Vehicle control method, device and equipment and vehicle

Abstract

The embodiment of the invention provides a vehicle control method, device and equipment and a vehicle. The method comprises the following steps: responding to a driving request sent by a traction vehicle head control system, and determining electric quantity information of a trailer power supply module; according to the electric quantity information, the trailer electric drive electro-mechanical conversion module is controlled to conduct energy recovery work; meanwhile, according to the electric quantity information, the trailer photovoltaic module is controlled to work; wherein the trailer electric drive electro-mechanical conversion module and the trailer photovoltaic module are both used for transmitting electric energy to the trailer power supply module; and the trailer is driven to run through the trailer electric drive electro-mechanical conversion module and the trailer power supply module. The method can improve the vehicle performance and the energy utilization rate.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, equipment and vehicle. Background Art

[0002] At present, in the process of transportation, a tractor is generally composed of a tractor head and a trailer, wherein the tractor head provides traction and braking force to drive the trailer to operate.

[0003] In the prior art, the tractor cannot effectively convert the mechanical energy generated during operation into electrical energy to drive the trailer, resulting in reduced vehicle performance and energy utilization.

[0004] Therefore, there is an urgent need to provide a vehicle control method based on energy recovery. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, equipment and vehicle, which can improve the performance and energy utilization of the vehicle.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, which is applied to a trailer control module in a vehicle; the vehicle also includes a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module, and a trailer photovoltaic module; the method includes:

[0007] Responding to the travel request sent by the tractor head control system, and determining the power information of the trailer power module; wherein the power information represents the power storage status of the trailer power module;

[0008] According to the power information, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery; at the same time, according to the power information, the trailer photovoltaic module is controlled to work; wherein the trailer electric drive electromechanical conversion module and the trailer photovoltaic module are both used to transmit electric energy to the trailer power module;

[0009] The trailer is driven to travel by means of the trailer electric drive electromechanical conversion module and the trailer power supply module.

[0010] In a possible implementation manner, the driving request is a braking request; and according to the power information, controlling the trailer electric drive electromechanical conversion module to perform energy recovery includes:

[0011] If it is determined that the power information indicates that the trailer power module is not fully charged, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery.

[0012] In a possible implementation manner, the travel request is an acceleration request; and the method further includes:

[0013] If it is determined that the power value in the power information is greater than or equal to a preset threshold, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery.

[0014] In a possible implementation, controlling the trailer photovoltaic module to operate according to the power information includes:

[0015] If it is determined that the power information indicates that the trailer power module is not fully charged, then obtaining illumination information; wherein the illumination information indicates the illumination conditions of the current environment of the vehicle;

[0016] If it is determined that the illumination condition represented by the illumination information meets the preset conditions, the trailer photovoltaic module is controlled to perform photoelectric conversion.

[0017] In a possible implementation manner, the vehicle further includes a tractor head power module; and the method further includes:

[0018] If it is determined that the power value in the power information is within a first preset range, determining a connection state;

[0019] If it is determined that the connection status indicates that the tractor head is connected to the trailer, a first power transmission request is generated and sent to the tractor head control system; wherein the first power transmission request is used to request the tractor head control system to control whether the tractor head power module receives the power transmitted by the trailer power module.

[0020] In a possible implementation, the method further includes:

[0021] If it is determined that the power value in the power information is within a second preset range, determining the connection state; wherein the second preset range is smaller than the first preset range;

[0022] If it is determined that the connection status indicates that the tractor head is connected to the trailer, a second power transmission request is generated and sent to the tractor head control system; wherein the second power transmission request is used to request the tractor head control system to control the tractor head power module in the tractor head to transmit power to the trailer power module.

[0023] In a possible implementation, the method further includes:

[0024] If it is determined that the power value in the power information is within a third preset range, then determining the power usage information of the trailer; wherein the third preset range is greater than the second preset range and less than the first preset range;

[0025] If it is determined that the power usage information indicates that the power recovered by the trailer within the preset time period is greater than the power consumed, then executing the step of generating and sending a first power transmission request to the tractor head control system if it is determined that the connection state indicates that the tractor head is connected to the trailer;

[0026] If it is determined that the electric energy usage information indicates that the electric energy recovered by the trailer within a preset time period is less than or equal to the electric energy consumed, then the step of generating and sending a second electric energy transmission request to the tractor head control system if it is determined that the connection status indicates that the tractor head is connected to the trailer is executed.

[0027] In a possible implementation manner, the vehicle further includes a trailer electrical appliance module; and the method further includes:

[0028] The trailer power module is used to control the operation of the trailer electrical appliance module.

[0029] In a second aspect, an embodiment of the present application provides a vehicle control method, which is applied to a tractor head control system in a vehicle; the vehicle also includes a trailer control module, a trailer power module, a trailer electric drive electromechanical conversion module, and a trailer photovoltaic module; the method includes:

[0030] receiving the real-time wheel speed of the trailer in the vehicle sent by the trailer control module; and generating a travel request according to the real-time wheel speed of the trailer; wherein the travel request is an acceleration request or a braking request;

[0031] Acquire the real-time wheel speed of the tractor locomotive in the vehicle; and send the real-time wheel speed of the locomotive and the travel request to the trailer control module; wherein the trailer control module is used to execute the method as described in the first aspect.

[0032] In a possible implementation manner, after obtaining the real-time wheel speed of the locomotive of the traction locomotive in the vehicle, the method further includes:

[0033] Obtaining the pedal opening of the target pedal corresponding to the driving request; and determining the required acceleration and deceleration power of the vehicle according to the real-time wheel speed of the vehicle head and the pedal opening; wherein the required acceleration and deceleration power is the total output power required when the current vehicle is accelerating and decelerating;

[0034] Determining the acceleration and deceleration power of the tractor head and the acceleration and deceleration power of the trailer according to the required acceleration and deceleration power, the mass of the tractor head and the empty vehicle mass of the trailer;

[0035] The acceleration and deceleration operation of the tractor head is controlled according to the acceleration and deceleration power of the tractor head; at the same time, the acceleration and deceleration operation of the trailer is controlled by the trailer control module according to the acceleration and deceleration power of the trailer.

[0036] In a possible implementation manner, determining the acceleration and deceleration power of the tractor head and the acceleration and deceleration power of the trailer according to the required acceleration and deceleration power, the mass of the tractor head, and the empty vehicle mass of the trailer includes:

[0037] If it is determined that the trailer is connected to the tractor head, the acceleration and deceleration information of the trailer sent by the trailer control module is received;

[0038] If it is determined that the acceleration / deceleration information indicates that the power of the trailer power module in the trailer can support the acceleration / deceleration operation of the trailer, the acceleration / deceleration power of the tractor head and the acceleration / deceleration power of the trailer are determined according to the required acceleration / deceleration power, the mass of the tractor head and the empty mass of the trailer.

[0039] In a possible implementation, the method further includes:

[0040] receiving the trailer real-time wheel speed, power information and maximum output power of the trailer sent by the trailer control module; wherein the maximum output power is the maximum output power supported by the trailer electric drive electromechanical conversion module in the trailer;

[0041] If it is determined that the real-time wheel speed of the tractor locomotive is inconsistent with the real-time wheel speed of the trailer, the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor locomotive are determined according to the real-time wheel speed of the trailer, the power information and the maximum output power.

[0042] In a possible implementation manner, determining the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor head according to the real-time wheel speed of the trailer, the power information, and the maximum output power includes:

[0043] If it is determined that the acceleration and deceleration power of the trailer is greater than the maximum output power, the maximum output power is determined as the new acceleration and deceleration power of the trailer; at the same time, the difference between the required acceleration and deceleration power and the maximum output power is determined as the new acceleration and deceleration power of the tractor head;

[0044] If it is determined that the acceleration and deceleration power of the trailer is less than or equal to the maximum output power, the acceleration and deceleration power of the trailer and the head power of the tractor are adjusted according to the real-time wheel speed of the trailer, the real-time wheel speed of the head and the power information to obtain new acceleration and deceleration power of the trailer and new acceleration and deceleration power of the tractor.

[0045] In a third aspect, an embodiment of the present application provides a vehicle control device, which is applied to a trailer control module in a vehicle; the vehicle also includes a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module, and a trailer photovoltaic module; the device includes:

[0046] A determination module, used to respond to the travel request sent by the tractor head control system and determine the power information of the trailer power module; wherein the power information represents the power storage status of the trailer power module;

[0047] A control module is used to control the trailer electric drive electromechanical conversion module to perform energy recovery according to the power information; at the same time, control the trailer photovoltaic module to work according to the power information; wherein the trailer electric drive electromechanical conversion module and the trailer photovoltaic module are both used to transmit electric energy to the trailer power module;

[0048] The driving module is used to drive the trailer to travel through the trailer electric drive electromechanical conversion module and the trailer power supply module.

[0049] In a possible implementation, the driving request is a braking request; the control module is specifically used to: if it is determined that the power information indicates that the trailer power module is not fully charged, then control the trailer electric drive electromechanical conversion module to perform energy recovery.

[0050] In a possible implementation, the driving request is an acceleration request; the control module is further specifically used to: if it is determined that the power value in the power information is greater than or equal to a preset threshold, control the trailer electric drive electromechanical conversion module to perform energy recovery.

[0051] In a possible implementation, the control module is further specifically used to: if it is determined that the power information indicates that the trailer power module is not fully charged, then obtain lighting information; wherein the lighting information indicates the lighting conditions of the current vehicle environment; if it is determined that the lighting conditions indicated by the lighting information meet preset conditions, then control the trailer photovoltaic module to perform photoelectric conversion.

[0052] In a possible implementation, the vehicle further includes a tractor head power module; the device is further used to: if it is determined that the power value in the power information is within a first preset range, determine the connection status; if it is determined that the connection status indicates that the tractor head is connected to the trailer, generate and send a first power transmission request to the tractor head control system; wherein the first power transmission request is used to request the tractor head control system to control whether the tractor head power module receives the power transmitted by the trailer power module.

[0053] In a possible implementation, the device is also used to: if it is determined that the power value in the power information is within a second preset range, determine the connection status; wherein the second preset range is smaller than the first preset range; if it is determined that the connection status indicates that the tractor head is connected to the trailer, generate and send a second power transmission request to the tractor head control system; wherein the second power transmission request is used to request the tractor head control system to control the tractor head power module in the tractor head to transmit power to the trailer power module.

[0054] In a possible implementation, the device is also used to: if it is determined that the power value in the power information is within a third preset range, determine the power usage information of the trailer; wherein the third preset range is greater than the second preset range and less than the first preset range; if it is determined that the power usage information indicates that the power recovered by the trailer within a preset time period is greater than the power consumed, then execute the step of generating and sending a first power transmission request to the tractor head control system if it is determined that the connection status indicates that the tractor head is connected to the trailer; if it is determined that the power usage information indicates that the power recovered by the trailer within the preset time period is less than or equal to the power consumed, then execute the step of generating and sending a second power transmission request to the tractor head control system if it is determined that the connection status indicates that the tractor head is connected to the trailer.

[0055] In a possible implementation manner, the vehicle further includes a trailer electrical appliance module; and the device is further used to control the operation of the trailer electrical appliance module through the trailer power module.

[0056] In a fourth aspect, an embodiment of the present application provides a vehicle control device, which is applied to a tractor head control system in a vehicle; the vehicle also includes a trailer control module, a trailer power module, a trailer electric drive electromechanical conversion module, and a trailer photovoltaic module; the device includes:

[0057] a generating module, configured to receive the real-time wheel speed of the trailer in the vehicle sent by the trailer control module; and generate a driving request according to the real-time wheel speed of the trailer; wherein the driving request is an acceleration request or a braking request;

[0058] A sending module is used to obtain the real-time wheel speed of the front of the tractor in the vehicle; and send the real-time wheel speed of the front and the driving request to the trailer control module; wherein the trailer control module is used to execute the method as described in the third aspect.

[0059] In a possible implementation manner, after the sending module is used to obtain the real-time wheel speed of the tractor locomotive in the vehicle, the device is also used to: obtain the pedal opening of the target pedal corresponding to the travel request; and determine the required acceleration and deceleration power of the vehicle according to the real-time wheel speed of the locomotive and the pedal opening; wherein the required acceleration and deceleration power is the total output power required when the current vehicle is accelerating and decelerating; according to the required acceleration and deceleration power, the mass of the tractor locomotive and the empty vehicle mass of the trailer, the acceleration and deceleration power of the tractor locomotive and the acceleration and deceleration power of the trailer are determined; according to the acceleration and deceleration power of the tractor locomotive, the acceleration and deceleration operation of the tractor locomotive is controlled; and at the same time, according to the acceleration and deceleration power of the trailer, the acceleration and deceleration operation of the trailer is controlled through the trailer control module.

[0060] In a possible implementation manner, the device is further specifically used for: if it is determined that the trailer is connected to the tractor head, then receiving the acceleration and deceleration information of the trailer sent by the trailer control module; if it is determined that the acceleration and deceleration information indicates that the power of the trailer power module in the trailer can support the acceleration and deceleration operation of the trailer, then determining the acceleration and deceleration power of the tractor head and the acceleration and deceleration power of the trailer according to the required acceleration and deceleration power, the mass of the tractor head and the empty vehicle mass of the trailer.

[0061] In a possible implementation manner, the device is further specifically used to: receive the real-time wheel speed, power information and maximum output power of the trailer sent by the trailer control module; wherein the maximum output power is the maximum output power supported by the trailer electric drive electromechanical conversion module in the trailer; if it is determined that the real-time wheel speed of the tractor head and the real-time wheel speed of the trailer are inconsistent, then determine the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor head according to the real-time wheel speed of the trailer, the power information and the maximum output power.

[0062] In a possible implementation manner, the device is further specifically used for: if it is determined that the acceleration and deceleration power of the trailer is greater than the maximum output power, then determining the maximum output power as the new acceleration and deceleration power of the trailer; at the same time, determining the difference between the required acceleration and deceleration power and the maximum output power as the new acceleration and deceleration power of the tractor head; if it is determined that the acceleration and deceleration power of the trailer is less than or equal to the maximum output power, then adjusting the acceleration and deceleration power of the trailer and the head power of the tractor head according to the real-time wheel speed of the trailer, the real-time wheel speed of the head and the power information to obtain the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor head.

[0063] In a fifth aspect, an embodiment of the present application provides a trailer control module, including: a memory, a processor;

[0064] The memory stores computer-executable instructions;

[0065] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method of the first aspect as described above.

[0066] In a sixth aspect, an embodiment of the present application provides a tractor head control system, including: a memory, a processor;

[0067] The memory stores computer-executable instructions;

[0068] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method of the second aspect as described above.

[0069] In a seventh aspect, an embodiment of the present application provides a vehicle, the vehicle comprising a trailer control module and a tractor head control system; the vehicle also comprises a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module;

[0070] The trailer control module is used to execute the method according to the first aspect;

[0071] The tractor head control system is used to execute the method as described in the second aspect.

[0072] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-readable storage medium is stored computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the method of the first aspect and / or the second aspect as described above.

[0073] In a ninth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method of the first aspect and / or the second aspect above.

[0074] The vehicle control method, device, equipment and vehicle provided in the embodiments of the present application are configured with a trailer power module, a trailer photovoltaic module, an electric drive electromechanical conversion module, a trailer control module and a tractor head control system in the vehicle. The trailer control module controls the operation of the trailer electric drive electromechanical conversion module and the trailer photovoltaic module through a driving request sent by the tractor head control system in combination with the electric energy storage status of the trailer power module, so as to transmit electric energy to the trailer power module and drive the trailer to accelerate and decelerate, so as to drive the trailer to drive, thereby improving the performance and energy utilization of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0076] Figure 1 A schematic diagram of a trailer energy recovery and use scheme provided in this application;

[0077] Figure 2 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0078] Figure 3 A schematic diagram of the structure of a self-driving intelligent trailer system provided in an embodiment of the present application;

[0079] Figure 4 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0080] Figure 5 A schematic diagram of a control process of a trailer electric drive electromechanical conversion module provided in an embodiment of the present application;

[0081] Figure 6 A schematic flow chart of another trailer electric drive electromechanical conversion module control process provided in an embodiment of the present application;

[0082] Figure 7 A schematic diagram of a trailer photovoltaic module control process provided in an embodiment of the present application;

[0083] Figure 8 A structural schematic diagram of another self-driving intelligent trailer system provided in an embodiment of the present application;

[0084] Fig. 9 A schematic diagram of a power allocation process provided in an embodiment of the present application;

[0085] Fig.10 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0086] Fig.11 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0087] Fig.12 A schematic diagram of a control logic based on a tractor head control system provided in an embodiment of the present application;

[0088] Fig.13 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0089] Fig.14 A schematic diagram of the structure of another vehicle control device provided in an embodiment of the present application;

[0090] Fig.15 A schematic diagram of the structure of a trailer control module provided in an embodiment of the present application;

[0091] Fig.16 A schematic structural diagram of a tractor head control system provided in an embodiment of the present application.

[0092] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0093] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0094] At present, in the process of transportation, a tractor is generally composed of a tractor head and a trailer, wherein the tractor head provides traction and braking force to drive the trailer to operate.

[0095] In one example, the current trailer energy recovery and use scheme mainly recovers the mechanical energy of the wheels under braking and converts it into electrical energy, which is then used for output under driving state; Figure 1 A schematic diagram of a trailer energy recovery and use scheme provided in this application, such as Figure 1 As shown, the sensor module detects information such as the vehicle's driving slope and speed and transmits them to the control module, controls the electromechanical conversion module on the drive wheel to be in an energy recovery or drive output state, and sets an energy storage module to store electrical energy.

[0096] Combining the above scenarios, it can be seen that the tractor cannot effectively convert the mechanical energy generated during operation into electrical energy to drive the trailer, resulting in reduced vehicle performance and energy utilization.

[0097] The vehicle control method provided by the present application, by arranging a trailer power module, a trailer photovoltaic module, an electric drive electromechanical conversion module, a trailer control module, and a tractor head control system in the vehicle, the trailer control module, through the driving request sent by the tractor head control system, combined with the power storage status of the trailer power module, controls the operation of the trailer electric drive electromechanical conversion module and the trailer photovoltaic module, so as to transmit electric energy to the trailer power module and drive the trailer to accelerate and decelerate, so as to drive the trailer to travel, thereby solving the technical problem of reduced vehicle performance and energy utilization.

[0098] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0099] Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application is shown as follows: Figure 2 As shown, the method is applied to a trailer control module in a vehicle; the vehicle also includes a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the method includes:

[0100] 201. The trailer control module responds to the travel request sent by the tractor head control system and determines the power information of the trailer power module; wherein the power information represents the power storage status of the trailer power module.

[0101] For example, Figure 3 A structural diagram of a self-driving intelligent trailer system provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the execution subject of this embodiment can be a trailer control module in a vehicle, and the vehicle also includes a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module, and a trailer photovoltaic module; wherein the trailer photovoltaic module can be laid on the left and right sides of the trailer compartment and the flat area on the top of the compartment. There is signal interaction between the trailer control module and the tractor head control system, the trailer power module, the trailer electric drive electromechanical conversion module, and the trailer photovoltaic module, respectively, and there is power transmission between the trailer power module and the trailer electric drive electromechanical conversion module and the trailer photovoltaic module, respectively. A travel request is sent to the trailer control module through the tractor head control system; in response to the travel request, the trailer control module can obtain power information from the trailer power module to understand the power storage status of the trailer power module.

[0102] 202. The trailer control module controls the trailer electric drive electromechanical conversion module to perform energy recovery according to the power information; at the same time, the trailer photovoltaic module is controlled to work according to the power information; wherein the trailer electric drive electromechanical conversion module and the trailer photovoltaic module are both used to transmit electric energy to the trailer power module.

[0103] Exemplarily, the trailer control module analyzes the energy storage status of the trailer power module according to a preset control strategy, and controls the trailer electric drive electromechanical conversion module to perform energy recovery, so as to convert the trailer wheel mechanical energy into electrical energy, and transmit the recovered electrical energy to the trailer power module to store the electrical energy; at the same time, the trailer control module analyzes the energy storage status of the trailer power module according to a preset control strategy, and controls the trailer photovoltaic module to convert light energy into electrical energy, and transmits the generated electrical energy to the trailer power module to store the electrical energy.

[0104] 203. The trailer control module drives the trailer to travel through the trailer electric drive electromechanical conversion module and the trailer power supply module.

[0105] Exemplarily, the trailer control module controls the trailer electric drive electromechanical conversion module to perform energy recovery according to the driving request sent by the tractor head control system, and then controls the trailer electric drive electromechanical conversion module to perform driving work and controls the trailer power supply module to output driving electric energy to the trailer electric drive electromechanical conversion module, so that the trailer electric drive electromechanical conversion module can drive the trailer to accelerate and decelerate.

[0106] For example, in a long uphill condition, the trailer control module controls the trailer electric drive electromechanical conversion module to perform energy recovery according to the acceleration request sent by the tractor head control system, and also controls the trailer electric drive electromechanical conversion module to perform acceleration driving work and controls the trailer power module to output driving power to the trailer electric drive electromechanical conversion module, so that the trailer electric drive electromechanical conversion module can drive the trailer to accelerate. In addition, it can avoid the rapid exhaustion of energy of the trailer power module in the long uphill condition, ensuring the normal driving of the vehicle.

[0107] For another example, in a long downhill condition, the trailer control module controls the trailer electric drive electromechanical conversion module to perform energy recovery according to the deceleration request sent by the tractor head control system, and also controls the trailer electric drive electromechanical conversion module to perform braking drive work and controls the trailer power module to output driving power to the trailer electric drive electromechanical conversion module, so that the trailer electric drive electromechanical conversion module can drive the trailer to decelerate. In addition, it can avoid excess energy of the trailer power module in a long downhill condition and improve energy utilization.

[0108] In this embodiment, a vehicle control method is provided, which controls the trailer photovoltaic module to generate electricity and controls the trailer electric drive electromechanical conversion module to recover electricity according to the power status of the trailer power module to drive the vehicle to operate. On the one hand, the mechanical energy generated during the operation of the vehicle can be effectively converted into electrical energy to drive the trailer to operate, so that the trailer in the vehicle has self-driving capability to improve the performance and energy utilization of the vehicle; on the other hand, the problem of rapid energy depletion or low energy utilization of the trailer power module can be avoided under long uphill or downhill conditions.

[0109] Figure 4 A flow chart of another vehicle control method provided in an embodiment of the present application is shown as follows: Figure 4 As shown, the method is applied to a trailer control module in a vehicle; the vehicle also includes a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the method includes:

[0110] 301. The trailer control module responds to the travel request sent by the tractor head control system and determines the power information of the trailer power module; wherein the power information represents the power storage status of the trailer power module.

[0111] Exemplarily, this step may refer to step 201 and will not be described in detail here.

[0112] After step 301 , step 302 , step 303 , step 304 , or step 307 may be executed.

[0113] 302. If the trailer control module determines that the power information indicates that the trailer power module is not fully charged, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery.

[0114] The travel request is a braking request.

[0115] Exemplarily, after step 301, when the tractor head brakes, the trailer control module collects trailer wheel speed sensor information and transmits it to the tractor head control system. The tractor head control system sends a braking request and main wheel speed information to the trailer control module. The trailer control module determines whether the trailer power module is fully charged based on the collected power information of the trailer power module; if it is determined that the trailer power module is not fully charged, the trailer electric drive electromechanical conversion module is controlled to work, recover mechanical energy and convert it into electrical energy, and achieve a braking effect, wherein the energy recovery rate changes according to the braking requirements, and the generated electrical energy is transmitted to the trailer power module. When the power module is fully charged in an abnormal situation, the energy recovery stops working.

[0116] For example, Figure 5 A flow chart of a control process of a trailer electric drive electromechanical conversion module provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, based on the wheel speed sensor in the vehicle, the real-time wheel speed information of the trailer can be collected and sent to the trailer control module. The trailer control module sends the real-time wheel speed of the trailer to the tractor head control system. The tractor head sends a real-time braking request and a real-time head wheel speed to the trailer control module. When the braking request sent by the tractor head control system is received, it is determined whether the trailer power module is fully charged according to the collected power information of the trailer power module; if it is determined that the trailer power module is not fully charged, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery to convert kinetic energy into electrical energy and charge the trailer power module; if it is determined that the trailer power module is fully charged, the trailer electric drive electromechanical conversion module is controlled to stop the energy recovery work.

[0117] 303. If the trailer control module determines that the power value in the power information is greater than or equal to the preset threshold, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery.

[0118] The driving request is an acceleration request.

[0119] Exemplarily, after step 301, when the tractor head accelerates, the trailer control module collects trailer wheel speed sensor information and transmits it to the tractor head control system. The tractor head control system sends an acceleration request and the main wheel speed information to the trailer control module. The trailer control module determines whether the trailer power module power value is greater than or equal to the preset threshold value based on the collected power information of the trailer power module; if it is determined that the power value in the power information of the trailer power module is greater than or equal to the preset threshold value, the trailer electric drive electromechanical conversion module is controlled to work, recover mechanical energy and convert it into electrical energy, and drive the trailer to accelerate to achieve the acceleration effect. If the trailer power module is below a certain lower limit threshold, the trailer electric drive will no longer work.

[0120] For example, Figure 6 A flow chart of another trailer electric drive electromechanical conversion module control process provided in an embodiment of the present application, such as Figure 6 As shown, based on the wheel speed sensor in the vehicle, the real-time wheel speed information of the trailer can be collected and sent to the trailer control module. The trailer control module sends the real-time wheel speed of the trailer to the tractor head control system. The tractor head sends a real-time acceleration request and a real-time head wheel speed to the trailer control module. When the acceleration request sent by the tractor head control system is received, it is determined whether the power of the trailer power module is lower than the lower warning threshold according to the collected power information of the trailer power module; if it is determined that the power of the trailer power module is not lower than the lower warning threshold, the trailer electric drive electromechanical conversion module, that is, the electromechanical conversion module is controlled to perform energy recovery work to convert kinetic energy into electrical energy and charge the trailer power module; if it is determined that the power of the trailer power module is lower than the lower warning threshold, the electromechanical conversion module is controlled to stop the energy recovery work.

[0121] 304. If the trailer control module determines that the power information indicates that the trailer power module is not fully charged, it obtains lighting information; wherein the lighting information indicates the lighting conditions of the current environment of the vehicle.

[0122] Exemplarily, after step 301, during the operation of the vehicle, after the trailer control module receives the power information of the trailer power module, if it is determined that the trailer power module is not fully charged, it collects light information through the tube sensor to determine the light conditions of the current vehicle environment.

[0123] 305. If the trailer control module determines that the illumination condition represented by the illumination information meets the preset conditions, the trailer photovoltaic module is controlled to perform photoelectric conversion.

[0124] Exemplarily, after obtaining the illumination information, if the trailer control module determines that the illumination condition represented by the illumination information meets the preset conditions, it controls the trailer photovoltaic module to perform photoelectric conversion to generate electrical energy and transmit the electrical energy to the trailer power module.

[0125] For example, Figure 7 A schematic diagram of a trailer photovoltaic module control process provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the energy storage module in the trailer power module sends a power signal to the trailer control module, so that the trailer control module obtains the power status of the trailer power module. If it is determined that the trailer power module is fully charged, the trailer control module controls the photovoltaic module to stop working; if it is determined that the trailer power module is not fully charged, it is determined whether the current lighting conditions meet the working conditions of the photovoltaic components in the trailer photovoltaic module. If the current lighting conditions meet the working conditions of the photovoltaic components, the trailer control module controls the photovoltaic module to keep working, so that the trailer power module continues to receive photovoltaic charging; if the current lighting conditions do not meet the working conditions of the photovoltaic components, the photovoltaic components stop working. Among them, this step does not take whether the trailer is connected to the tractor head as a basis for judgment.

[0126] 306. The trailer control module drives the trailer to travel through the trailer electric drive electromechanical conversion module and the trailer power module.

[0127] Exemplarily, this step may refer to step 203 and will not be described in detail here.

[0128] 307. If the trailer control module determines that the power value in the power information is within the first preset range, the trailer control module determines the connection status.

[0129] The vehicle also includes a tractor head power module.

[0130] Exemplarily, after step 301, Figure 8 A structural diagram of another self-driving intelligent trailer system provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the vehicle includes a trailer control module, a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; and also includes a tractor head power module. There is signal interaction between the trailer control module and the tractor head control system, the trailer power module, the trailer electric drive electromechanical conversion module and the trailer photovoltaic module, respectively, and there is power transmission between the trailer power module and the trailer electric drive electromechanical conversion module and the trailer photovoltaic module respectively; there is signal interaction between the tractor head control system and the tractor head power module. After determining the power information of the trailer power module, the trailer control module judges the power value in the power information. If it is determined that the power value in the power information is within the first preset range, the connection state is determined to determine whether the tractor head is connected to the trailer.

[0131] 308. If the trailer control module determines that the connection state indicates that the tractor head is connected to the trailer, it generates and sends a first power transmission request to the tractor head control system; wherein the first power transmission request is used to request the tractor head control system to control whether the tractor head power module receives the power transmitted by the trailer power module.

[0132] For example, if the trailer control module determines that the tractor head is connected to the trailer, it generates a first power transmission request and sends the first power transmission request to the tractor head control system to request the tractor head control system to control whether the tractor head power module receives the power transmitted by the trailer power module. Then, the trailer energy storage module and the tractor head power module are used to adjust the power supply to ensure that the power of the trailer power module is within a suitable range, and that the trailer power module can receive power normally and has enough power to meet the normal power demand of the trailer system.

[0133] In one example, it also includes:

[0134] If it is determined that the power value in the power information is within a second preset range, the connection state is determined; wherein the second preset range is smaller than the first preset range.

[0135] If it is determined that the connection status indicates that the tractor head is connected to the trailer, a second power transmission request is generated and sent to the tractor head control system; wherein the second power transmission request is used to request the tractor head control system to control the tractor head power module in the tractor head to transmit power to the trailer power module.

[0136] Exemplarily, after determining the power information of the trailer power module, the trailer control module judges the power value in the power information. If it is determined that the power value in the power information is within a second preset range, wherein the second preset range is smaller than the aforementioned first preset range, the connection state is determined to determine whether the tractor head is connected to the trailer. If the trailer control module determines that the tractor head is connected to the trailer, a second power transmission request is generated, and the second power transmission request is sent to the tractor head control system to request the tractor head control system to control the tractor head power module to transmit power to the trailer power module, so as to ensure that the trailer power module has sufficient power to meet the normal power demand of the trailer system.

[0137] In one example, it also includes:

[0138] If it is determined that the power value in the power information is within a third preset range, the power usage information of the trailer is determined; wherein the third preset range is greater than the second preset range and less than the first preset range.

[0139] If it is determined that the power usage information indicates that the power recovered by the trailer within the preset time period is greater than the power consumed, then if it is determined that the connection status indicates that the tractor head is connected to the trailer, a step of generating and sending a first power transmission request to the tractor head control system is executed.

[0140] If it is determined that the power usage information indicates that the power recovered by the trailer within the preset time period is less than or equal to the power consumed, then if it is determined that the connection status indicates that the tractor head is connected to the trailer, a step of generating and sending a second power transmission request to the tractor head control system is executed.

[0141] Exemplarily, after determining the power information of the trailer power module, the trailer control module judges the power value in the power information. If it is determined that the power value in the power information is within a third preset range, wherein the third preset range is greater than the aforementioned second preset range and less than the aforementioned first preset range, the trailer power usage information is determined to determine the situation between the power recovered by the trailer and the power consumed within the preset time period. If the trailer control module determines that the power recovered by the trailer within the preset time period is greater than the power consumed, after determining that the tractor head has been connected to the trailer, the first power transmission request is sent to the tractor head control system to request the tractor head control system to control whether the tractor head power module receives the power transmitted by the trailer power module. If the power recovered by the trailer within the preset time period is less than or equal to the power consumed, after determining that the tractor head has been connected to the trailer, the trailer control module sends a second power transmission request to the tractor head control system to request the tractor head control system to control the tractor head power module in the tractor head to transmit power to the trailer power module. Furthermore, through the power allocation between the trailer energy storage module and the tractor head power module, it is ensured that the trailer power module can normally receive electric energy and has sufficient power, and at the same time, it is ensured that the tractor head power module can normally receive electric energy and has sufficient power, thereby further improving the risk resistance and energy utilization efficiency of the trailer power module.

[0142] For example, Fig. 9 A schematic diagram of a power allocation process provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, there is power allocation between the trailer energy storage module and the tractor head power module to ensure that the power of the trailer power module is within a suitable range, and that the trailer power module can both receive power normally and have enough power to meet the normal power demand of the trailer system; when the power of the trailer power module is in a higher range of 100%-a% (the specific value of a can be set according to the specific power module performance parameters, and the other letter parameters in this paragraph are the same), the trailer power module transmits power to the tractor head power module; when the power of the trailer power module is in a lower range of 0%-b%, the tractor head power module supplies power to the trailer power module. When the power of the trailer power module is in a reasonable range of b%-a%, the trailer control module detects the relationship between the trailer power consumption and the trailer's self-produced power supplement within a certain period of time; if the power production is greater than the consumption, the trailer power module supplies power to the tractor head power module, but the transmission speed shall not cause the trailer power to decrease; if the trailer power production is less than the consumption, the tractor head power module supplies power to the trailer power module. Among them, the execution of power allocation between the tractor head power module and the trailer power module requires the following: the tractor head and the trailer are connected; the tractor head control system needs to decide whether to respond to the trailer power transmission request based on the power level and replenishment speed of its own power system, and must not affect the tractor head's own work.

[0143] In one example, the vehicle further includes a trailer electrical appliance module; and further includes: controlling the operation of the trailer electrical appliance module through a trailer power module.

[0144] For example, in combination Figure 8 The vehicle also includes a trailer electrical module, including trailer lamps and other electrical appliances. The trailer control module controls the trailer power module to transmit electrical energy to the trailer electrical module to drive the trailer electrical module to work.

[0145] In this embodiment, on the basis of the above embodiments, on the one hand, through the trailer electric drive electromechanical conversion module and the trailer photovoltaic module, on the basis of realizing the self-driving of the trailer in the vehicle, the problem of rapid energy depletion or low energy utilization of the trailer unit module is avoided; on the other hand, the power allocation strategy of the trailer and the tractor head is designed to further improve the risk resistance and energy utilization efficiency of the trailer power module.

[0146] Fig.10 A flow chart of another vehicle control method provided in an embodiment of the present application is as follows: Fig.10 As shown, the method is applied to a tractor head control system in a vehicle; the vehicle also includes a trailer control module, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the method includes:

[0147] 401. The tractor head control system receives the real-time wheel speed of the trailer in the vehicle sent by the trailer control module; and generates a driving request according to the real-time wheel speed of the trailer; wherein the driving request is an acceleration request or a braking request.

[0148] For example, in combination Figure 3 The execution subject of this embodiment can be a tractor head control system in a vehicle, and the vehicle also includes a trailer control module, a trailer power module, a trailer electric drive electromechanical conversion module, and a trailer photovoltaic module; there is signal interaction between the trailer control module and the tractor head control system, the trailer power module, the trailer electric drive electromechanical conversion module, and the trailer photovoltaic module, and there is power transmission between the trailer power module and the trailer electric drive electromechanical conversion module and the trailer photovoltaic module. Through the tractor head control system, the real-time wheel speed of the trailer in the vehicle sent by the trailer control module can be received, and a driving request can be generated according to the real-time wheel speed of the trailer, such as notifying the driver to step on the acceleration or brake pedal to obtain a driving request issued by the corresponding pedal.

[0149] 402. The tractor control system obtains the real-time wheel speed of the tractor in the vehicle; and sends the real-time wheel speed and the travel request to the trailer control module; wherein the trailer control module is used to execute the vehicle control method as in the above-mentioned embodiment.

[0150] Exemplarily, the tractor head control system obtains the real-time wheel speed of the tractor head through the wheel speed sensor of the tractor head in the vehicle, and sends the obtained real-time wheel speed of the tractor head and the generated driving request to the trailer control module. In response to the driving request, the trailer control module can obtain power information from the trailer power module to understand the power storage status of the trailer power module. The trailer control module analyzes the power storage status of the trailer power module according to the preset control strategy, and controls the trailer photovoltaic module to generate power, controls the trailer electric drive electromechanical conversion module to recycle power according to the power status of the trailer power module, and controls the trailer electric drive electromechanical conversion module to drive and control the trailer power module to output driving power to the trailer electric drive electromechanical conversion module, so that the trailer electric drive electromechanical conversion module can drive the trailer to accelerate and decelerate.

[0151] In this embodiment, a vehicle control method is provided, which controls the trailer photovoltaic module to generate electricity and controls the trailer electric drive electromechanical conversion module to recover electricity according to the power status of the trailer power module to drive the vehicle to operate; the mechanical energy generated during the operation of the vehicle can be effectively converted into electrical energy to drive the trailer to operate, so that the trailer in the vehicle has self-driving capability, thereby improving the performance and energy utilization of the vehicle.

[0152] Fig.11 A flow chart of another vehicle control method provided in an embodiment of the present application is shown as follows: Fig.11 As shown, the method is applied to a tractor head control system in a vehicle; the vehicle also includes a trailer control module, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the method includes:

[0153] 501. The tractor head control system receives the real-time wheel speed of the trailer in the vehicle sent by the trailer control module; and generates a driving request according to the real-time wheel speed of the trailer; wherein the driving request is an acceleration request or a braking request.

[0154] Exemplarily, this step may refer to step 401 and will not be described in detail here.

[0155] 502. The tractor control system obtains the real-time wheel speed of the tractor in the vehicle; and sends the real-time wheel speed and the travel request to the trailer control module; wherein the trailer control module is used to execute the vehicle control method as in the aforementioned embodiment.

[0156] Exemplarily, this step may refer to step 402 and will not be described in detail here.

[0157] 503. The traction locomotive control system obtains the pedal opening of the target pedal corresponding to the driving request; and determines the required acceleration and deceleration power of the vehicle according to the real-time wheel speed of the locomotive and the pedal opening; wherein the required acceleration and deceleration power is the total output power required when the current vehicle is accelerating and decelerating.

[0158] For example, Fig.12 A schematic diagram of a control logic based on a tractor head control system provided in an embodiment of the present application, such as Fig.12 As shown, in order to ensure that the speed of the tractor head and the trailer in the vehicle is similar to maintain driving stability, when the tractor head control system notifies the driver to step on the acceleration or brake pedal, a driving request issued by the corresponding pedal is obtained, and the driving request and the real-time wheel speed of the head are sent to the trailer control module, the tractor head control system collects the real-time wheel speed of the head and the pedal opening, and calculates the corresponding current required acceleration and deceleration power based on the real-time wheel speed of the head and the pedal opening, that is, the total output power required when the current vehicle is accelerating and decelerating.

[0159] 504. The tractor control system determines the acceleration and deceleration power of the tractor and the acceleration and deceleration power of the trailer according to the required acceleration and deceleration power, the mass of the tractor and the empty mass of the trailer.

[0160] Exemplarily, the tractor head control system distributes the required acceleration and deceleration power to the tractor head and the trailer according to the mass ratio of the tractor head and the trailer (the trailer takes the empty mass), so as to obtain the acceleration power or deceleration power allocated to the tractor head when it is accelerating or decelerating, that is, the acceleration and deceleration power of the tractor head, and at the same time, obtain the acceleration power or deceleration power allocated to the trailer when it is accelerating or decelerating, that is, the acceleration and deceleration power of the trailer.

[0161] In one example, step 504 includes:

[0162] The first step is to receive the acceleration and deceleration information of the trailer sent by the trailer control module if it is determined that the trailer is connected to the tractor head.

[0163] The second step is to determine the acceleration and deceleration power of the tractor head and the trailer according to the required acceleration and deceleration power, the mass of the tractor head and the empty mass of the trailer if the acceleration and deceleration information indicates that the power of the trailer power module in the trailer can support the acceleration and deceleration operation of the trailer.

[0164] For example, in combination Fig.12, the tractor head control system needs to first obtain the connection status between the trailer and the tractor head. If it is determined that the trailer and the tractor head are connected, the trailer control module sends the trailer acceleration and deceleration information to the tractor head control system; if it is determined that the trailer and the tractor head are not connected, the required acceleration and deceleration power is set through the head brake system or the drive system to control the acceleration or deceleration of the tractor head separately. After receiving the acceleration and deceleration information, the tractor head control system can determine whether the trailer power can support acceleration and deceleration; if it is determined that the power of the trailer power module in the trailer can support the acceleration and deceleration of the trailer, the tractor head control system will combine the required acceleration and deceleration power with the mass ratio of the tractor head and the trailer (the trailer takes the empty trailer mass) to distribute it to the tractor head and the trailer to obtain the acceleration and deceleration power of the tractor head and the acceleration and deceleration power of the trailer; if the power of the trailer power module in the trailer cannot support the acceleration and deceleration of the trailer, the required acceleration and deceleration power is set through the head brake system or the drive system to control the acceleration or deceleration of the tractor head separately.

[0165] In one example, step 504 further includes:

[0166] The third step is to receive the real-time wheel speed, power information and maximum output power of the trailer sent by the trailer control module; wherein the maximum output power is the maximum output power supported by the trailer electric drive electromechanical conversion module in the trailer.

[0167] The fourth step is to determine the new acceleration and deceleration power of the trailer and the tractor head according to the real-time wheel speed, power information and maximum output power of the trailer if it is determined that the real-time wheel speed of the tractor head is inconsistent with the real-time wheel speed of the trailer.

[0168] For example, in combination Fig.12 , the trailer control module collects the real-time wheel speed, current power and maximum output power of the trailer, and sends them to the tractor head control system, where the maximum output power is the maximum output power supported by the trailer electric drive electromechanical conversion module in the trailer. After receiving the real-time wheel speed, current power and maximum output power of the trailer, the tractor head control system collects the real-time wheel speed of the tractor head, and compares the real-time wheel speed of the tractor head with the real-time wheel speed of the trailer. If it is determined that the real-time wheel speed of the tractor head and the real-time wheel speed of the trailer are inconsistent, and there is a difference between the two speeds, the original acceleration and deceleration power distribution plan needs to be adjusted, that is, before the acceleration and deceleration process is completed, the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor head are obtained according to the real-time wheel speed, power information and maximum output power of the trailer, so as to achieve the purpose of convergence of the speeds of the two within a suitable acceleration and deceleration time.

[0169] In one example, step 504 includes:

[0170] Step 1: If it is determined that the acceleration and deceleration power of the trailer is greater than the maximum output power, the maximum output power is determined as the new acceleration and deceleration power of the trailer; at the same time, the difference between the required acceleration and deceleration power and the maximum output power is determined as the new acceleration and deceleration power of the tractor head.

[0171] Step 2: If it is determined that the acceleration and deceleration power of the trailer is less than or equal to the maximum output power, the acceleration and deceleration power of the trailer and the head power of the tractor are adjusted according to the real-time wheel speed of the trailer, the real-time wheel speed of the head and the power information to obtain the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor.

[0172] Specifically, combined Fig.12 , before the acceleration and deceleration process is completed, when the tractor head control system adjusts the acceleration and deceleration power of the trailer and the head power of the tractor head, the acceleration and deceleration power of the trailer is compared with the maximum output power. If the tractor head control system determines that the acceleration and deceleration power of the trailer is greater than the maximum output power, the maximum output power is determined as the new acceleration and deceleration power of the trailer; at the same time, the difference between the required acceleration and deceleration power and the maximum output power is determined as the new acceleration and deceleration power of the tractor head, that is, the trailer outputs according to the maximum power, and the remaining power is allocated to the tractor head. If the tractor head control system determines that the acceleration and deceleration power of the trailer is less than or equal to the maximum output power, the acceleration and deceleration power of the trailer and the head power of the tractor head are adjusted in combination with the real-time wheel speed of the trailer, the real-time wheel speed of the head, and the power information, and the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor head are obtained, so as to drive the trailer and the tractor head to accelerate or decelerate respectively.

[0173] 505. The tractor head control system controls the acceleration and deceleration of the tractor head according to the acceleration and deceleration power of the tractor head; at the same time, according to the acceleration and deceleration power of the trailer, the acceleration and deceleration of the trailer is controlled through the trailer control module.

[0174] Exemplarily, the tractor head control system can control the tractor head drive device to drive the tractor head to accelerate and decelerate according to the acceleration and deceleration power of the tractor head. At the same time, the tractor head control system can send the acceleration and deceleration power of the trailer to the trailer control module, so that the trailer control module drives the trailer to accelerate and decelerate according to the acceleration and deceleration power of the trailer.

[0175] In this embodiment, based on the above embodiment, the required acceleration and deceleration power is distributed to the tractor head and the trailer according to the mass ratio of the tractor head and the trailer (the trailer takes the empty mass) through the tractor head control system, so that the working conditions of the trailer and the tractor head are synchronized to ensure the safety of vehicle driving.

[0176] Fig.13 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown in FIG. Fig.13As shown, the device is applied to a trailer control module in a vehicle; the vehicle also includes a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the device includes:

[0177] The determination module 601 is used to respond to the travel request sent by the tractor head control system and determine the power information of the trailer power module; wherein the power information represents the power storage status of the trailer power module;

[0178] The control module 602 is used to control the trailer electric drive electromechanical conversion module to perform energy recovery according to the power information; at the same time, control the trailer photovoltaic module to work according to the power information; wherein the trailer electric drive electromechanical conversion module and the trailer photovoltaic module are both used to transmit electric energy to the trailer power module;

[0179] The driving module 603 is used to drive the trailer through the trailer electric drive electromechanical conversion module and the trailer power supply module.

[0180] In a possible implementation, the driving request is a braking request; the control module 602 is specifically used to: if it is determined that the power information indicates that the trailer power module is not fully charged, then control the trailer electric drive electromechanical conversion module to perform energy recovery.

[0181] In a possible implementation, the driving request is an acceleration request; the control module 602 is further specifically used to: if it is determined that the power value in the power information is greater than or equal to a preset threshold, control the trailer electric drive electromechanical conversion module to perform energy recovery.

[0182] In a possible implementation, the control module 602 is further specifically used to: if it is determined that the power information indicates that the trailer power module is not fully charged, then obtain lighting information; wherein the lighting information indicates the lighting conditions of the current vehicle environment; if it is determined that the lighting conditions indicated by the lighting information meet preset conditions, then control the trailer photovoltaic module to perform photoelectric conversion.

[0183] In a possible implementation, the vehicle further includes a tractor head power module; the device is further used to: if it is determined that the power value in the power information is within a first preset range, determine the connection status; if it is determined that the connection status indicates that the tractor head is connected to the trailer, generate and send a first power transmission request to the tractor head control system; wherein the first power transmission request is used to request the tractor head control system to control whether the tractor head power module receives the power transmitted by the trailer power module.

[0184] In a possible implementation, the device is also used to: if it is determined that the power value in the power information is within a second preset range, determine the connection status; wherein the second preset range is smaller than the first preset range; if it is determined that the connection status indicates that the tractor head is connected to the trailer, generate and send a second power transmission request to the tractor head control system; wherein the second power transmission request is used to request the tractor head control system to control the tractor head power module in the tractor head to transmit power to the trailer power module.

[0185] In one possible implementation, the device is also used to: if it is determined that the power value in the power information is within a third preset range, determine the power usage information of the trailer; wherein the third preset range is greater than the second preset range and less than the first preset range; if it is determined that the power usage information indicates that the power recovered by the trailer within a preset time period is greater than the power consumed, then execute the step of generating and sending a first power transmission request to the tractor head control system if it is determined that the connection status indicates that the tractor head is connected to the trailer; if it is determined that the power usage information indicates that the power recovered by the trailer within the preset time period is less than or equal to the power consumed, then execute the step of generating and sending a second power transmission request to the tractor head control system if it is determined that the connection status indicates that the tractor head is connected to the trailer.

[0186] In a possible implementation, the vehicle further includes a trailer electrical module; the device is further used to control the operation of the trailer electrical module through the trailer power module.

[0187] Fig.14 A schematic diagram of the structure of another vehicle control device provided in an embodiment of the present application, such as Fig.14 As shown, the device is applied to a tractor head control system in a vehicle; the vehicle also includes a trailer control module, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the device includes:

[0188] The generating module 701 is used to receive the real-time wheel speed of the trailer in the vehicle sent by the trailer control module; and generate a driving request according to the real-time wheel speed of the trailer; wherein the driving request is an acceleration request or a braking request;

[0189] The sending module 702 is used to obtain the real-time wheel speed of the front of the tractor in the vehicle; and send the real-time wheel speed of the front and the driving request to the trailer control module; wherein the trailer control module is used to execute the method as in the third aspect.

[0190] In a possible implementation, after the sending module is used to obtain the real-time wheel speed of the tractor locomotive in the vehicle, the device is also used to: obtain the pedal opening of the target pedal corresponding to the driving request; and determine the required acceleration and deceleration power of the vehicle based on the real-time wheel speed of the locomotive and the pedal opening; wherein the required acceleration and deceleration power is the total output power required when the current vehicle is accelerating and decelerating; according to the required acceleration and deceleration power, the mass of the tractor locomotive and the empty vehicle mass of the trailer, the acceleration and deceleration power of the tractor locomotive and the acceleration and deceleration power of the trailer are determined; according to the acceleration and deceleration power of the tractor locomotive, the acceleration and deceleration operation of the tractor locomotive is controlled; at the same time, according to the acceleration and deceleration power of the trailer, the acceleration and deceleration operation of the trailer is controlled through the trailer control module.

[0191] In a possible implementation, the device is further specifically used for: if it is determined that the trailer is connected to the tractor head, then receiving the acceleration and deceleration information of the trailer sent by the trailer control module; if it is determined that the acceleration and deceleration information indicates that the power of the trailer power module in the trailer can support the acceleration and deceleration operation of the trailer, then determining the acceleration and deceleration power of the tractor head and the acceleration and deceleration power of the trailer according to the required acceleration and deceleration power, the mass of the tractor head and the empty mass of the trailer.

[0192] In a possible implementation, the device is also specifically used to: receive the real-time wheel speed, power information and maximum output power of the trailer sent by the trailer control module; wherein the maximum output power is the maximum output power supported by the trailer electric drive electromechanical conversion module in the trailer; if it is determined that the real-time wheel speed of the tractor head and the real-time wheel speed of the trailer are inconsistent, then determine the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor head according to the real-time wheel speed, power information and maximum output power of the trailer.

[0193] In a possible implementation, the device is also specifically used for: if it is determined that the acceleration and deceleration power of the trailer is greater than the maximum output power, then the maximum output power is determined as the new acceleration and deceleration power of the trailer; at the same time, the difference between the required acceleration and deceleration power and the maximum output power is determined as the new acceleration and deceleration power of the tractor head; if it is determined that the acceleration and deceleration power of the trailer is less than or equal to the maximum output power, then the acceleration and deceleration power of the trailer and the head power of the tractor head are adjusted according to the real-time wheel speed of the trailer, the real-time wheel speed of the head and the power information to obtain the new acceleration and deceleration power of the trailer and the new acceleration and deceleration power of the tractor head.

[0194] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0195] Fig.15 A schematic diagram of the structure of a trailer control module provided in an embodiment of the present application is shown in FIG. Fig.15As shown, the trailer control module includes: a memory 801 and a processor 802; the memory 801 is a memory for storing executable instructions of the processor 802.

[0196] The processor 802 is configured to execute the method provided in the above embodiment.

[0197] The trailer control module further includes a receiver 803 and a transmitter 804. The receiver 803 is used to receive instructions and data sent by other devices, and the transmitter 804 is used to send instructions and data to external devices.

[0198] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0199] Fig.16 A schematic diagram of the structure of a tractor head control system provided in an embodiment of the present application is shown in FIG. Fig.16 As shown, the tractor head control system includes: a memory 901 and a processor 902; the memory 901 is a memory for storing instructions executable by the processor 902.

[0200] The processor 902 is configured to execute the method provided in the above embodiment.

[0201] The tractor head control system further includes a receiver 903 and a transmitter 904. The receiver 903 is used to receive instructions and data sent by other devices, and the transmitter 904 is used to send instructions and data to external devices.

[0202] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0203] An embodiment of the present application also provides a vehicle, which includes a trailer control module and a tractor head control system; the vehicle also includes a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module, wherein the trailer control module and the tractor head control system are used to execute the technical solutions in the above embodiments.

[0204] An embodiment of the present application also provides a chip for executing instructions, which is used to execute the technical solution of the processing method in the above embodiment.

[0205] The embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed on a computer, the computer executes the technical solution of the processing method of the above embodiment.

[0206] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0207] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in a dedicated integrated circuit. Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0208] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, the technical solution of the processing method in the above embodiment can be implemented.

[0209] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0210] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0211] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0212] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0213] Those skilled in the art will appreciate that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed.

[0214] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: The method is applied to a trailer control module in a vehicle; the vehicle also includes a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the method includes: Responding to the travel request sent by the tractor head control system, and determining the power information of the trailer power module; wherein the power information represents the power storage status of the trailer power module; According to the power information, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery; at the same time, according to the power information, the trailer photovoltaic module is controlled to work; wherein the trailer electric drive electromechanical conversion module and the trailer photovoltaic module are both used to transmit electric energy to the trailer power module; The trailer is driven to travel by means of the trailer electric drive electromechanical conversion module and the trailer power supply module.

2. The method according to claim 1, characterized in that The driving request is a braking request; and according to the power information, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery, including: If it is determined that the power information indicates that the trailer power module is not fully charged, the trailer electric drive electromechanical conversion module is controlled to perform energy recovery.

3. A vehicle control method, characterized in that: The method is applied to a tractor head control system in a vehicle; the vehicle also includes a trailer control module, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the method includes: receiving the real-time wheel speed of the trailer in the vehicle sent by the trailer control module; and generating a travel request according to the real-time wheel speed of the trailer; wherein the travel request is an acceleration request or a braking request; Acquire the real-time wheel speed of the tractor locomotive in the vehicle; and send the real-time wheel speed of the locomotive and the travel request to the trailer control module; wherein the trailer control module is used to execute the method as described in any one of claims 1 or 2.

4. A vehicle control device, characterized in that: The device is applied to a trailer control module in a vehicle; the vehicle also includes a tractor head control system, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the device includes: A determination module, used to respond to the travel request sent by the tractor head control system and determine the power information of the trailer power module; wherein the power information represents the power storage status of the trailer power module; A control module is used to control the trailer electric drive electromechanical conversion module to perform energy recovery according to the power information; at the same time, control the trailer photovoltaic module to work according to the power information; wherein the trailer electric drive electromechanical conversion module and the trailer photovoltaic module are both used to transmit electric energy to the trailer power module; The driving module is used to drive the trailer to travel through the trailer electric drive electromechanical conversion module and the trailer power supply module.

5. A vehicle control device, characterized in that: The device is applied to a tractor head control system in a vehicle; the vehicle also includes a trailer control module, a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; the device includes: a generating module, configured to receive the real-time wheel speed of the trailer in the vehicle sent by the trailer control module; and generate a driving request according to the real-time wheel speed of the trailer; wherein the driving request is an acceleration request or a braking request; A sending module, used for obtaining the real-time wheel speed of the tractor head in the vehicle; and sending the real-time wheel speed of the tractor head and the driving request to the trailer control module; wherein the trailer control module includes the device as described in claim 4.

6. A trailer control module, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to claim 1 or 2.

7. A tractor head control system, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to claim 3.

8. A vehicle, characterized in that: The vehicle includes a trailer control module and a tractor head control system; the vehicle also includes a trailer power module, a trailer electric drive electromechanical conversion module and a trailer photovoltaic module; The trailer control module is used to execute the method according to claim 1 or 2; The tractor head control system is used to execute the method as claimed in claim 3.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to claim 1 or 2 or the method according to claim 3 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which is used to implement the method according to claim 1 or 2 or the method according to claim 3 when the computer program is executed by a processor.

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