596A - Trailer control method and device, trailer and storage medium - Google Patents
Trailer control method and device, trailer and storage medium Download PDFInfo
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- CN116811596A CN116811596A CN202310667971.0A CN202310667971A CN116811596A CN 116811596 A CN116811596 A CN 116811596A CN 202310667971 A CN202310667971 A CN 202310667971A CN 116811596 A CN116811596 A CN 116811596A
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Abstract
The application discloses a trailer control method and device, a trailer and a storage medium. Wherein, above-mentioned trailer includes pulling chassis and motor, and this method includes: the target traction force born by the trailer chassis is obtained, the target driving requirement corresponding to the trailer is determined based on the target traction force, and finally the motor is controlled to enter a corresponding target state based on the target driving requirement, so that the power strength of the trailer can be realized, the trailer can be quite light when being towed, the power loss of the trailer is reduced, and the safety of the trailer in the towing running process can be ensured.
Description
Technical Field
The application relates to the technical field of transport vehicles, in particular to a trailer control method and device, a trailer and a storage medium.
Background
At present, a trailer (a centrally-mounted axle caravan) is more and more popular, but the traction trailer has higher requirements on the power of the traction vehicle, particularly on an ascending slope, and also has higher requirements on the structure of the trailer. Meanwhile, when the traction force demand of the traction trailer is overlarge, the power of the traction vehicle is obviously reduced, and tragic trails of death and swing which cause the death of the vehicle can also occur under the limit working condition.
Disclosure of Invention
The embodiment of the application provides a trailer control method, a device, a trailer and a storage medium, which can realize that no matter the power strength of a tractor, the tractor can become very light when the tractor is towed, the power loss of the tractor is reduced, and the safety of the towed running process of the trailer can be ensured. The technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a trailer control method, where the trailer includes a trailer chassis and a motor, and the method includes:
obtaining the target traction force received by the traction chassis;
determining a target driving requirement corresponding to the trailer based on the target traction force;
and controlling the motor to enter a corresponding target state based on the target driving requirement.
In one possible implementation, the target driving requirement includes a target driving power requirement corresponding to the trailer;
the determining the target driving requirement corresponding to the trailer based on the target traction force includes:
determining a target driving force demand corresponding to the trailer based on the target traction force;
and determining a target driving power requirement corresponding to the trailer based on the target driving power requirement.
In one possible implementation manner, the determining the target driving power requirement corresponding to the trailer based on the target driving power requirement includes:
and determining the target driving power requirement corresponding to the trailer based on the target driving power requirement and the target vehicle speed corresponding to the trailer.
In one possible implementation, the target driving force demand is proportional to the target traction force, and the target driving force demand is less than or equal to the target traction force.
In one possible implementation manner, the controlling the motor to enter the corresponding target state based on the target driving requirement includes:
controlling the motor to increase the energy output based on the target drive demand when the target drive demand is positive;
controlling the motor to maintain the current state under the condition that the target driving requirement is 0;
and controlling the motor to enter an energy recovery state based on the target drive demand when the target drive demand is negative.
In one possible implementation, in the energy recovery state, the energy recovery power corresponding to the motor is proportional to an absolute value of the drive demand corresponding to the motor.
In one possible implementation manner, the method further includes:
when the trailer is in a preset state, controlling the motor to enter an energy recovery state; the preset state includes at least one of the following: the amplitude of the left-right alternation of the transverse acceleration of the trailer is larger than a preset amplitude, the frequency of the left-right alternation of the transverse acceleration is larger than a preset frequency, and the target vehicle speed corresponding to the trailer exceeds a preset safe vehicle speed.
In a second aspect, an embodiment of the present application provides a trailer control apparatus, where the trailer includes a trailer chassis and a motor, and the trailer control apparatus includes:
the acquisition module is used for acquiring the target traction force received by the traction chassis;
the determining module is used for determining the corresponding target driving requirement of the trailer based on the target traction force;
and the first control module is used for controlling the motor to enter a corresponding target state based on the target driving requirement.
In one possible implementation, the target driving requirement includes a target driving power requirement corresponding to the trailer;
the determining module includes:
a first determining unit configured to determine a target driving force demand corresponding to the trailer based on the target traction force;
and the second determining unit is used for determining the target driving power requirement corresponding to the trailer based on the target driving power requirement.
In one possible implementation manner, the second determining unit is specifically configured to:
and determining the target driving power requirement corresponding to the trailer based on the target driving power requirement and the target vehicle speed corresponding to the trailer.
In one possible implementation, the target driving force demand is proportional to the target traction force, and the target driving force demand is less than or equal to the target traction force.
In one possible implementation manner, the first control module includes:
a first control unit configured to control the motor to increase the energy output based on the target drive demand in a case where the target drive demand is a positive value;
a second control unit for controlling the motor to maintain a current state in case that the target driving requirement is 0;
and a third control unit configured to control the motor to enter an energy recovery state based on the target drive demand in a case where the target drive demand is negative.
In one possible implementation, in the energy recovery state, the energy recovery power corresponding to the motor is proportional to an absolute value of the drive demand corresponding to the motor.
In one possible implementation manner, the trailer control device further includes:
the second control module is used for controlling the motor to enter an energy recovery state when the trailer is in a preset state; the preset state includes at least one of the following: the amplitude of the left-right alternation of the transverse acceleration of the trailer is larger than a preset amplitude, the frequency of the left-right alternation of the transverse acceleration is larger than a preset frequency, and the target vehicle speed corresponding to the trailer exceeds a preset safe vehicle speed.
In a third aspect, an embodiment of the present application provides a trailer, including: the chassis, the motor, the processor and the memory are towed; wherein the pulling chassis is used for being connected with a tractor; the motor is used for providing energy for the trailer or recovering energy; the camera is used for capturing images, and the memory stores a computer program adapted to be loaded by a processor and to perform the method steps provided by the first aspect of the embodiments or any one of the possible implementations of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method steps provided by the first aspect of the embodiments or any one of the possible implementations of the first aspect.
The technical scheme provided by the embodiments of the application has the beneficial effects that at least:
in one or more embodiments of the present application, by determining a target driving requirement corresponding to a trailer according to a target traction force received by a trailer chassis of the trailer, and controlling a motor of the trailer to enter a corresponding target state based on the target driving requirement, it is possible to achieve that the power of the tractor is very light when the tractor is towed, reducing power loss of the tractor, and ensuring safety of the trailer during towing.
The foregoing description is only an overview of the present application, and is intended to provide a better understanding of the technical means of the present application, as well as to provide a better understanding of the above and other objects, features and advantages of the present application, in order to make the following detailed description of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a trailer control system according to an exemplary embodiment of the present application;
FIG. 2 is a flow chart of a trailer control method according to an exemplary embodiment of the present application;
FIG. 3 is a schematic diagram of an implementation flow for determining target driving requirements according to an exemplary embodiment of the present application;
FIG. 4 is a schematic diagram of an implementation process for determining a target drive power requirement according to an exemplary embodiment of the present application;
FIG. 5 is a schematic diagram of an implementation process for controlling a motor to enter a corresponding target state based on a target driving requirement according to an exemplary embodiment of the present application;
FIG. 6 is a flow chart of another trailer control method according to an exemplary embodiment of the present application;
fig. 7 is a schematic structural diagram of a trailer control device according to an exemplary embodiment of the present application;
fig. 8 is a schematic structural diagram of a trailer according to an exemplary embodiment of the present application.
Detailed Description
In order to make the features and advantages of the present application more comprehensible, embodiments accompanied with figures in the present application are described in detail below, wherein the embodiments are described only in some but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second, third and the like in the description and in the claims and in the above drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Referring next to fig. 1, an architecture diagram of a trailer control system according to an embodiment of the present application is shown. As shown in fig. 1, the trailer control system includes: a tractor 110 and a trailer 120.
Tractor 110 may be any vehicle having drive capability such as, but not limited to, an automobile, truck, etc. The tractor 110 may be coupled to the trailer chassis 121 of the trailer 120 behind it by a hitch coupler arm 111 and drive the trailer 120 forward.
The trailer 120 may be, but is not limited to, a vehicle having some driving capability, such as, but not limited to, a tractor trailer, or the like. A hitch chassis 121 may be mounted to the trailer 120, the hitch chassis 121 being adapted to be coupled to the tractor 110 and a motor 122 being adapted to provide energy to or recover energy from the trailer 120.
Specifically, in order to reduce the power loss of the tractor 110 and ensure the safety of the towed vehicle 120 during the towed vehicle, the trailer 120 may acquire the target traction force received by the towed chassis 121 through the traction sensor installed on the towed chassis 121, determine the target driving requirement corresponding to the trailer 120 based on the target traction force, and finally control the motor 122 of the trailer 120 to enter the corresponding target state based on the target driving requirement.
It will be appreciated that the types and numbers of vehicles of the tractor 110 and trailer 120 in the trailer control system as shown in fig. 1 are by way of example only, and that any number and type of tractor 110 and trailer 120 may be included in the trailer control system in a particular implementation.
Next, referring to fig. 1, a trailer control method provided by an embodiment of the present application will be described. Referring to fig. 2, a flow chart of a trailer control method according to an exemplary embodiment of the application is shown. As shown in fig. 2, the trailer control method includes the following steps:
s201, acquiring target traction force applied to the pulling chassis.
Specifically, the traction sensor can detect the target traction force applied to the trailer chassis during the traction running process of the trailer. When the target traction force is positive, the trailer can be considered to be pulled by the tractor currently to run, and when the target traction force is negative, the tractor can be considered to be braked and decelerated, and the trailer is pulled by the tractor to be changed into the trailer to push the tractor to run through the trailer connecting arm.
S202, determining a target driving requirement corresponding to the trailer based on the target traction force.
Specifically, the target driving requirement includes a target driving power requirement corresponding to the trailer. As shown in fig. 3, the implementation process of determining the target driving requirement corresponding to the trailer based on the target traction in S202 may include:
s301, determining a target driving force demand corresponding to the trailer based on the target traction force.
Specifically, after the target traction force received by the trailer hitch chassis is obtained, the target traction force may be input into a controller of the trailer, and the controller may directly determine the target traction force as a target driving force demand corresponding to the trailer, or may determine a corresponding target driving coefficient according to a target hitch gear currently corresponding to the trailer, and then multiply the target driving coefficient with the target traction force to obtain a corresponding target driving force demand. The target pulling gear may be a pulling gear selected by a driver of the trailer, or may be a pulling gear determined by a controller of the trailer according to a current driving state of the trailer, for example, a current vehicle speed, a current driving road condition, or the like, for example, when the current vehicle speed of the trailer is low, a higher target pulling gear may be correspondingly determined, so as to correspond to a larger target driving coefficient, thereby realizing more efficient and obvious auxiliary pulling effect, and the embodiment of the application is not limited thereto. The target drive coefficient is greater than or equal to 0 and less than or equal to 1.
It will be appreciated that the higher the target towing position, the greater the sensitivity of its trailer control, and the better the auxiliary hitch effect, the greater the corresponding target drive factor.
It will be appreciated that in order to reduce the power loss of the tractor, when the target traction is greater than 0, the target driving force demand of the trailer is also greater than 0; in order to ensure the safety of the towed running process of the trailer, when the target traction force is equal to 0, the target driving force demand corresponding to the trailer is equal to 0, and when the target traction force is smaller than 0, the target driving force demand corresponding to the trailer is also smaller than 0.
Optionally, the target driving force demand is proportional to the target traction force, i.e. the target traction force becomes larger, the corresponding target driving force demand is also strained larger, the target traction force is constant, the corresponding target driving force demand is also constant, the target traction force becomes smaller, the corresponding target driving force demand is also strained smaller, and the absolute value of the target driving force demand is smaller than or equal to the absolute value of the target traction force, thereby ensuring that the target driving force demand is always kept in a proper interval, not only enabling the driver to obtain linear feedback, ensuring the driving experience thereof, but also not causing excessive power loss of the tractor.
S302, determining a target driving power requirement corresponding to the trailer based on the target driving power requirement.
Alternatively, as shown in fig. 4, after determining the target driving force demand corresponding to the trailer based on the target traction force, the target driving power demand corresponding to the trailer may be determined directly based on the target driving force demand and the target vehicle speed corresponding to the trailer (i.e., the current vehicle speed), for example, but not limited to, when the target driving force demand is greater than or equal to 0, the target driving power demand may be obtained by directly multiplying the target driving force demand by the target vehicle speed; when the target driving force demand is smaller than 0, a corresponding target driving correction coefficient can be obtained based on a target mapping relation through the target vehicle speed, and then the target driving correction coefficient is multiplied with the target driving force demand to obtain a corresponding target driving power demand. The target mapping relationship is used to represent the correspondence between the driving correction coefficient and the driving force demand, and may be, but not limited to, a target mapping table or a target mapping function. According to the embodiment of the application, the current corresponding target driving power requirement of the trailer is determined together according to the current target speed and the target driving power requirement of the trailer, so that the determined target driving power requirement can be more attached to the realization running condition of the trailer, and more accurate and effective trailer control is realized.
Optionally, when the target driving force demand is greater than 0, the actual power output of the trailer motor will generate a certain influence due to the speed or state of the trailer, so as to realize more accurate trailer control, more effectively ensure the safety of the trailer in the towing running process, reduce the power loss of the tractor, make the tractor become very light when towing the trailer, obtain the corresponding target driving correction coefficient based on the target mapping relation through the target speed, and multiply the target driving force demand, the target speed and the target driving correction coefficient to obtain the corresponding target driving power demand under the condition that the target speed is not equal to 0. And under the condition that the target vehicle speed is equal to 0, directly multiplying the target driving correction coefficient by the target driving force demand to obtain the corresponding target driving power demand.
S203, controlling the motor to enter a corresponding target state based on the target driving requirement.
According to the embodiment of the application, the target driving requirement corresponding to the trailer is determined according to the target traction force born by the trailer chassis of the trailer, and the motor of the trailer is controlled to enter the corresponding target state based on the target driving requirement, so that the power strength of the trailer can be realized, the trailer can be very light when being towed, the power loss of the trailer is reduced, and the safety of the towed driving process of the trailer can be ensured.
Specifically, as shown in fig. 5, the implementation process of controlling the motor to enter the corresponding target state based on the target driving requirement in S203 may include: in the event that the target drive demand is positive, it may be considered that the tractor may be accelerating, i.e., the trailer is currently being pulled by the tractor, in order to reduce the power loss of the tractor and allow it to be pulled more quickly and easily, the trailer may control its motor to increase its power output based on the determined target drive demand, such as, but not limited to, outputting power at the determined target drive power demand, thereby providing some drive force support to the trailer and reducing the traction burden of the tractor. Under the condition that the target driving requirement is 0, the tractor and the trailer can be considered to reach a balanced state to a certain extent, and the motor of the trailer can be directly controlled to maintain the current state to drive along with the tractor. In the case of a negative target drive demand, it may be considered that the tractor may be driving downhill or decelerating, i.e. the trailer may be currently driving on a pushing tractor, in order to avoid tragic trails where "dead sway" causes the car to be destroyed, ensure safety during towing, control its motor into an energy recovery state based on the target drive demand, such as, but not limited to, into a power generation mode, etc., recovering the kinetic energy of the trailer and converting it into electric energy for the trailer to charge the battery.
Further, in order to still keep the driver from getting linear feedback in the energy recovery state, but compared with the conventional tractor with only bumping into the brake, the feeling that the tractor is pushed by the rear vehicle during braking can be significantly reduced, and the energy recovery power corresponding to the trailer motor should be proportional to the absolute value of the corresponding driving requirement (for example, the target driving power requirement) of the motor. At the same time, in order to avoid excessive energy recovery leading to greater power consumption of the tractor, the energy recovery power corresponding to the electric motor of the trailer should also be less than or equal to the absolute value of the target drive power demand.
Next, please refer to fig. 6, which is a flowchart illustrating another trailer control method according to an exemplary embodiment of the present application. As shown in fig. 6, the trailer control method includes the following steps:
s601, acquiring target traction force born by the pulling chassis.
Specifically, S601 corresponds to S201, and will not be described here again.
S602, determining a target driving requirement corresponding to the trailer based on the target traction.
Specifically, S602 corresponds to S202, and will not be described here.
S603, controlling the motor to enter a corresponding target state based on the target driving requirement.
Specifically, S603 corresponds to S203, and will not be described here again.
S604, when the trailer is in a preset state, the motor is controlled to enter an energy recovery state.
Specifically, the controller of the trailer may further integrate a lateral acceleration sensor for detecting a lateral acceleration of the trailer. The preset state may include, but is not limited to, at least one of: the amplitude of the left-right alternation of the transverse acceleration of the trailer is larger than a preset amplitude, the frequency of the left-right alternation of the transverse acceleration is larger than a preset frequency, and the corresponding target speed of the trailer exceeds a preset safe speed. The above-mentioned left-right alternation of the lateral acceleration may be, but is not limited to, a direction including the lateral acceleration of the trailer alternating in both left and right directions, for example, but not limited to, a first leftward change and then rightward change, or a first rightward change and then leftward change, etc. The amplitude of the lateral acceleration alternating left and right may be, but is not limited to, a maximum acceleration value obtained by changing the lateral acceleration of the trailer in both left and right directions, and the frequency of the lateral acceleration alternating left and right may be, but is not limited to, the number of times the lateral acceleration of the trailer changes in both left and right directions every minute or second.
In the embodiment of the application, when the amplitude of the left-right alternation of the transverse acceleration of the trailer is detected to be larger than the preset amplitude and the frequency of the left-right alternation of the transverse acceleration is detected to be larger than the preset frequency, the trailer can be considered to swing, at the moment, the motor is controlled to enter the energy recovery mode, so that the trailer can be lightened and decelerated, and finally the trailer returns to a safe driving state, the occurrence of the condition of death and swing of the trailer is avoided, and the driving safety of the trailer is improved. When the corresponding target speed of the trailer exceeds the preset safe speed, the trailer controller controls the motor to enter an energy recovery state, so that the increase of the speed of the trailer is limited, the condition that the trailer always pushes the tractor to run is avoided, and a certain guarantee is provided for the safe running of the tractor and the trailer.
Next, please refer to fig. 7, which is a schematic diagram of a trailer control device according to an exemplary embodiment of the present application. The trailer includes a hitch chassis and a motor, and as shown in fig. 7, the trailer control apparatus 700 includes:
an acquisition module 710, configured to acquire a target traction force applied to the hitch chassis;
a determining module 720, configured to determine a target driving requirement corresponding to the trailer based on the target traction force;
the first control module 730 controls the motor to enter a corresponding target state based on the target driving requirement.
In one possible implementation, the target driving requirement includes a target driving power requirement corresponding to the trailer;
the determining module 720 includes:
a first determining unit configured to determine a target driving force demand corresponding to the trailer based on the target traction force;
and the second determining unit is used for determining the target driving power requirement corresponding to the trailer based on the target driving power requirement.
In one possible implementation manner, the second determining unit is specifically configured to:
and determining the target driving power requirement corresponding to the trailer based on the target driving power requirement and the target vehicle speed corresponding to the trailer.
In one possible implementation, in the case where the target drive demand is a positive value, the target drive force demand is proportional to the target traction force, and the target drive force demand is less than or equal to the target traction force.
In one possible implementation manner, the first control module 730 includes:
a first control unit for controlling the motor to increase the energy output based on the target drive demand;
a second control unit for controlling the motor to maintain a current state in case that the target driving requirement is 0;
and a third control unit configured to control the motor to enter an energy recovery state based on the target drive demand in a case where the target drive demand is negative.
In one possible implementation, in the energy recovery state, the energy recovery power corresponding to the motor is proportional to an absolute value of the drive demand corresponding to the motor.
In one possible implementation, the trailer control apparatus 700 further includes:
the second control module is used for controlling the motor to enter an energy recovery state when the trailer is in a preset state; the preset state includes at least one of the following: the amplitude of the left-right alternation of the transverse acceleration of the trailer is larger than a preset amplitude, the frequency of the left-right alternation of the transverse acceleration is larger than a preset frequency, and the target vehicle speed corresponding to the trailer exceeds a preset safe vehicle speed.
The above-described division of the modules in the trailer control is for illustration only, and in other embodiments, the trailer control may be divided into different modules as needed to perform all or part of the above-described functions of the trailer control. The implementation of the various modules in the trailer control arrangement provided in the embodiments of the present description may be in the form of a computer program. The computer program may be run on a vehicle or a terminal or server. Program modules of the computer program may be stored in the memory of the vehicle or of the terminal or server. Which, when executed by a processor, carries out all or part of the steps of the trailer control method described in the embodiments of the present specification.
Next, referring to fig. 8, a schematic structural diagram of a trailer according to an exemplary embodiment of the present application is shown. As shown in fig. 8, the trailer 800 may include: at least one processor 810, at least one communication bus 820, a user interface 830, at least one network interface 840, memory 850, a hitch chassis 860, a motor 870, a towing force sensor 880.
Wherein the communication bus 820 may be used to facilitate the coupled communication of the various components described above.
The user interface 830 may include a Display screen (Display) and at least one Camera (Camera), and the user interface 830 may further include a standard wired interface and a wireless interface.
The network interface 840 may optionally include, among other things, a bluetooth module, a near field communication (Near Field Communication, NFC) module, a wireless fidelity (Wireless Fidelity, wi-Fi) module, and the like.
Wherein the hitch base 860 may be used to connect with a tractor;
wherein the motor 870 may be used to power or recover energy for the trailer 800;
wherein the traction sensor 880 may be used to detect a target traction force experienced by the hitch chassis 860;
wherein processor 810 may include one or more processing cores. The processor 810 uses various interfaces and lines to connect various portions of the overall trailer 800, perform various functions and process data of the routing trailer 800 by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 850, and invoking data stored in the memory 850. Alternatively, the processor 810 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 810 may integrate one or a combination of several of a processor (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 810 and may be implemented on a single chip.
The Memory 850 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (ROM). Optionally, the memory 850 includes a non-transitory computer-readable medium. Memory 850 may be used to store instructions, programs, code, sets of codes, or instruction sets. The memory 850 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (e.g., acquisition function, determination function, control function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data or the like referred to in the above respective method embodiments. Memory 850 may also optionally be at least one storage device located remotely from the aforementioned processor 810. As shown in fig. 8, an operating system, network communication modules, user interface modules, and program instructions may be included in memory 850, which is a type of computer storage media.
In particular, the processor 810 may be configured to invoke the program instructions stored in the memory 850 and to perform in particular the following operations:
and obtaining the target traction force applied by the traction chassis.
And determining the corresponding target driving requirement of the trailer based on the target traction force.
And controlling the motor to enter a corresponding target state based on the target driving requirement.
In some possible embodiments, the target drive requirement includes a target drive power requirement corresponding to the trailer;
the processor 810 is specifically configured to execute, when executing the determining the target driving requirement corresponding to the trailer based on the target traction force:
and determining a target driving force demand corresponding to the trailer based on the target traction force.
And determining a target driving power requirement corresponding to the trailer based on the target driving power requirement.
In some possible embodiments, when the processor 810 executes the determining the target driving power requirement corresponding to the trailer based on the target driving power requirement, the processor is specifically configured to execute:
and determining the target driving power requirement corresponding to the trailer based on the target driving power requirement and the target vehicle speed corresponding to the trailer.
In some possible embodiments, the target driving force demand is proportional to the target traction force, and the target driving force demand is less than or equal to the target traction force.
In some possible embodiments, the processor 810 is specifically configured to perform, when executing the control of the motor into the corresponding target state based on the target driving requirement:
and controlling the motor to increase the energy output based on the target drive demand when the target drive demand is positive.
And controlling the motor to maintain the current state under the condition that the target driving requirement is 0.
And controlling the motor to enter an energy recovery state based on the target drive demand when the target drive demand is negative.
In some possible embodiments, in the energy recovery state, the energy recovery power of the motor is proportional to an absolute value of the driving requirement of the motor.
In some possible embodiments, the processor 810 is further configured to perform:
when the trailer is in a preset state, controlling the motor to enter an energy recovery state; the preset state includes at least one of the following: the amplitude of the left-right alternation of the transverse acceleration of the trailer is larger than a preset amplitude, the frequency of the left-right alternation of the transverse acceleration is larger than a preset frequency, and the target vehicle speed corresponding to the trailer exceeds a preset safe vehicle speed.
Embodiments of the present application also provide a computer storage medium having instructions stored therein which, when run on a computer or processor, cause the computer or processor to perform one or more steps of any of the methods described above. The individual constituent modules of the trailer control arrangement described above may be stored in the storage medium if implemented in the form of software functional units and sold or used as separate products.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.
Those skilled in the art will appreciate that implementing all or part of the above-described embodiment methods may be accomplished by way of a computer program, which may be stored in a computer-readable storage medium, instructing relevant hardware, and which, when executed, may comprise the embodiment methods as described above. And the aforementioned storage medium includes: various media capable of storing program code, such as ROM, RAM, magnetic or optical disks. The technical features in the present examples and embodiments may be arbitrarily combined without conflict.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application and are not intended to limit the scope of the present application, and various modifications and improvements made by those skilled in the art to the technical solution of the present application should fall within the scope of protection defined by the claims of the present application without departing from the design spirit of the present application.
Claims (10)
1. A trailer control method, characterized in that the trailer comprises a trailer chassis and a motor; the method comprises the following steps:
obtaining a target traction force born by the traction chassis;
determining a target driving requirement corresponding to the trailer based on the target traction force;
and controlling the motor to enter a corresponding target state based on the target driving requirement.
2. The method of claim 1, wherein the target drive demand comprises a corresponding target drive power demand of the trailer;
the determining the corresponding target driving requirement of the trailer based on the target traction force comprises the following steps:
determining a target driving force demand corresponding to the trailer based on the target traction force;
and determining a target driving power requirement corresponding to the trailer based on the target driving power requirement.
3. The method of claim 2, wherein the determining a corresponding target drive power demand for the trailer based on the target drive power demand comprises:
and determining the target driving power requirement corresponding to the trailer based on the target driving power requirement and the target vehicle speed corresponding to the trailer.
4. The method of claim 2, wherein the target drive force demand is proportional to the target traction force, and the target drive force demand is less than or equal to the target traction force.
5. The method of any of claims 1-4, wherein controlling the motor to enter a corresponding target state based on the target drive demand comprises:
controlling the motor to increase energy output based on the target drive demand, if the target drive demand is positive;
controlling the motor to maintain the current state under the condition that the target driving requirement is 0;
and controlling the motor to enter an energy recovery state based on the target drive demand when the target drive demand is negative.
6. The method of claim 5, wherein in the energy recovery state, the energy recovery power of the electric machine is proportional to an absolute value of the drive demand of the electric machine.
7. The method of claim 1, wherein the method further comprises:
when the trailer is in a preset state, controlling the motor to enter an energy recovery state; the preset state includes at least one of: the amplitude of the left-right alternation of the transverse acceleration of the trailer is larger than a preset amplitude, the frequency of the left-right alternation of the transverse acceleration is larger than a preset frequency, and the target vehicle speed corresponding to the trailer exceeds a preset safe vehicle speed.
8. A trailer control device, wherein the trailer comprises a trailer chassis and a motor; the trailer control device includes:
the acquisition module is used for acquiring the target traction force born by the traction chassis;
a determining module for determining a target driving requirement corresponding to the trailer based on the target traction force;
and the first control module is used for controlling the motor to enter a corresponding target state based on the target driving requirement.
9. A trailer, comprising: the chassis, the motor, the processor and the memory are towed; wherein the trailer chassis is used for being connected with a tractor; the motor is used for providing energy for the trailer or recovering energy; the memory stores a computer program adapted to be loaded by a processor and to perform the method steps of any of claims 1-7.
10. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method steps of any of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310667971.0A CN116811596A (en) | 2023-06-07 | 2023-06-07 | Trailer control method and device, trailer and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310667971.0A CN116811596A (en) | 2023-06-07 | 2023-06-07 | Trailer control method and device, trailer and storage medium |
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| CN116811596A true CN116811596A (en) | 2023-09-29 |
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| CN202310667971.0A Pending CN116811596A (en) | 2023-06-07 | 2023-06-07 | Trailer control method and device, trailer and storage medium |
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