Intelligent vehicle, intelligent semi-trailer control system and control method thereof

Abstract

The present invention discloses a control system for an intelligent semi-trailer, comprising: an electromechanical energy conversion module that is distributedly arranged one-to-one with at least one wheel drive shaft of the semi-trailer body, and has two working modes: a driving state and a power generation state; an energy storage module, connected to the electromechanical energy conversion module; a sensor module, used to detect the operating parameter information of the semi-trailer body; a control module, which controls the switching between the charging and discharging states of the energy storage module and the switching between the driving state and the power generation state of the electromechanical energy conversion module according to the operating parameter information of the semi-trailer body obtained by the sensor module. The present invention also provides a control method for the control system of an intelligent vehicle and an intelligent semi-trailer. The present invention realizes energy optimization distribution by predicting the driving state and road environment information of the intelligent semi-trailer in advance, and effectively improves the energy utilization rate of the intelligent semi-trailer.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicles, and in particular to a control system and a control method of an intelligent vehicle and an intelligent semi-trailer. Background Art

[0002] At present, in transportation, in order to enhance the operating capacity of the tractor head, a semi-trailer body structure is usually adopted, that is, during the transportation process, the semi-trailer body is hooked on the tractor head, and the cargo box of the semi-trailer body is used to complete the cargo transportation.

[0003] However, in the prior art, since the semi-trailer body of a large semi-trailer truck has no power, and it is usually impossible to realize intelligent control of the semi-trailer body and sense and monitor the external environment of the vehicle. During driving, when the truck encounters sharp turns, climbing slopes, etc., it is easy for the truck to roll over, rear-end or occupy the lane of other vehicles due to the long semi-trailer body, which is difficult to control. At the same time, in the prior art, the truck cannot effectively convert the mechanical energy, kinetic energy and other forms of energy generated during the operation into electrical energy, which reduces the performance and energy utilization of the vehicle. Summary of the invention

[0004] The main purpose of the present invention is to provide a control system and a control method for an intelligent vehicle and an intelligent semi-trailer, aiming to solve the problem of optimizing the structure and energy utilization of the intelligent semi-trailer.

[0005] To achieve the above-mentioned purpose, the present invention provides a control system for an intelligent semi-trailer, wherein the intelligent semi-trailer includes a semi-trailer body, at least one wheel arranged on the semi-trailer body, and a wheel drive shaft corresponding to the wheel one-to-one. The control system of the intelligent semi-trailer includes: at least one electromechanical energy conversion module distributedly arranged one-to-one with the wheel drive shaft of the semi-trailer body, wherein the electromechanical energy conversion module drives and outputs the wheel drive shaft in a driving state, and the electromechanical energy conversion module is driven by the wheel drive shaft in a power generation state to convert the mechanical energy of the wheel drive shaft into electrical energy; an energy storage module, connected to the electromechanical energy The conversion module is electrically connected to output electric energy to the electromechanical energy conversion module and to receive and store the electric energy output by the electromechanical energy conversion module in a power generation state; the sensor module is used to detect the operating parameter information of the semi-trailer body; the control module is connected to the sensor module, the energy storage module and the electromechanical energy conversion module and is used to send corresponding instructions to the electromechanical energy conversion module according to the operating parameter information of the semi-trailer body obtained by the sensor module, so as to control the switching between the charging and discharging states of the energy storage module and the corresponding switching between the driving state and the power generation state of the electromechanical energy conversion module.

[0006] Preferably, the sensor module includes at least one of the following sensors: an environmental perception sensor, a brake pad temperature sensor, an altimeter, a barometer, a vehicle-mounted radar speedometer, a distance sensor, an acceleration sensor, a GPS locator, a wheel speed sensor, and a brake pedal travel sensor.

[0007] The present invention also provides a control method for a control system of any of the above-mentioned intelligent semi-trailers, comprising the steps of: acquiring the operating parameter information of the semi-trailer body obtained by the sensor module; judging whether the state of the semi-trailer body is in a preset energy recovery state or a preset driving state according to the operating parameter information of the semi-trailer body obtained by the sensor module; when the semi-trailer body is in the preset energy recovery state, the control module controls the energy storage module to switch to a charging state, and controls the electromechanical energy conversion module to switch to a power generation state; when the semi-trailer body is in a preset driving state, the control module controls the energy storage module to switch to a discharging state, and controls the electromechanical energy conversion module to switch to a driving state.

[0008] Preferably, the operating parameter information of the semitrailer body includes at least one of the following parameter information: distance information between the semitrailer body and a preset road reference object, real-time distance information between the semitrailer body and a preceding vehicle or a following vehicle, driving speed information of the semitrailer body, current road curvature information, current road slope information, current vehicle height information, acceleration information of the semitrailer body, highway speed limit sign information, brake pad temperature information, and traffic light color information;

[0009] The preset energy recovery state includes at least one of the following conditions: braking state, the current road slope information is downhill, the road curvature is greater than the preset curvature, the current driving speed of the semi-trailer body is greater than the preset speed or greater than the speed limit value of the highway speed limit sign, the distance between the semi-trailer body and the road reference object is less than the preset distance value, the distance between the semi-trailer body and the front vehicle or the rear vehicle is less than the preset distance value; the brake temperature is greater than the preset temperature value, the color information of the traffic light is red and the distance between the semi-trailer body and the traffic light is less than the preset distance value;

[0010] The preset driving state includes at least one of the following conditions: the semi-trailer body is in the starting state, the current road slope information is uphill, the acceleration of the semi-trailer body is a positive value, the road curvature is less than the preset curvature, the current driving speed of the semi-trailer body is less than the preset speed or less than the speed limit value of the highway speed limit sign, the distance between the semi-trailer body and the road reference object is greater than the preset distance value, and the distance between the semi-trailer body and the front vehicle or the rear vehicle is greater than the preset distance value; the color information of the traffic light is green and the distance between the semi-trailer body and the traffic light is greater than the preset distance value.

[0011] Preferably, the method further includes the steps of: judging whether the semi-trailer body is in an uphill state according to the position information of the semi-trailer body and the current road slope information obtained by the sensor module, or judging whether the current vehicle height information of the trailer body is obtained; when the semi-trailer body is in an uphill state, calculating whether the potential energy change of the semi-trailer body when going uphill is greater than a preset threshold value according to the current road slope information and the current vehicle height information; and determining the discharge ratio of the energy storage module when the semi-trailer body when going uphill is greater than the preset threshold value, so as to prepare for the subsequent charging of the energy storage module when the semi-trailer body goes downhill.

[0012] Preferably, the method further includes the steps of: judging whether the semi-trailer body is in a downhill state according to the position information of the semi-trailer body and the current road slope information obtained by the sensor module, or according to the current vehicle height information of the trailer body; when the semi-trailer body is in a downhill state, obtaining the current road slope information and the temperature information of the brake pads obtained by the sensor module, as well as the remaining power of the energy storage module, to determine the interval for alternating between the original vehicle braking mode of the semi-trailer body and the deceleration mode in which the electromechanical energy conversion module switches to the charging state.

[0013] Preferably, after the step of judging whether the semi-trailer body is in a downhill state according to the position information of the semi-trailer body, the current road slope information and the current vehicle height information obtained by the sensor module, the step further includes: when the semi-trailer body is in a downhill state, judging whether the temperature of the brake pad is greater than a preset temperature and whether the remaining power of the energy storage module is less than a preset power; when the temperature of the brake pad is greater than the preset temperature and the remaining power of the energy storage module is less than the preset power, controlling the electromechanical energy conversion module to switch to a charging state; when the temperature of the brake pad is less than the preset temperature and the remaining power of the energy storage module is greater than a preset quantity, controlling the semi-trailer body to enable the original vehicle brake.

[0014] Preferably, the semi-trailer is also provided with a communication module for communicating with an external monitoring center or surrounding vehicles. The control method also includes: predicting the driving state and road environment information of the semi-trailer body within the next preset time according to the road condition information obtained by the communication module and the operating parameter information of the semi-trailer body obtained by the sensor module, and controlling the energy recovery state or the preset driving state of the semi-trailer body within the next preset time according to the prediction result.

[0015] Preferably, the control method further includes: calculating the current kinetic energy of the semi-trailer body according to the current driving speed and mass of the semi-trailer body; determining the power generation of the electromechanical energy conversion module when it is in the power generation state according to the kinetic energy of the semi-trailer body and preset conditions; or further includes the steps of: determining the turning direction and speed of the semi-trailer body according to the current road curvature information obtained by the sensor module, and / or the steering wheel rotation angle information and turn signal information sent by the tractor corresponding to the smart semi-trailer; and controlling the driving output power of the electromechanical energy conversion module corresponding to the wheel drive shafts of different wheels according to the determined turning direction and speed of the semi-trailer body.

[0016] The present invention also provides an intelligent vehicle, comprising a tractor head and a semi-trailer, wherein the semi-trailer comprises a vehicle body and a control system of the intelligent semi-trailer as described in any one of the above items.

[0017] The control system and control method of the intelligent semi-trailer provided in the present invention are simple and easy to implement. According to the operating parameter information of the semi-trailer body obtained by the sensor module, the electromechanical energy module can be controlled to switch between the driving state and the power generation state to improve energy utilization. At the same time, the driving state of the intelligent semi-trailer can also be predicted in advance according to the sensor module. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0019] Figure 1 A three-dimensional schematic diagram of an intelligent semi-trailer in various embodiments of the present invention;

[0020] Figure 2 A schematic diagram of the hardware module structure of an intelligent semi-trailer in various embodiments of the present invention;

[0021] Figure 3 This is a flow chart of a first embodiment of a control method for an intelligent semi-trailer according to the present invention;

[0022] Figure 4It is a flow chart of a second embodiment of the control method of the intelligent semi-trailer of the present invention;

[0023] Figure 5 It is a flow chart of a third embodiment of the control method of the intelligent semi-trailer of the present invention;

[0024] Figure 6 It is a flow chart of a fourth embodiment of a control method for an intelligent semi-trailer of the present invention;

[0025] Figure 7 It is a flow chart of a fifth embodiment of a control method for an intelligent semi-trailer of the present invention;

[0026] Figure 8 This is a flow chart of a sixth embodiment of the control method of an intelligent semi-trailer according to the present invention.

[0027] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] Please refer to Figure 1 and Figure 2 , a schematic diagram of the hardware module structure of an intelligent semi-trailer 100 in each embodiment, the intelligent semi-trailer 100 includes a semi-trailer body 10 and a vehicle body 20, and the semi-trailer body 10 includes a plurality of wheels 11 and wheel drive shafts 12 corresponding to the wheels 11 one by one.

[0031] Usually, when in use, the smart semi-trailer 100 is connected to a tractor head to form a whole freight vehicle, wherein the tractor head provides power and the smart semi-trailer 100 serves as a cargo transport tool. Under the pull of the tractor head, the smart semi-trailer 100 completes the transportation task.

[0032] Among them, the control system of the intelligent semi-trailer 100 includes: at least one electromechanical energy conversion module 13, an energy storage module 14, a sensor module 15 and a control module 16; the electromechanical energy conversion module 13 is distributedly arranged on the wheel rotating shaft 12 of the intelligent semi-trailer 100, the energy storage module 14 is connected to the electromechanical energy conversion module 13, the control module 16 is connected to the sensor module 15, the energy storage module 14 and the electromechanical energy conversion module 13, the control module 16 receives the operating parameter information of the intelligent semi-trailer obtained by the sensor module 15, and sends the generated control instructions to the electromechanical energy conversion module 13.

[0033] Specifically, the at least one electromechanical energy conversion module 13 is distributedly arranged in one-to-one correspondence with at least one wheel drive shaft 12 of the semi-trailer body 10, wherein the electromechanical energy conversion module 13 drives and outputs the wheel drive shaft 12 in the driving state, and the electromechanical energy conversion module 13 is driven by the wheel drive shaft 12 in the power generation state to convert the mechanical energy of the wheel drive shaft 12 into electrical energy. It should be noted that the electromechanical energy conversion module 13 can be a motor or motor group having both motor function and generator function, etc., and is not specifically limited here.

[0034] Specifically, the electromechanical energy conversion module 13 can be used for driving output to drive the wheel drive shaft 12 of the semi-trailer body 10 to drive the wheel to rotate; or receive the rotation input of the wheel drive shaft 12 to convert the mechanical energy generated by the rotation into electrical energy. The electromechanical energy conversion module 13 can be one or more groups, and the motor unit in the electromechanical energy conversion module 13 can be a wheel side motor or a wheel hub motor.

[0035] It can be understood that the electromechanical energy conversion module 13 can be used to drive the wheel drive shaft 12. At the same time, the intelligent semi-trailer 100 is also driven by the tractor head to move forward or backward.

[0036] The energy storage module 14 is electrically connected to the electromechanical energy conversion module 13 and is used to output electric energy to the electromechanical energy conversion module 13 and receive and store the electric energy from the electromechanical energy conversion module 13 in a power generation state.

[0037] It is understandable that the energy storage module 14 is connected to the electromechanical energy conversion module 13, and the energy storage module 14 can be switched between a charging state and a discharging state. Specifically, the energy storage module 14 makes corresponding adjustments according to the operating state of the electromechanical energy conversion module 13, for example: when the electromechanical energy conversion module 13 performs drive output, the energy storage module 14 switches to a discharging state to provide driving force; when the electromechanical energy conversion module 13 is driven by the wheel drive shaft 12 and converts the mechanical energy of the wheel drive shaft 12 into electrical energy, at this time, the energy storage module 14 switches to a charging state to store the electrical energy generated by the electromechanical energy conversion module 13.

[0038] The energy storage module 14 may include at least one energy-type supercapacitor or power-type battery. The energy storage capacity of the energy storage module 14 may be selected according to the requirements of the semi-trailer body 10. The energy storage module 14 also includes a power management circuit connected to the energy-type supercapacitor or power-type battery, and the power management circuit is controlled by the control module 16 to control the switching of the energy storage module 14 between the charging state and the power generation state.

[0039] Furthermore, in one embodiment, a power monitoring module may be installed on the semi-trailer body 10, and the power monitoring module is connected to the control module 16 and the energy storage module 14, and is used to monitor the power stored in the energy storage module 14 and the remaining power, and send the power stored in the energy storage module 14 and the remaining power to the control module 16. The control module 16 may control the charge and discharge degree and charge and discharge state of the energy storage module 14 according to the power stored in the energy storage module 14 and the remaining power, or allow the user to obtain the current power and remaining power of the energy storage module 14 in real time.

[0040] The sensor module 15 is used to detect the operating parameter information of the semi-trailer body 10; it is understood that in this embodiment, the sensor module 15 can be installed on the semi-trailer body 10, and the sensor module 15 can obtain the surrounding environment of the semi-trailer body 10, the driver's own state and the operating parameter information of the vehicle itself in real time. The sensor module 15 includes a plurality of sensors, each of which is installed at a corresponding position of the semi-trailer body 10 to detect different parameters; for example, the brake pad temperature sensor is installed on the brake pad of the semi-trailer body 10 to detect the temperature of the brake pad in real time; the wheel speed sensor is installed on the wheel of the semi-trailer body 10 to measure the wheel speed of the semi-trailer body 10. In other embodiments, the sensor module 15 can also be installed on the tractor head, or use the original sensor on the smart driving vehicle.

[0041] Specifically, the sensor module 15 outputs the acquired operating parameter information to the control module 16 for analysis and processing by the control module 16. According to the operating parameter information, the operating environment and state of the semi-trailer body 10 can be predicted in advance.

[0042] The control module 16 is connected to the sensor module 15, the energy storage module 14 and the electromechanical energy conversion module 13, and is used to send corresponding instructions to the electromechanical energy conversion module 13 and the energy storage module 14 according to the operating parameter information of the semi-trailer body 10 obtained by the sensor module 15, so as to control the switching between the charging and discharging states of the energy storage module 14, and control the switching between the driving state and the power generation state of the electromechanical energy conversion module 13.

[0043] Specifically, in this embodiment, the control module 16 is arranged on the semitrailer body 10, and the control module 16 receives the operating parameter information of the semitrailer body 10 acquired by the sensor module 15, and determines the operating state of the semitrailer body 10 as the driving state or the energy recovery state according to the operating parameter information, and then outputs the corresponding control instruction to control the electromechanical energy conversion module 13 to switch to the corresponding operating state, and at the same time, the energy storage module 14 switches to the operating state corresponding to the electromechanical energy conversion module 13. In other embodiments, the control module 16 can also be arranged on the tractor head, or directly use the main control module of the tractor head.

[0044] For example, when the sensor module 15 detects that the semi-trailer body 10 is in a braking state, the operation information is uploaded to the control module 16, and the control module 16 detects that the energy storage module 14 is not full of power according to the power monitoring module, then it can be determined that the semi-trailer body 10 is in an energy recovery state, and outputs corresponding control instructions to the electromechanical energy conversion module 13 and the energy storage module 14, the electromechanical energy conversion module 13 switches to a power generation state, and receives the drive of the wheel shaft, converts the mechanical energy generated by the semi-trailer body 10 into electrical energy, and then the energy storage module 14 switches to a charging state to receive and store the electrical energy; when the sensor module 15 detects that the semi-trailer body 10 is in a braking state, but the control module 16 detects that the energy storage module 14 is full of power according to the power monitoring module, then the semi-trailer body 10 cannot be in an energy recovery state. In this embodiment, the control module 16 optimizes the energy distribution of the semi-trailer body 10 according to the operating parameter information of the semi-trailer body 10 obtained by the sensor module 15.

[0045] Furthermore, the control system of the semi-trailer body 10 may also include a communication module (not shown) connected to an external monitoring center or surrounding vehicles, for uploading the operating status of the semi-trailer body 10 to the external monitoring center, so that the external monitoring center can understand the current operating status of the semi-trailer body 10 in real time to reduce traffic accidents.

[0046] In this embodiment, by arranging a control module 16, an electromechanical energy conversion module 13 and a sensor module 15 on the semi-trailer body 10, the energy of the semi-trailer body 10 can be effectively recovered, thereby improving energy utilization and safety, making the semi-trailer body 10 run more smoothly. At the same time, the operating state of the semi-trailer body 10 can be timely predicted according to the operating parameter information obtained by the sensor module 15, so as to make timely adjustments to the semi-trailer body 10.

[0047] The sensor module 15 includes at least one of the following sensors: an environmental perception sensor, a brake pad temperature sensor, an altimeter, a barometer, a vehicle-mounted radar speedometer, a distance sensor, an acceleration sensor, a GPS locator, a wheel speed sensor, and a brake pedal travel sensor. In this embodiment, the sensor module 15 can include multiple sensors to obtain all operating parameters of the semi-trailer body 10 when it is in operation.

[0048] The environmental perception sensor collects data about the surrounding environment of the semi-trailer body 10 to obtain road condition information such as road curvature, slope, highway speed limit signs, color changes of traffic lights, etc., as well as position information of the semi-trailer body 10 and surrounding obstacles, and distance and speed of the semi-trailer body 10 and surrounding vehicles and other obstacles. The environmental perception sensor mainly includes machine vision, radar sensor, ultrasonic sensor, infrared sensor, etc.

[0049] The brake pad temperature sensor is used to detect the temperature of the brake pad when the semi-trailer body 10 enters the braking state; the altimeter can be used to measure the horizontal height of the vehicle, etc.; the barometer can be used to measure the atmospheric pressure to determine the altitude of the current location of the semi-trailer body 10; the vehicle-mounted radar speedometer can be used to determine the driving speed of the semi-trailer body 10; the distance sensor can be used to detect the distance between the semi-trailer body 10 and a reference object, wherein the distance sensor can be an optical distance sensor, an ultrasonic distance sensor, etc.; the acceleration sensor is used to measure the semi-trailer body 10 acceleration to understand the current motion state of the semi-trailer body 10; the GPS locator can be used to locate the geographical location and motion trajectory of the semi-trailer body 10 in real time, wherein the GPS locator generally has a built-in GPS module and a mobile communication module to upload the current location information of the semi-trailer body 10 to a server, etc.; the wheel speed sensor can be used to measure the wheel speed of the semi-trailer body 10; the brake pedal travel sensor can be used to detect whether the brake pads of the semi-trailer body 10 are used, as well as the stepping time and stepping travel of the brake pedal, so as to calculate and obtain the state of the brake pads.

[0050] It is understandable that the above-mentioned various specific sensors can be used alone or in combination. On the premise that some sensors in the environmental perception sensors can achieve the same function, it is not necessary to use a separate sensor to obtain the same parameter, and no specific limitation is made here.

[0051] Furthermore, a corresponding electromechanical energy conversion module 13 is provided on at least one wheel drive shaft 12 of the semi-trailer body 10, wherein the semi-trailer body 10 also includes a reducer provided in a one-to-one correspondence with the electromechanical conversion module.

[0052] The semi-trailer body 10 includes at least one wheel rotating shaft, wherein at least one of the wheel rotating shafts 12 is equipped with the electromechanical energy conversion module 13 and a reducer (not shown in the figure), wherein the reducer and the electromechanical energy conversion module 13 can be provided separately or integrated together. During use, the reducer cooperates with the electromechanical energy conversion module 13. During driving, when the electromechanical energy conversion module 13 is in a power generation state, it decelerates the semi-trailer body 10 and converts the mechanical energy generated during the deceleration process into electrical energy.

[0053] Those skilled in the art will understand that Figure 1 and Figure 2 The control system of the intelligent semi-trailer 100 shown in the figure may also include more or fewer components than those shown in the figure, or combine certain components, or arrange the components differently.

[0054] Based on the above hardware structure, various embodiments of the control method of the intelligent semi-trailer 100 in the present invention are proposed.

[0055] Please refer to Figure 3 , which is a method flow chart 200 of a control method for an intelligent semi-trailer 100 in a first embodiment of the present invention, wherein the control method comprises the following steps:

[0056] Step S10, obtaining the operating parameter information of the semi-trailer body 10 obtained by the sensor module 15;

[0057] During driving, the sensor module 15 installed on the semi-trailer body 10 or on the tractor head senses the operating parameter information in real time, and transmits the operating parameter information to the control module 16 to adjust the operating state of the semi-trailer body 10 in time.

[0058] In this embodiment, the operating parameter information may include vehicle information and external environment information of the semitrailer body 10. The operating parameter information of the semitrailer body 10 includes at least one of the following parameter information: distance information between the semitrailer body 10 and a preset road reference object, real-time distance information between the semitrailer body 10 and the front vehicle or the rear vehicle, driving speed information of the smart semitrailer 100, driving direction information of the smart semitrailer 100, current driving position information of the smart semitrailer 100, current road curvature information, current road slope information, current vehicle height information, acceleration information of the semitrailer body 10, highway speed limit sign information, brake pad temperature information, whether the original vehicle brake is activated, and traffic light color information.

[0059] Step S20, judging whether the semitrailer body 10 is in a preset energy recovery state or a preset driving state according to the operating parameter information of the semitrailer body 10 obtained by the sensor module 15;

[0060] The sensor module 15 can divide the operating state of the semi-trailer body 10 into a preset energy recovery state and a driving state according to the operating parameter information of the semi-trailer body 10 .

[0061] Specifically, in this embodiment, the preset energy recovery state includes at least one of the following conditions: braking state, the current road slope information is downhill, the road curvature is greater than the preset curvature, the current driving speed of the semi-trailer body 10 is greater than the preset speed or greater than the speed limit value of the highway speed limit sign, the distance between the semi-trailer body 10 and the road reference object is less than the preset distance value, and the distance between the semi-trailer body 10 and the front vehicle or the rear vehicle is less than the preset distance value; the brake temperature is greater than the preset temperature value, the color information of the traffic light is red and the distance between the semi-trailer body 10 and the traffic light is less than the preset distance value;

[0062] The preset driving state includes at least one of the following conditions: the semitrailer body 10 is in the starting state, the current road slope information is uphill, the acceleration of the semitrailer body 10 is a positive value, the road curvature is less than the preset curvature, the current driving speed of the semitrailer body 10 is less than the preset speed or less than the speed limit value of the highway speed limit sign, the distance between the semitrailer body 10 and the road reference object is greater than the preset distance value, and the distance between the semitrailer body 10 and the front vehicle or the rear vehicle is greater than the preset distance value; the color information of the traffic light is green and the distance between the semitrailer body 10 and the traffic light is greater than the preset distance value.

[0063] It can be understood that the corresponding relationship between the operating parameter information of the semi-trailer body 10 and the preset energy recovery state can be:

[0064] When the on-board radar speed meter in the sensor module 15 detects that the current speed of the semi-trailer body 10 is decreasing, and the brake pedal travel sensor detects that the brake is used, the control module 16 determines that the intelligent semi-trailer 100 is in a braking state;

[0065] The environment perception sensor in the sensor module 15 detects that the current road is a slope section, and the GPS detects that the trailer is moving from the high side of the slope to the low side, and the altimeter detects that the height is decreasing, and the control module 16 determines that the current road slope information of the intelligent semi-trailer 100 is a downhill state;

[0066] When the distance sensor in the sensor module 15 detects that the distance between the semitrailer body 10 and a road reference object is less than a preset distance value, or the distance between the semitrailer body 10 and a preceding vehicle or a following vehicle is less than a preset distance value, the control module 16 may determine that the intelligent semitrailer 100 is in an energy recovery state requiring deceleration; or

[0067] The environmental perception sensor in the sensor module 15 detects that the color information of the traffic light is red, and the distance sensor detects that the distance between the semi-trailer body 10 and the traffic light is less than a preset distance value. The control module 16 can determine that the intelligent semi-trailer 100 is in an energy recovery state that requires deceleration.

[0068] It can be understood that the corresponding relationship between the operating parameter information of the semi-trailer body 10 and the preset driving state can be:

[0069] The vehicle-mounted radar speed meter in the sensor module 15 detects that the current speed of the semi-trailer body 10 is 0 and the current speed is increasing, or the wheel speed sensor detects that the wheel speed of the trailer is 0, and the GPS positioning device detects that the motion trajectory of the intelligent semi-trailer 100 has not been displaced or the displacement is less than a preset value, and the control module 16 determines that the intelligent semi-trailer 100 is currently in the starting state;

[0070] The environment perception sensor in the sensor module 15 detects that the current road is a slope section, and the GPS detects that the trailer is moving from the low side of the slope to the high side, and the altimeter detects that the height is increasing, and the control module 16 determines that the current road slope information of the intelligent semi-trailer 100 is an uphill state;

[0071] The acceleration sensor in the sensor module 15 detects that the acceleration of the semitrailer body 10 is positive, and the distance sensor detects that the distance between the semitrailer body 10 and the road reference object is greater than a preset distance value, or the distance between the semitrailer body 10 and the preceding vehicle or the following vehicle is greater than a preset distance value, the control module 16 may determine that the intelligent semitrailer 100 is in a driving state where it can accelerate; or

[0072] The environmental perception sensor in the sensor module 15 detects that the color information of the traffic light is green, and the distance sensor detects that the distance between the semi-trailer body 10 and the traffic light is greater than a preset distance value. The control module 16 can determine that the intelligent semi-trailer 100 is in a driving state where it can accelerate.

[0073] Step S30, when the semi-trailer body 10 is in a preset energy recovery state, the control module 16 controls the energy storage module 14 to switch to a charging state, and controls the electromechanical energy conversion module 13 to switch to a power generation state;

[0074] It can be understood that, based on the operating parameter information obtained by the sensor module 15, when the control module 16 determines that the semi-trailer body 10 is in an energy recovery state, for example: when the distance between the semi-trailer body 10 and the vehicle in front is less than a preset distance value, the control module 16 can output a control instruction to the electromechanical energy conversion module 13 to control the electromechanical energy conversion module 13 to switch to a power generation state. At the same time, the energy storage module 14 is correspondingly switched to a charging state to store the electric energy converted by the electromechanical energy conversion module 13, thereby improving the driving force of the semi-trailer body 10.

[0075] Step S40, when the semi-trailer body 10 is in a preset driving state, the control module 16 controls the energy storage module 14 to switch to a discharging state, and controls the electromechanical energy conversion module 13 to switch to a driving state.

[0076] Among them, when the operating state of the semi-trailer body 10 is a preset driving state, the energy storage module 14 switches to a discharging state, and the electromechanical energy conversion module 13 drives and outputs the wheel drive shaft 12. When the electromechanical energy conversion module 13 drives and outputs the wheel drive shaft 12, the electromechanical energy conversion module 13 indicates that the semi-trailer body 10 is in a driving state. When the electromechanical energy conversion module 13 is driven by the wheel drive shaft 12, it indicates that the semi-trailer body 10 is in a preset energy recovery state.

[0077] In this embodiment, the energy during driving can be effectively recovered, the energy utilization rate can be improved, and the driving force of the semi-trailer body 10 can be enhanced; at the same time, when the control module 16 controls the electromechanical energy conversion module 13 to switch to the charging state, that is, the trailer enters the energy recovery state, it can also cooperate to slow down the semi-trailer body 10 to avoid the brake pads from being used for too long, resulting in excessive temperature of the brake pads and reducing the safety performance of the trailer, reduce the wear of the brake pads, improve the safety of the semi-trailer body 10, save energy, and at the same time, maximize the use of the energy storage capacity of the energy storage module to reduce the number of charge and discharge times of the energy storage module and extend the service life of the energy storage module.

[0078] For further information, please refer to Figure 4 , a method flow chart of the control method of the intelligent semi-trailer 100 in the second embodiment is proposed. In the second embodiment, the steps S10 to S40 are the same as those in the first embodiment and are not repeated here; the difference is that the step 40 also includes:

[0079] Step S410, judging whether the semi-trailer body 10 is in an uphill state according to the position information of the semi-trailer body 10 and the current road slope information obtained by the sensor module 15, or according to the current vehicle height information of the trailer body obtained;

[0080] During the driving process, the sensor module 15 can detect the running state of the semi-trailer body 10 in real time, for example, calling the altimeter and the GPS sensor to detect the geographical location information of the semi-trailer body 10, and measuring the slope information and height information of the road where the semi-trailer body 10 is located through the altimeter. The control module 16 analyzes and processes the slope information and height information to determine whether the semi-trailer body 10 is climbing.

[0081] In other embodiments, a reference height and slope may also be set, and analysis may be performed to determine whether the slope and height of the current road are within the range of the reference height and slope. When the current road slope and height are beyond the range of the reference height and slope, the control module 16 may determine that the semitrailer body 10 is in an uphill state; when the current road slope and height are within the range of the reference height and slope, the control module 16 may determine that the semitrailer body 10 is not moving uphill.

[0082] Step S420, when the semi-trailer body 10 is in an uphill state, calculating whether the potential energy change of the semi-trailer body 10 when going uphill is greater than a preset threshold value according to the current road slope information and the current vehicle height information;

[0083] During the uphill phase, the semitrailer body 10 needs to consume a large amount of energy, and the control module 16 controls the energy storage module 14 to switch to a discharge state to provide driving force for the semitrailer body 10 to complete the uphill movement.

[0084] In the downhill stage, the control module 16 controls the electromechanical energy conversion module 13 to switch to the energy recovery state, and the energy storage module 14 to switch to the charging state, so as to recover the energy generated by the semi-trailer body 10 in the downhill stage, and at the same time, it can also assist the vehicle in deceleration and reduce the wear and heat of the brake pads. It can be understood that the electric energy consumed during the operation process is determined by the potential energy generated by the operation of the semi-trailer body 10, wherein the potential energy can be calculated based on the current road slope information and vehicle height information.

[0085] Step S430, when the potential energy change of the semitrailer body 10 when going uphill is greater than a preset threshold, the discharge ratio of the energy storage module 14 is determined to prepare for the charging of the energy storage module 14 when the semitrailer body 10 goes downhill later.

[0086] During the uphill stage, the potential energy change of the semi-trailer body 10 is calculated according to the current road slope information and height information. When the potential energy change of the semi-trailer body 10 is greater than a preset threshold, it means that the semi-trailer body 10 needs to consume a large amount of electricity to increase the driving force and complete the climbing. At the same time, after the semi-trailer body 10 completes the uphill stage, it will enter the downhill stage. At this time, the energy storage module 14 of the semi-trailer body 10 can fully replenish the electric energy consumed and released in the uphill stage during the downhill process to reduce the number of times the energy storage module 14 is charged and discharged, and the service life of the energy storage module 14 is extended. In the downhill stage, the electromechanical energy conversion module 13 enters the power generation state, which can slow down the semi-trailer body 10 to avoid the continuous use of brake pads when braking downhill, which causes the brake pads to be too hot and affects the performance of the trailer.

[0087] It can be understood that when the potential energy change of the semi-trailer body 10 is greater than the preset threshold value, and the sensor module 15 detects that the semi-trailer is about to enter the downhill stage, it means that the current slope is large, and the energy storage module 14 can replenish the consumed electricity in the downhill stage. At this time, the discharge ratio of the energy storage module 14 can be determined, that is, all the electric energy of the energy storage module 14 is discharged to increase the driving force, maximize the use of the energy storage capacity of the energy storage module 14, and reduce the number of times the energy storage module 14 is charged and discharged; when the potential energy change of the semi-trailer body 10 is less than the preset threshold value, it means that the slope of the current road is small, and the slope of the next downhill section is small. Therefore, the electric energy of the energy storage module 14 of the semi-trailer body 10 can be fully used to drive the wheel drive shaft 12, or only part of the electricity can be released, because the subsequent downhill is small, and there will be no situation where the electricity is quickly filled.

[0088] In addition, in other embodiments, it is possible to determine whether the current road is going downhill based on the position information of the semi-trailer body 10 and the current road slope information obtained by the sensor module 15, or based on the current vehicle height information of the semi-trailer body 10, and then control the energy storage module 14 to discharge all the power so that it can be fully replenished in the downhill stage.

[0089] For further information, please refer to Figure 5 , a method flow chart of the control method of the intelligent semi-trailer 100 in the third embodiment is proposed. In the third embodiment, the steps S10 to S40 are the same as those in the first embodiment and are not repeated here; the difference is that the step S40 also includes:

[0090] Step S440, judging whether the semi-trailer body 10 is in a downhill state according to the position information of the semi-trailer body 10 and the current road slope information obtained by the sensor module 15, or according to the current vehicle height information of the trailer body obtained;

[0091] During the driving process, the sensor module 15 detects and senses the running state of the semi-trailer body 10 in real time, for example, calling the altimeter and the GPS sensor to detect the geographical location information of the semi-trailer body 10, and using the altimeter to measure the slope information and height information of the road where the semi-trailer body 10 is located. The control module 16 analyzes and processes the slope information and height information to determine whether the semi-trailer body 10 is moving downhill.

[0092] Step 450, when the semi-trailer body 10 is in a downhill state, obtain the current road slope information and the temperature information of the brake pads obtained by the sensor module 15, as well as the remaining power of the energy storage module 14, and determine the interval for alternating between the original vehicle braking mode of the semi-trailer body 10 and the deceleration mode in which the electromechanical energy conversion module 13 switches to the power generation state.

[0093] In order to prevent the semi-trailer body 10 from losing control due to excessive speed when going downhill, thereby causing a traffic accident, the semi-trailer body 10 can be appropriately decelerated; wherein, the deceleration method can use brake pads to decelerate the semi-trailer body 10, and the electromechanical energy conversion module 13 can also be switched to a charging state through the control module 16 to achieve the purpose of deceleration. It can be understood that the use of brake pads to decelerate is to slow down the speed of the semi-trailer body 10 through the friction resistance between the brake pads and the tires. During the braking process, the kinetic energy of the semi-trailer body 10 is converted into thermal energy, thereby increasing the temperature of the brake pads. When the temperature of the brake pads is too high, it is easy to cause the brake pads to fail, causing the semi-trailer body 10 in the downhill stage to lose control, thereby causing a traffic accident. At the same time, when the temperature of the brake pads is too high, it is also easy to ignite the tires of the semi-trailer body 10, affecting the safety of the semi-trailer body 10. Therefore, during the downhill process, it is necessary to monitor the temperature of the brake pads in real time.

[0094] In this embodiment, when the semi-trailer body 10 is going downhill, the electromechanical energy conversion module 13 and the brake pads are alternately used to decelerate the semi-trailer body 10 according to the current road slope information, the temperature information of the brake pads, and the remaining power of the energy storage module 14. The interval frequency of alternating between the original vehicle braking mode of the semi-trailer body 10 and the deceleration mode in which the electromechanical energy conversion module 13 switches to the charging state can be set according to the performance of the vehicle, and can also be set by the control module 16 according to the current road slope information, the temperature information of the brake pads, and the analysis result of the remaining power of the energy storage module 14.

[0095] For further information, please refer to Figure 6 , a method flow chart of the control method of the intelligent semi-trailer 100 in the fourth embodiment is proposed. In the fourth embodiment, the steps S440 to S450 are the same as those in the third embodiment and are not repeated here; the difference is that after the step S440, the following steps are further included:

[0096] Step S441, when the semi-trailer body 10 is in a downhill state, determining whether the temperature of the brake pad is greater than a preset temperature and whether the remaining power of the energy storage module 14 is less than a preset power;

[0097] When the semi-trailer body 10 is in a downhill state, in order to avoid the brake pads of the semi-trailer body 10 being in a braking state for a long time and causing the temperature to be too high, or when the energy storage module 14 is fully charged for a long time, the energy storage module 14 cannot store the electric energy converted by the electromechanical energy connection module, thereby failing to decelerate the semi-trailer body 10, the temperature of the brake pads and the remaining power of the energy storage module 14 can also be monitored in real time.

[0098] Specifically, in this embodiment, the temperature of the brake pad monitored by the sensor module 15 can be compared with the preset temperature, and the remaining power of the energy storage module 14 can be compared with the preset power. Based on the comparison results, it is determined whether it is appropriate to continue using the brake pad to decelerate the semi-trailer body 10, and whether it is appropriate to switch the electromechanical energy conversion module 13 to the power generation state.

[0099] Step S442, when the temperature of the brake pad is greater than a preset temperature and the remaining power of the energy storage module 14 is less than a preset power, controlling the electromechanical energy conversion module 13 to switch to a charging state;

[0100] It can be understood that when the temperature of the brake pad is greater than the preset temperature and the remaining power of the energy storage module 14 is less than the preset power, it means that the temperature of the brake pad of the semi-trailer body 10 has exceeded the safe use range and is not suitable for continued use. At the same time, the energy storage module 14 is in an unsaturated state and can store the electrical energy generated by the electromechanical energy conversion module 13. Therefore, in order to avoid adverse effects caused by continued use of the brake pad and at the same time, improve energy utilization and maximize the use of the energy storage module 14, the control module 16 of the semi-trailer body 10 can control the electromechanical energy conversion module 13 to switch to a charging state to slow down the driving speed of the semi-trailer body 10 when going downhill.

[0101] Step S443, when the temperature of the brake pad is lower than a preset temperature and the remaining power of the energy storage module 14 is higher than a preset quantity, the semi-trailer body 10 is controlled to activate the original vehicle brake.

[0102] In this step, when the temperature of the brake pad is lower than the preset temperature and the remaining power of the energy storage module 14 is higher than the preset power, it indicates that the temperature of the brake pad of the semi-trailer body 10 is in normal use state. At this time, in order to reduce the consumption of electric energy and avoid frequent charging and discharging of the energy storage module 14 to reduce the service life of the energy storage module 14, the original vehicle brake of the semi-trailer body 10 can be directly activated to achieve the purpose of decelerating the semi-trailer body 10.

[0103] For further information, please refer to Figure 7 , a method flow chart 201 of the control method of the intelligent semi-trailer 100 in the fifth embodiment is proposed, and the steps S10 to S40 are the same as those in the first embodiment, and are not repeated here; the difference is that after the step S40, the following is also included:

[0104] Step S50, based on the road condition information obtained by the communication module and the operating parameter information of the semi-trailer body 10 obtained by the sensor module 15, the driving state and road condition environment information of the semi-trailer body 10 in the next preset time are predicted, and the energy recovery state or the preset driving state of the semi-trailer body 10 in the next preset time is controlled according to the prediction result.

[0105] It is understandable that in step S50, during driving, the road condition information acquired by the communication module may include at least one of the following information: road traffic volume, road congestion information, road turning information, regional traffic accident information, intersection information, road occupancy information, average vehicle speed information, and lane number information. Specifically, in this embodiment, the road condition information acquired by the communication module is combined with the operating parameter information of the semi-trailer body 10 acquired by the sensor module, and it is predicted whether the semi-trailer body 10 needs to be decelerated in the next section of the road, and the electromechanical energy conversion module 13 is controlled to switch to the energy recovery state or the driving state accordingly. For example, when the communication module obtains that there is a traffic jam ahead, and the sensor module 15 obtains that the distance between the vehicle ahead and the intelligent semi-trailer 100 is relatively close, it is predicted that the semi-trailer body 10 will enter a traffic congestion area, which means that the semi-trailer body 10 needs to be decelerated when entering the road section within a preset time period, that is, when the semi-trailer body 10 enters the road section, the control module 16 controls the electromechanical energy conversion module 13 to switch to a preset energy recovery state; or when the communication module obtains that there is an intersection ahead, and the sensor module 15 obtains that the slope information of the road is uphill, it is predicted that the semi-trailer body 10 is about to climb a slope, and at this time, the electromechanical energy conversion module 13 can be controlled to switch to a driving state within a preset time period. By predicting the driving state of the semi-trailer body 10, the safety of the semi-trailer body 10 can be guaranteed, and at the same time, energy optimization distribution can be achieved.

[0106] For further information, please refer to Figure 8 , a method flow chart 202 of the control method of the intelligent semi-trailer 100 in the sixth embodiment is proposed, and the steps S10 to S40 are the same as those in the first embodiment, and are not repeated here; the difference is that after the step S40, the following is also included:

[0107] Step S60, calculating the current kinetic energy of the semi-trailer body 10 according to the current travel speed and mass of the semi-trailer body 10;

[0108] It is understandable that during the driving process of the semi-trailer body 10, energy conversion can be achieved, and the electricity in the energy storage module 14 of the semi-trailer body 10 can be converted into the kinetic energy of the semi-trailer body 10. The kinetic energy of the semi-trailer body 10 can be calculated based on the current driving speed and mass of the semi-trailer body 10.

[0109] Step S70, determining the power generation of the electromechanical energy conversion module 13 when it is in the power generation state according to the kinetic energy of the semi-trailer body 10 and preset conditions.

[0110] In this embodiment, the power generation of the electromechanical energy conversion module 13 when in the power generation state can be determined based on the kinetic energy generated by the semi-trailer body 10 in the driving state and the conversion efficiency between energies. For example: in a traffic-congested section, frequent braking is required. At this time, the control module 16 controls the electromechanical energy conversion module 13 to switch to a power generation state to recover energy; of course, it can also be set to a lower power generation power, and the foot brake is directly used to control the brake, without using the electromechanical energy conversion module 13 to affect the vehicle's movement, which is convenient for the driver to operate; for example, when the semi-trailer body 10 is in a high-speed driving state, the kinetic energy is large, and the semi-trailer body 10 can usually be used to recover energy when braking or going downhill, because when the semi-trailer body 10 is driving at high speed, if it encounters an obstacle, it needs to slow down in time. At this time, when the electromechanical energy conversion module 13 is in a power generation state, its working power can be controlled to be as large as possible; it can be understood that when the energy storage module 14 is fully charged, the power can be controlled to be 0. At this time, the electromechanical energy conversion module 13 is in a power generation state, and its working power can be controlled to be as small as possible.

[0111] Further, in an optional embodiment, the control method of the intelligent semi-trailer 100 further includes: step S80, determining the turning direction and speed of the semi-trailer body 10 according to the current road curvature information obtained by the sensor module 15 and / or the steering wheel rotation angle information sent by the tractor corresponding to the intelligent semi-trailer 100;

[0112] Step 90 , according to the determined turning direction and speed of the semi-trailer body 10 , controlling the driving output power of the electromechanical energy conversion module 13 corresponding to the wheel drive shafts 12 of different wheels 11 .

[0113] Specifically, the current road curvature information includes but is not limited to information such as the road curve radius. The tractor may also be provided with an angle sensor for detecting the turning angle of the steering wheel, wherein a communication connection is established between the tractor and the intelligent trailer 100, for example, the tractor and the control module 16 are connected to each other through a bus, so that the steering wheel turning angle information obtained by the angle sensor provided on the tractor and the turn signal information of the tractor are sent to the control module of the intelligent trailer 100.

[0114] In this embodiment, by using the current road curvature information and / or the steering wheel rotation angle information and the turn signal information of the tractor corresponding to the intelligent semi-trailer 100, it is determined whether the semi-trailer body 10 is in or predicted to be in a turning state, so as to control the output power of the electromechanical energy conversion module 13, and further control the driving speed and rotation angle of each wheel of the semi-trailer 100.

[0115] For example, when the vehicle enters a left-turn lane, the angle sensor detects the turning angle of the steering wheel, the main control module of the tractor obtains the on or off information of the left and right turn signals, and sends it to the intelligent semi-trailer; and the environmental perception sensor on the semi-trailer body 10 detects the curvature of the road; the control module 16 determines the driving direction and speed of the semi-trailer 100 by analyzing the above data, and determines the output power of the electromechanical conversion module 13 corresponding to each wheel 11, so that the right wheel travels faster than the left wheel, thereby realizing the auxiliary steering drive function of the intelligent semi-trailer 100.

[0116] In this embodiment, the output power of the electromechanical energy conversion module 13 is controlled according to the turning angle of the steering wheel or the current road curvature information to provide a lateral driving force to assist the semi-trailer body 10 in steering.

[0117] The present invention further provides an intelligent semi-trailer 100, comprising a vehicle body 20 and the control system described in any of the above embodiments.

[0118] The present invention further provides an intelligent vehicle, comprising a tractor head and the intelligent semi-trailer 100 as described above.

[0119] The above description is only an optional implementation of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A control system for an intelligent semi-trailer, the intelligent semi-trailer comprising a semi-trailer body, at least one wheel arranged on the semi-trailer body, and a wheel drive shaft corresponding to the wheel, characterized in that: The control system of the intelligent semi-trailer includes: At least one electromechanical energy conversion module is distributedly arranged in one-to-one correspondence with the wheel drive shaft of the semi-trailer body, wherein the electromechanical energy conversion module drives and outputs the wheel drive shaft in a driving state, and the electromechanical energy conversion module is driven by the wheel drive shaft in a power generation state to convert the mechanical energy of the wheel drive shaft into electrical energy; An energy storage module, electrically connected to the electromechanical energy conversion module, for outputting electric energy to the electromechanical energy conversion module and receiving and storing the electric energy output by the electromechanical energy conversion module in a power generation state; A sensor module, used to detect the operating parameter information of the semi-trailer body, the sensor module includes a brake pad temperature sensor, and the brake pad temperature sensor is installed on the brake pad of the semi-trailer body to detect the temperature of the brake pad in real time; a control module connected to the sensor module, the energy storage module and the electromechanical energy conversion module, and configured to send corresponding instructions to the electromechanical energy conversion module according to the operating parameter information of the semi-trailer body obtained by the sensor module, so as to control the switching between the charging and discharging states of the energy storage module and the switching between the driving state and the power generation state of the electromechanical energy conversion module; A communication module, which is connected to an external monitoring center or surrounding vehicles for communication, and is used to upload the operating status of the semitrailer body to the external monitoring center so that the external monitoring center can understand the current operating status of the semitrailer body in real time, wherein the road condition information obtained by the communication module may include at least one of the following information: road traffic volume, road congestion information, road turning information, regional traffic accident information, intersection information, road occupancy information, average vehicle speed information, and lane number information; based on the road condition information obtained by the communication module and the operating parameter information of the semitrailer body obtained by the sensor module, the driving state and road condition environment information of the semitrailer body within the next preset time are predicted, and the energy recovery state or the preset driving state of the semitrailer body within the next preset time is controlled according to the prediction result; In the uphill stage, the potential energy change of the semi-trailer body is calculated according to the current road slope information and height information. When the potential energy change of the semi-trailer body is greater than a preset threshold, the discharge ratio of the energy storage module is determined to increase the driving force and complete the climbing; During the downhill stage, when the potential energy change of the semi-trailer body is greater than a preset threshold, the energy storage module of the semi-trailer body replenishes the electric energy consumed and released during the uphill stage through the downhill process to reduce the number of times the energy storage module is charged and discharged, and according to the current road slope information, the temperature information of the brake pads, and the remaining power of the energy storage module, the electromechanical energy conversion module and the brake pads are alternately used to decelerate the semi-trailer body, wherein the interval frequency of alternating between the original vehicle braking mode of the semi-trailer body and the deceleration mode in which the electromechanical energy conversion module is switched to a charging state is set by the control module according to the analysis results of the current road slope information, the temperature information of the brake pads and the remaining power of the energy storage module.

2. The control system of the intelligent semi-trailer according to claim 1, characterized in that: The sensor module includes at least one of the following sensors: Environmental perception sensor, brake pad temperature sensor, altimeter, barometer, vehicle-mounted radar speedometer, distance sensor, acceleration sensor, GPS locator, wheel speed sensor, and brake pedal travel sensor.

3. A control method for the control system of the intelligent semi-trailer according to any one of claims 1 to 2, characterized in that: Includes steps: Acquiring the operating parameter information of the semi-trailer body obtained by the sensor module; According to the operating parameter information of the semi-trailer body obtained by the sensor module, determining whether the state of the semi-trailer body is in a preset energy recovery state or a preset driving state; When the semi-trailer body is in a preset energy recovery state, the control module controls the energy storage module to switch to a charging state, and controls the electromechanical energy conversion module to switch to a power generation state; When the semi-trailer body is in a preset driving state, the control module controls the energy storage module to switch to a discharging state, and controls the electromechanical energy conversion module to switch to a driving state.

4. The control method according to claim 3, characterized in that: The operating parameter information of the semi-trailer body includes at least one of the following parameter information: distance information between the semi-trailer body and a preset road reference object, real-time distance information between the semi-trailer body and a preceding vehicle or a following vehicle, driving speed information of the semi-trailer body, current road curvature information, current road slope information, current vehicle height information, acceleration information of the semi-trailer body, highway speed limit sign information, brake pad temperature information, and traffic light color information; The preset energy recovery state includes at least one of the following conditions: braking state, the current road slope information is downhill, the road curvature is greater than the preset curvature, the current driving speed of the semi-trailer body is greater than the preset speed or greater than the speed limit value of the highway speed limit sign, the distance between the semi-trailer body and the road reference object is less than the preset distance value, the distance between the semi-trailer body and the front vehicle or the rear vehicle is less than the preset distance value; the brake temperature is greater than the preset temperature value, the color information of the traffic light is red and the distance between the semi-trailer body and the traffic light is less than the preset distance value; The preset driving state includes at least one of the following conditions: the semi-trailer body is in the starting state, the current road slope information is uphill, the acceleration of the semi-trailer body is a positive value, the road curvature is less than the preset curvature, the current driving speed of the semi-trailer body is less than the preset speed or less than the speed limit value of the highway speed limit sign, the distance between the semi-trailer body and the road reference object is greater than the preset distance value, and the distance between the semi-trailer body and the front vehicle or the rear vehicle is greater than the preset distance value; the color information of the traffic light is green and the distance between the semi-trailer body and the traffic light is greater than the preset distance value.

5. The control method according to claim 4, characterized in that: Also includes the steps: Determine whether the semi-trailer body is in an uphill state according to the position information of the semi-trailer body and the current road slope information obtained by the sensor module, or according to the current vehicle height information of the trailer body obtained; When the semi-trailer body is in an uphill state, calculating whether the potential energy change of the semi-trailer body when going uphill is greater than a preset threshold value according to the current road slope information and the current vehicle height information; When the potential energy change of the semitrailer body when going uphill is greater than a preset threshold, the discharge ratio of the energy storage module is determined to prepare for the subsequent charging of the energy storage module when the semitrailer body goes downhill.

6. The control method according to claim 4, characterized in that: Also includes the steps: Determine whether the semi-trailer body is in a downhill state according to the position information of the semi-trailer body and the current road slope information obtained by the sensor module, or according to the current vehicle height information of the trailer body obtained; When the semi-trailer body is in a downhill state, the current road slope information and the temperature information of the brake pads obtained by the sensor module, as well as the remaining power of the energy storage module are obtained to determine the interval between alternating use of the original vehicle braking mode of the semi-trailer body and the deceleration mode in which the electromechanical energy conversion module switches to the charging state.

7. The control method according to claim 6, characterized in that: After the step of determining whether the semi-trailer body is in a downhill state according to the position information of the semi-trailer body, the current road slope information and the current vehicle height information obtained by the sensor module, the step further includes: When the semi-trailer body is in a downhill state, determining whether the temperature of the brake pad is greater than a preset temperature and whether the remaining power of the energy storage module is less than a preset power; When the temperature of the brake pad is greater than a preset temperature and the remaining power of the energy storage module is less than a preset power, controlling the electromechanical energy conversion module to switch to a charging state; When the temperature of the brake pad is lower than a preset temperature and the remaining power of the energy storage module is higher than a preset quantity, the semi-trailer body is controlled to activate the original vehicle brake.

8. The control method according to claim 3, characterized in that: The control method further comprises the steps of: Calculating the current kinetic energy of the semi-trailer body according to the current travel speed and mass of the semi-trailer body; Determining the power generation of the electromechanical energy conversion module when it is in a power generation state according to the kinetic energy of the semi-trailer body and preset conditions; Or also include the steps: Determine the turning direction and speed of the semi-trailer body according to the current road curvature information obtained by the sensor module and / or the steering wheel rotation angle information and turn signal information sent by the tractor corresponding to the smart semi-trailer; According to the determined turning direction and speed of the semi-trailer body, the driving output power of the electromechanical energy conversion module corresponding to the wheel drive shafts of different wheels is controlled.

9. An intelligent vehicle, comprising a tractor head and an intelligent semi-trailer, characterized in that: The intelligent semi-trailer includes a vehicle body and a control system of the intelligent semi-trailer as described in any one of claims 1-2.

Images