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Vehicle anti-folding control method, device, electronic device and medium

A folding control and vehicle technology, applied in the direction of brakes, etc., can solve problems such as endangering the life safety of drivers, longitudinal folding, property damage, etc., and achieve the effect of reducing load, alleviating the danger of folding, and improving portability

Active Publication Date: 2022-03-11
TIANJIN SOTEREA AUTOMOTIVE TECH LMITED CO +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the structure of the semi-trailer train also has unavoidable structural defects. Due to the large loading mass of the trailer and the relatively fragile structure of the hinge point with the tractor, longitudinal folding is prone to occur during emergency braking, resulting in major property losses and even may endanger the life of the driver

Method used

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  • Vehicle anti-folding control method, device, electronic device and medium
  • Vehicle anti-folding control method, device, electronic device and medium
  • Vehicle anti-folding control method, device, electronic device and medium

Examples

Experimental program
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Effect test

Embodiment 1

[0032] figure 1 It is a flow chart of a vehicle anti-folding control method provided in this embodiment. This embodiment is suitable for controlling during vehicle braking to prevent the tractor and trailer from folding. The method can be executed by a vehicle anti-folding control device, which can be composed of software and / or hardware, and is generally integrated in electronic equipment.

[0033] see figure 1 , the vehicle anti-folding control method includes the following steps:

[0034] S110. Establish a drag force control objective function according to the tractor mass, trailer mass, tractor longitudinal acceleration, vehicle rolling resistance coefficient, tractor braking torque, trailer braking torque, and retarder braking torque; the drag force control target The function is the relationship between the drag force generated by the trailer at the hinge on the tractor and the target torque difference between the tractor and the trailer, and the control target of the ...

Embodiment 2

[0058] see figure 2 , this embodiment provides another vehicle anti-folding control method, which is an optimization of S120 in Embodiment 1, and the method includes the following steps:

[0059] S110. Establish a drag force control objective function according to the tractor mass, trailer mass, tractor longitudinal acceleration, vehicle rolling resistance coefficient, tractor braking torque, trailer braking torque, and retarder braking torque; the drag force control target The function is the relationship between the drag force generated by the trailer at the hinge on the tractor and the target torque difference between the tractor and the trailer, and the control target of the drag force is to be controlled within a range greater than zero and not higher than the allowable value.

[0060] S121. Determine the expected drag force function according to the mass of the tractor, the maximum acceleration of the tractor, and the maximum speed of the tractor.

[0061] Wherein, the...

Embodiment 3

[0075] see image 3 , this embodiment provides another vehicle anti-folding control method, which further adds a step of determining the quality of the trailer on the basis of Embodiment 2, and the method includes the following steps:

[0076] S011. According to the angular acceleration of each wheel when the vehicle is running, the driving torque of each driving wheel, the actual output torque of the engine, the moment of inertia of the wheel, the rolling radius of the wheel, the coefficient of rolling resistance, the air resistance and the angle of the slope, determine the real-time vehicle quality and vehicle quality. A priori estimate of car mass.

[0077] Wherein, the real-time vehicle quality is calculated using the following formula:

[0078] ;

[0079] Among them, M i is the real-time vehicle quality, T i is the driving torque of the i-th driving wheel, η is the transmission efficiency; J w is the moment of inertia of the wheel, is the angular acceleration of ...

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Abstract

The invention relates to a vehicle anti-folding control method, device, electronic equipment and medium. The method includes establishing the drag force control objective function according to the mass of the tractor, the mass of the trailer, the longitudinal acceleration of the tractor, the rolling resistance coefficient of the vehicle, the braking torque of the tractor, the braking torque of the trailer and the braking torque of the retarder; the objective function is The relationship between the drag force generated by the trailer on the tractor and the target torque difference between the tractor and the trailer, the control target of the drag force is to be controlled within the range greater than zero and not higher than the allowable value; according to the drag force control objective function and To control the drag force, determine the target torque difference between the tractor and the trailer; determine the brake pressure of the tractor and the brake pressure of the trailer according to the brake coefficient, brake manifold pressure and target torque difference; control the tractor according to the tractor system Dynamic pressure braking, control the trailer to brake according to the trailer braking pressure. The method can prevent the longitudinal folding of the tractor and the trailer when the semi-trailer is braked.

Description

technical field [0001] The invention relates to the field of active safety of commercial vehicles, in particular to a vehicle anti-folding control method, device, electronic equipment and media. Background technique [0002] With the rapid development of China's highway mileage and the rapid rise of freight and express delivery industries, road transportation has unique advantages compared with railway and air transportation. High efficiency, good economy and so on. However, the structure of the semi-trailer train also has unavoidable structural defects. Due to the large loading mass of the trailer and the relatively fragile structure of the hinge point with the tractor, longitudinal folding is prone to occur during emergency braking, resulting in major property losses and even It may endanger the life safety of the driver. In order to prevent the folding phenomenon, the braking force distribution of the tractor and trailer plays a decisive role. Therefore, it is of great...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60T8/17
CPCB60T8/1708
Inventor 徐显杰
Owner TIANJIN SOTEREA AUTOMOTIVE TECH LMITED CO