Semitrailer acceleration compensation method, device, equipment and storage medium

Abstract

The application discloses a semitrailer acceleration compensation method, device, equipment and storage medium, and belongs to the technical field of automobile control. The semitrailer acceleration compensation method comprises the following steps: acquiring a planned acceleration, a current hinged angle, a current vehicle speed and a current load mass at a current moment; performing linear interpolation in a preset three-dimensional space based on the current hinged angle, the current vehicle speed and the current load mass to obtain a curve acceleration compensation amount; a horizontal axis of the preset three-dimensional space represents a vehicle speed, a vertical axis represents a hinged angle, and a vertical axis represents a vehicle load mass; and obtaining an acceleration control amount based on the planned acceleration and the curve acceleration compensation amount. The application can correct the problem of reduced longitudinal control acceleration performance of a semitrailer caused by a curve scene, so that the semitrailer can successfully complete turning.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and in particular to a method, device, equipment, and storage medium for acceleration compensation of a semi-trailer. Background Technology

[0002] A semi-trailer consists of a tractor and a trailer. When the load is heavy and a sharp turn is made, the articulation angle between the tractor and the trailer is large, and the tractor and trailer fold. The driving force of the tractor needs to overcome the friction of the trailer, which is greater than when driving in a straight line. This results in a decrease in longitudinal control acceleration performance and makes it impossible to complete the turn smoothly.

[0003] However, the acceleration compensation scheme of the relevant technology cannot be applied to semi-trailer models. Summary of the Invention

[0004] The main objective of this invention is to provide a method, device, equipment, and storage medium for acceleration compensation of semi-trailers, aiming to solve the technical problem of reduced longitudinal acceleration performance of semi-trailers when turning in related technologies.

[0005] To achieve the above objectives, the present invention provides a method for acceleration compensation of a semi-trailer, the method comprising the following steps:

[0006] Obtain the current planned acceleration, current articulation angle, current vehicle speed, and current load mass;

[0007] Based on the current articulation angle, current vehicle speed, and current load mass, linear interpolation is performed in a preset three-dimensional space to obtain the cornering acceleration compensation amount; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the articulation angle, and the vertical axis represents the vehicle load mass.

[0008] Based on the planned acceleration and the cornering acceleration compensation, the acceleration control quantity is obtained.

[0009] Optionally, the steps to obtain the planning acceleration at the current moment include:

[0010] Obtain the current position information, preview time, and planned path of the tractor at the current moment; each position node in the planned path has planned position information, planned speed, and planned acceleration;

[0011] The steps for obtaining acceleration control quantities based on acceleration and cornering acceleration compensation include:

[0012] The node closest to the current position of the tractor in the planned path is taken as the initial node. The reference node is determined by traversing the node after the initial node based on the aiming time.

[0013] Based on the current position information of the tractor, the current speed, and the reference position node, the speed closed-loop acceleration correction is calculated.

[0014] The acceleration control quantity is obtained based on the planned acceleration, the cornering acceleration compensation, and the speed closed-loop acceleration correction.

[0015] Optionally, the step of calculating the speed closed-loop acceleration correction based on the current position information of the tractor, the current vehicle speed, and the reference position node includes:

[0016] Determine the position error between the tractor and the reference position node, as well as the position error of the tractor at the previous moment and the speed error at the previous moment.

[0017] Based on the position error and the previous position error, the position closed-loop velocity correction is calculated using Formula 1.

[0018] Based on the current vehicle speed, the closed-loop speed correction amount at the location, and the planned speed, the speed error is obtained;

[0019] Based on the velocity error, the velocity error at the previous moment, and the position error, the velocity closed-loop acceleration correction is calculated using Formula 2.

[0020] Formula 1: ;

[0021] in, v p This is the position closed-loop velocity correction amount. E p Position error ，E p-1 This represents the position error at the previous time step. kp_p This is the position error proportionality coefficient. ki_p The integral coefficient of the position error. kd_p These are the differential coefficients for the position error;

[0022] Formula 2: ;

[0023] in, a v For velocity closed-loop acceleration correction ，E v For speed error, E v-1 The velocity error at the previous moment kp_v This is the speed error proportionality coefficient. ki_v The integral coefficient for speed error. kd_v For the velocity error differential coefficient.

[0024] Optionally, the step of obtaining the acceleration control quantity based on the planned acceleration, the cornering acceleration compensation, and the speed closed-loop acceleration correction includes:

[0025] Obtain the tare weight of the tractor, the tare weight of the trailer, the pitch angle of the tractor, and the relative pitch angle between the trailer and the tractor;

[0026] The trailer pitch angle is obtained based on the tractor pitch angle and the relative pitch angle.

[0027] Based on the tractor's own weight, trailer's own weight, current load weight, tractor's pitch angle and trailer's pitch angle, the slope acceleration compensation is calculated.

[0028] The acceleration control quantity is obtained based on the slope acceleration compensation, planned acceleration, curve acceleration compensation, and speed closed-loop acceleration correction.

[0029] Optionally, the step of calculating the slope acceleration compensation based on the tractor's tare weight, the trailer's tare weight, the current load weight, the tractor's pitch angle, and the trailer's pitch angle includes:

[0030] Based on the tractor's own weight, trailer's own weight, current load weight, tractor's pitch angle, and trailer's pitch angle, the slope acceleration compensation is calculated using Formula 3.

[0031] Formula 3: ;

[0032] in, a p This is the amount of acceleration compensation for the ramp. M For the current load capacity, M g For the trailer's tare weight, M q The tractor's own weight. α 1 represents the trailer pitch angle. α 0 represents the pitch angle of the tractor unit. G This is the acceleration due to gravity.

[0033] Optionally, after obtaining the acceleration control amount based on the planned acceleration and the cornering acceleration compensation amount, the method further includes:

[0034] Based on the current vehicle speed and acceleration control quantity, obtain the braking control quantity and throttle control quantity;

[0035] The brake control and throttle control signals are sent to the drive-by-wire chassis.

[0036] Optionally, the steps for obtaining the braking control quantity and throttle control quantity based on the current vehicle speed and acceleration control quantity include:

[0037] Based on the current vehicle speed and acceleration control values, the brake-throttle calibration table is consulted to obtain the brake control values ​​and throttle control values.

[0038] Furthermore, to achieve the above objectives, the present invention also provides a semi-trailer acceleration compensation device, the device comprising:

[0039] The information acquisition module is used to acquire the current planned acceleration, current articulation angle, current vehicle speed, and current load mass.

[0040] The acceleration compensation module is used to perform linear interpolation in a preset three-dimensional space based on the current articulation angle, current vehicle speed, and current load mass to obtain the cornering acceleration compensation amount; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the articulation angle, and the vertical axis represents the vehicle load mass.

[0041] The acceleration control module is used to obtain the acceleration control quantity based on the planned acceleration and the cornering acceleration compensation amount.

[0042] In addition, to achieve the above objectives, the present invention also provides a semi-trailer acceleration compensation device, the device comprising: a memory, a processor, and a semi-trailer acceleration compensation program stored in the memory and executable on the processor, the semi-trailer acceleration compensation program being configured to implement the steps of the semi-trailer acceleration compensation method as described above.

[0043] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a semi-trailer acceleration compensation program, which, when executed by a processor, implements the steps of the semi-trailer acceleration compensation method as described above.

[0044] This invention uses linear interpolation in a preset three-dimensional space based on the current articulation angle, current vehicle speed, and current load mass to obtain the curve acceleration compensation amount under the current state. The curve acceleration compensation amount is then added to the acceleration control amount, which can correct the problem of reduced longitudinal control acceleration performance of semi-trailers caused by curve scenarios, enabling semi-trailers to complete turns smoothly. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the semi-trailer acceleration compensation device in the hardware operating environment involved in the embodiments of the present invention;

[0046] Figure 2 This is a flowchart illustrating the first embodiment of the semi-trailer acceleration compensation method of the present invention;

[0047] Figure 3 This is a flowchart illustrating the second embodiment of the semi-trailer acceleration compensation method of the present invention;

[0048] Figure 4 This is a flowchart illustrating the third embodiment of the semi-trailer acceleration compensation method of the present invention;

[0049] Figure 5This is a schematic diagram illustrating the process framework of the semi-trailer acceleration compensation method of the present invention.

[0050] Figure 6 This is a functional module diagram of the first embodiment of the semi-trailer acceleration compensation method of the present invention.

[0051] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0053] Analysis of the relevant technologies reveals that they are mostly designed for longitudinal acceleration compensation control of passenger cars, without considering semi-trailer models. In heavy-load scenarios, the folding of the tractor and trailer during turns can reduce longitudinal acceleration performance, which in turn reduces the acceleration performance of the semi-trailer when cornering.

[0054] To this end, the present invention performs linear interpolation in a preset three-dimensional space based on the current articulation angle, current vehicle speed, and current load mass to obtain the curve acceleration compensation amount under the current state, and adds the curve acceleration compensation amount to the acceleration control amount, which can correct the problem of reduced longitudinal control acceleration performance of semi-trailers caused by curve scenarios, so that semi-trailers can complete turns smoothly.

[0055] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the semi-trailer acceleration compensation device in the hardware operating environment involved in the embodiment of the present invention.

[0056] like Figure 1As shown, the semi-trailer acceleration compensation device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the acceleration compensation device for semi-trailers and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0058] like Figure 1 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a semi-trailer acceleration compensation program.

[0059] exist Figure 1 In the semi-trailer acceleration compensation device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the semi-trailer acceleration compensation device of the present invention can be set in the semi-trailer acceleration compensation device. The semi-trailer acceleration compensation device calls the semi-trailer acceleration compensation program stored in the memory 1005 through the processor 1001 and executes the semi-trailer acceleration compensation method provided in the embodiment of the present invention.

[0060] This invention provides a method for acceleration compensation of a semi-trailer, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of a semi-trailer acceleration compensation method according to the present invention.

[0061] In this embodiment, the semi-trailer acceleration compensation method includes:

[0062] Step S100: Obtain the current planned acceleration, current articulation angle, current vehicle speed, and current load mass.

[0063] Step S200: Based on the current articulation angle, current vehicle speed, and current load mass, perform linear interpolation in a preset three-dimensional space to obtain the cornering acceleration compensation amount.

[0064] The horizontal axis of the preset three-dimensional space represents vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle's load capacity.

[0065] Step S300: Based on the planned acceleration and the cornering acceleration compensation, obtain the acceleration control quantity.

[0066] Specifically, during the semi-trailer's turning process, the system acquires the semi-trailer's current planned acceleration, current articulation angle, current speed, and current load capacity in real time. In practice, the current articulation angle is calculated by the sensing module based on the trailer's posture; the current load capacity is obtained through a load measurement device or cloud control; the current speed is obtained based on feedback from the drive-by-wire chassis; and the planned acceleration is obtained based on the trajectory planning results provided by the planning module. The articulation angle is the angle between the tractor and trailer at the articulation point. The trajectory planning results include the coordinates of the planned trajectory points, the planned speed, and the planned acceleration.

[0067] Based on the current articulation angle, current vehicle speed, and current load, linear interpolation is performed in a preset three-dimensional space to obtain the cornering acceleration compensation. In this preset three-dimensional space, the horizontal axis represents vehicle speed, the vertical axis represents the articulation angle, and the vertical axis represents the vehicle load. It is understandable that the acceleration performance of a semi-trailer decreases when turning, mainly due to the influence of the articulation angle, vehicle load, and vehicle speed. Therefore, a preset three-dimensional space of articulation angle, vehicle load, and vehicle speed can be established. By selecting anchor values ​​(intersection values ​​of the three-dimensional interpolation table) in different dimensions for testing and calibration, the cornering acceleration compensation at the anchor values ​​can be obtained.

[0068] Therefore, in practical applications, the cornering acceleration compensation amount under the current state can be obtained by linear interpolation in three-dimensional space based on the real-time articulation angle, real-time vehicle speed, and current load. Finally, the planned acceleration obtained above and the cornering acceleration compensation amount under the current state are summed to obtain the final acceleration control amount.

[0069] For example, in a specific application scenario, by selecting anchor values ​​(intersection values ​​of the three-dimensional interpolation table) in different dimensions for testing and calibration, the following three-dimensional space table 1 is obtained:

[0070] Table 1

[0071]

[0072] If at this time, the semi-trailer's speed is The load capacity is The hinge angle is ,and , , Then, based on the curve acceleration compensation amount under the corresponding anchorage value in Table 1 of the three-dimensional space, the following interpolation calculation is performed:

[0073] a h1 =a 000 +(a 100 -a 000 ) * ;

[0074] a h2 =a 010 +(a 110 -a 010 ) * ;

[0075] a h3 =a h1 +(a h2 -a h1 ) * ;

[0076] a h4 =a 001 +(a 101 -a 001 ) * ;

[0077] a h5 =a 011 +( a111 -a 011 ) * ;

[0078] a h6 =a h4+(a h5 -a h4 ) * ;

[0079] a h =a h3 +(a h6 -a h3 ) * ;

[0080] in, , , , , , These are all intermediate quantities for calculation. This is the final cornering acceleration compensation amount.

[0081] Furthermore, in one specific embodiment, step S100 includes: obtaining the current position information of the tractor at the current moment, the aiming time, and the planned path.

[0082] Each location node in the planned path has planned location information, planned speed, and planned acceleration.

[0083] Specifically, the planned path is obtained based on the trajectory planning results provided by the planning module. This planned path contains multiple position nodes arranged by time, each containing the planned position information, planned velocity, and planned acceleration at that specific moment. Therefore, the planned acceleration at the current moment can be obtained based on the preview time. It's understandable that the semi-trailer is moving in real time; by setting the preview time, a control lead is provided, which avoids the problem of the calculation results lagging behind the semi-trailer's state, leading to a mismatch between the calculation results and the semi-trailer's current state.

[0084] At this point, in the specific implementation process, step S300 includes:

[0085] Step S310: Take the node in the planned path that is closest to the current position information of the tractor as the initial node, and traverse the position nodes after the initial node based on the aiming time to determine the reference position node.

[0086] Step S320: Based on the current position information of the tractor, the current vehicle speed, and the reference position node, calculate the speed closed-loop acceleration correction.

[0087] Step S330: Based on the planned acceleration, the cornering acceleration compensation amount, and the speed closed-loop acceleration correction amount, obtain the acceleration control amount.

[0088] Specifically, in this embodiment, the acceleration control quantity also includes a speed closed-loop acceleration correction quantity. Before calculating the speed closed-loop acceleration correction quantity, it is first necessary to determine the reference position node for calculation from the planned path. In the specific implementation process, the position node in the planned path that is closest to the current position of the tractor can be used as the initial node. Then, based on the aiming time, the position nodes after the initial node are traversed to determine the reference position node corresponding to the aiming time.

[0089] For example: The current coordinates of the tractor unit are ( x a ,y a The aiming time is... T Then, based on the planned trajectory, search for the current position of the tractor ( x a ,y a The nearest point is selected, and its aiming distance is set to zero. Then, the nodes are traversed backward from this point, and the aiming distance is selected relative to the target time. T Matching location nodes ( x t ,y t ,v t ,a t ,t t ) is used as a reference position node. The aiming distance is the initial node relative to the current tractor position ( x a ,y a The distance from the initial node is relative to the current position of the tractor ( ). x a ,y a The nearest node is selected, therefore the aiming distance of that point is set to zero.

[0090] Then, based on the current position of the tractor ( x a ,y a ), reference location node ( x t ,y t ,v t ,a t ,tt The closed-loop acceleration correction can be calculated from the current vehicle speed v. a v .

[0091] In one specific implementation, the velocity closed-loop acceleration correction amount a v The calculation process step S320 includes:

[0092] Step S321: Determine the position error between the tractor and the reference position node, as well as the previous position error and speed error of the tractor at the previous moment.

[0093] Step S322: Based on the position error and the previous position error, calculate the position closed-loop velocity correction using Formula 1.

[0094] Step S323: Based on the current vehicle speed, the position closed-loop speed correction amount, and the planned speed, obtain the speed error amount.

[0095] Step S324 calculates the velocity closed-loop acceleration correction amount based on the velocity error, the velocity error at the previous moment, and the position error using Formula 2.

[0096] Specifically, first, determine the positional error between the tractor and the reference position node, as well as the positional error of the tractor at the previous moment. E p-1 Velocity error with the previous moment E v-1 .

[0097] The current position of the tractor is known. （x a ,y a ） and reference position nodes （x t ,y t ,v t ,a t ,t t ） The position error can be calculated using the following formula:

[0098] ;

[0099] in, E p This represents the positional error between the tractor and the reference position node.

[0100] Known position error Ep Velocity error with the previous moment E p-1 The position closed-loop velocity correction can be calculated using Formula 1:

[0101] Formula 1: ;

[0102] in, v p This is the position closed-loop velocity correction amount. kp_p This is the position error proportionality coefficient. ki_p The integral coefficient of the position error. kd_p is the differential coefficient of the position error.

[0103] Planning velocity of the reference location node v t Position closed-loop velocity correction v p and current vehicle speed v The speed error can be calculated using formula four:

[0104] Formula 4: ;

[0105] in, E v This represents the speed error.

[0106] Known speed error E v Velocity error at the previous moment E v-1 and position error E p The velocity closed-loop acceleration correction can be calculated using formula two:

[0107] Formula 2: ;

[0108] in, a v This is the velocity closed-loop acceleration correction value. kp_v This is the speed error proportionality coefficient. ki_v The integral coefficient for speed error. kd_v For the velocity error differential coefficient.

[0109] Finally, given the known closed-loop acceleration correction amount... a v Accelerated Planning a t and cornering acceleration compensation a h In this case, the acceleration control quantity can be obtained by summing using Formula 5. a :

[0110] Formula 5: a=a v +a t +a h .

[0111] In this embodiment, based on conventional speed closed-loop acceleration correction and compensation, the present invention performs linear interpolation in a preset three-dimensional space based on the current articulation angle, current vehicle speed, and current load mass to obtain the curve acceleration compensation amount under the current state, and adds the curve acceleration compensation amount to the acceleration control amount, which can correct the problem of reduced longitudinal control acceleration performance of semi-trailers caused by curve scenarios, so that semi-trailers can complete turns smoothly.

[0112] In another specific embodiment, when the semi-trailer acceleration compensation device detects that the articulation angle is less than the preset minimum value, since the folding of the tractor and trailer is small, the energy effect on the longitudinal acceleration of the trailer can be ignored, and the acceleration compensation device does not perform cornering acceleration compensation on the semi-trailer.

[0113] Furthermore, a second embodiment is proposed based on the first embodiment, with reference to... Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the semi-trailer acceleration compensation method of the present invention.

[0114] In this embodiment, step S330 includes:

[0115] Step S331: Obtain the tare weight of the tractor, the tare weight of the trailer, the pitch angle of the tractor, and the relative pitch angle between the trailer and the tractor.

[0116] Step S332: Obtain the trailer pitch angle based on the tractor pitch angle and the relative pitch angle.

[0117] Step S333: Calculate the slope acceleration compensation amount based on the tractor's own weight, trailer's own weight, current load weight, tractor's pitch angle, and trailer's pitch angle.

[0118] Step S334: Based on the slope acceleration compensation amount, the planned acceleration, the curve acceleration compensation amount, and the speed closed-loop acceleration correction amount, obtain the acceleration control amount.

[0119] Specifically, in this embodiment, the acceleration control quantity also includes a slope acceleration compensation quantity. Before calculating the slope acceleration compensation quantity, it is first necessary to obtain the tractor's tare weight, the trailer's tare weight, the tractor's pitch angle, and the relative pitch angle between the trailer and the tractor. Then, the trailer's pitch angle is calculated based on the tractor's pitch angle and the relative pitch angle. Next, the slope acceleration compensation quantity is calculated based on the tractor's tare weight, the trailer's tare weight, the current load weight, the tractor's pitch angle, and the trailer's pitch angle. Finally, the slope acceleration compensation quantity, the planned acceleration, the curve acceleration compensation quantity, and the speed closed-loop acceleration correction quantity are summed to obtain the acceleration control quantity.

[0120] The trailer pitch angle can be obtained by subtracting the relative pitch angle from the tractor pitch angle. For example: given the tractor pitch angle is... α 0 and relative pitch angle is α Then the trailer pitch angle α 1 =α 0 -α .

[0121] In one specific embodiment, step S333 of the calculation process for the ramp acceleration compensation includes:

[0122] Based on the tractor's own weight, trailer's own weight, current load weight, tractor's pitch angle, and trailer's pitch angle, the slope acceleration compensation is calculated using Formula 3.

[0123] Specifically, the known tractor's tare weight is... M q Trailer tare weight M g Current load capacity M The pitch angle of the tractor is α 0 and trailer pitch angle α 1. The gradient acceleration compensation amount can be calculated using Formula 3:

[0124] Formula 3: ;

[0125] in, a p This is the amount of acceleration compensation for the ramp. G This is the acceleration due to gravity.

[0126] At this point, the closed-loop acceleration correction is known. a v Accelerated Planning a t Curving acceleration compensation a h and ramp acceleration compensation a pIn this case, the acceleration control quantity 'a' can be obtained by summing using Formula 6:

[0127] Formula Six: a=a v +a t +a h +a p .

[0128] In this embodiment, based on conventional speed closed-loop acceleration correction compensation and cornering acceleration compensation, the present invention performs slope acceleration compensation calculation according to the pitch angle of the tractor and the pitch angle of the trailer, obtains the slope acceleration compensation amount, and adds the acceleration control amount. This can correct the problem of unstable longitudinal control on slopes caused by the inconsistency of the slope between the trailer and the tractor, as well as the uneven distribution of mass in the articulated vehicle, making the semi-trailer's slope driving more stable.

[0129] Furthermore, a third embodiment is proposed based on the foregoing embodiments, referring to... Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of the semi-trailer acceleration compensation method of the present invention.

[0130] In this embodiment, after step S300, the method further includes:

[0131] Step S400: Based on the current vehicle speed and acceleration control quantity, obtain the braking control quantity and throttle control quantity;

[0132] Step S500: Send the brake control quantity and throttle control quantity to the drive-by-wire chassis.

[0133] Specifically, after calculating the acceleration control quantity, the semi-trailer acceleration compensation device can obtain the braking control quantity and throttle control quantity based on the acceleration control quantity and the current vehicle speed. Finally, it sends the braking control quantity and throttle control quantity to the drive-by-wire chassis so that the drive-by-wire chassis can control the semi-trailer to drive on curves or slopes based on the braking control quantity and throttle control quantity.

[0134] Furthermore, in one specific embodiment, step S400 includes:

[0135] Based on the current vehicle speed and acceleration control values, the brake-throttle calibration table is consulted to obtain the brake control values ​​and throttle control values.

[0136] Specifically, based on the current vehicle speed and acceleration control values, the brake-throttle calibration table can be consulted to obtain the corresponding brake and throttle control values. The brake-throttle calibration table contains the correspondence between vehicle speed and acceleration control values ​​and brake and throttle control values; that is, one combination of vehicle speed and acceleration control values ​​corresponds to one combination of brake and throttle control values.

[0137] In this embodiment, based on the obtained acceleration control quantity, the brake-throttle calibration table can be directly consulted according to the acceleration control quantity and the current vehicle speed to obtain the brake control quantity and throttle control quantity, avoiding a complicated calculation process. This allows the semi-trailer's drive-by-wire chassis to receive the brake control quantity and throttle control quantity in a timely manner, and adjust the brake or throttle accordingly, so as to enable the semi-trailer to turn smoothly or drive on slopes.

[0138] To enable those skilled in the art to better understand the scope of protection of the claims of this application, specific implementation examples in specific application scenarios are used to explain and illustrate the technical solutions described in the claims of this application. It should be understood that the following examples are only used to explain this application and are not intended to limit the scope of protection of the claims of this application.

[0139] Example: In a specific implementation process, the workflow framework for semi-trailer acceleration compensation is as follows: Figure 5 As shown. In this example, acceleration compensation includes closed-loop velocity compensation, closed-loop acceleration compensation, cornering acceleration compensation, and ramp acceleration compensation.

[0140] First, the position error is determined based on the reference position node and the vehicle's current position. Then, a position closed-loop speed correction calculation is performed based on this error to obtain the position closed-loop speed correction amount, which is then used for speed compensation. Next, the speed error is obtained based on the planned speed, the position closed-loop speed correction amount, and the current vehicle speed. Finally, a speed closed-loop acceleration correction calculation is performed based on this speed error to obtain the speed closed-loop acceleration correction amount, which is then used for acceleration compensation.

[0141] Based on this, this example calculates the cornering acceleration compensation amount by linear interpolation in a preset three-dimensional space using the vehicle load, articulation angle, and current vehicle speed. It also calculates the slope acceleration compensation amount by using the tractor pitch angle and trailer pitch angle as inputs. Finally, the acceleration control amount is obtained based on the speed closed-loop acceleration correction, planned acceleration, cornering acceleration compensation amount, and slope acceleration compensation amount. The throttle and brake control amounts are then obtained by consulting the brake-throttle calibration table based on the acceleration control amount and current vehicle speed to control the semi-trailer.

[0142] In this example, by incorporating multi-dimensional acceleration compensation such as closed-loop acceleration compensation, cornering acceleration compensation, and slope acceleration compensation into the acceleration control quantity, the present invention makes the acceleration compensation device for semi-trailers more accurate in controlling the acceleration compensation of semi-trailers during cornering and slope driving, thereby enabling semi-trailers to smoothly complete cornering and stable slope driving.

[0143] Furthermore, to achieve the above objectives, the present invention also provides a semi-trailer acceleration compensation device, which may include:

[0144] The information acquisition module is used to acquire the current planned acceleration, current articulation angle, current vehicle speed, and current load mass.

[0145] The acceleration compensation module is used to perform linear interpolation in a preset three-dimensional space based on the current articulation angle, current vehicle speed, and current load mass to obtain the cornering acceleration compensation amount; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the articulation angle, and the vertical axis represents the vehicle load mass.

[0146] The acceleration control module is used to obtain the acceleration control quantity based on the planned acceleration and the cornering acceleration compensation amount.

[0147] It should be noted that the functions and corresponding technical effects of each module in the semi-trailer acceleration compensation device provided in this embodiment can be referred to the description of the specific implementation methods in the various embodiments of the semi-trailer acceleration compensation method of this invention. For the sake of brevity, they will not be repeated here.

[0148] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing a semi-trailer acceleration compensation program. When executed by a processor, the semi-trailer acceleration compensation program implements the steps of the semi-trailer acceleration compensation method described above. Therefore, it will not be repeated here. Additionally, the beneficial effects of using the same method will not be repeated here either. For technical details not disclosed in the embodiments of the computer-readable storage medium involved in the present invention, please refer to the description of the method embodiments of the present invention. As an example, program instructions can be deployed to execute on a single computing device, or on multiple computing devices located at one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0149] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising a semi-trailer acceleration compensation" does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0150] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0151] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0152] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for acceleration compensation of a semi-trailer, applied to a semi-trailer, the semi-trailer comprising a tractor and a trailer, characterized in that, The semi-trailer acceleration compensation method includes the following steps: Obtain the current planned acceleration, current articulation angle, current vehicle speed, and current load mass; Based on the current hinge angle, the current vehicle speed, and the current load mass, linear interpolation is performed in a preset three-dimensional space to obtain the cornering acceleration compensation amount; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass. Based on the planned acceleration and the cornering acceleration compensation, the acceleration control quantity is obtained.

2. The semi-trailer acceleration compensation method as described in claim 1, characterized in that, The step of obtaining the planning acceleration at the current moment includes: The current position information, preview time, and planned path of the tractor are obtained at the current moment; each position node in the planned path has planned position information, planned speed, and planned acceleration; The step of obtaining the acceleration control amount based on the planned acceleration and the cornering acceleration compensation amount includes: The node closest to the current position of the tractor in the planned path is taken as the initial node. Based on the pre-aiming time, the node after the initial node is traversed to determine the reference node. Based on the current position information of the tractor, the current vehicle speed, and the reference position node, the speed closed-loop acceleration correction is calculated. The acceleration control quantity is obtained based on the planned acceleration, the cornering acceleration compensation, and the speed closed-loop acceleration correction.

3. The semi-trailer acceleration compensation method as described in claim 2, characterized in that, The step of calculating the speed closed-loop acceleration correction based on the current position information of the tractor, the current vehicle speed, and the reference position node includes: Determine the position error between the tractor and the reference position node, as well as the previous position error and the previous speed error of the tractor at the previous moment. Based on the position error and the previous position error, the position closed-loop velocity correction is calculated using Formula 1. Based on the current vehicle speed, the position closed-loop speed correction amount, and the planned speed, the speed error amount is obtained; Based on the velocity error, the previous velocity error, and the position error, the velocity closed-loop acceleration correction is calculated using Formula 2. Formula 1: v p =kp_p*E p +ki_p*∑E p +kd_p*(E p -E p-1 ); Among them, v p E is the position closed-loop velocity correction. p E represents the position error. p-1 Let kp_p be the position error at the previous time step, kp_p be the position error proportional coefficient, ki_p be the position error integral coefficient, and kd_p be the position error differential coefficient. Formula 2: a v =kp_v*E v +ki_v*∑E p +kd_v*(E v -E v-1 ); Among them, a v E is the velocity closed-loop acceleration correction. v E represents the speed error. v-1 Let kp_v be the velocity error at the previous time step, ki_v be the velocity error proportional coefficient, kd_v be the velocity error integral coefficient, and kd_v be the velocity error differential coefficient.

4. The semi-trailer acceleration compensation method as described in claim 2, characterized in that, The step of obtaining the acceleration control quantity based on the planned acceleration, the cornering acceleration compensation, and the speed closed-loop acceleration correction includes: Obtain the tare weight of the tractor, the tare weight of the trailer, the pitch angle of the tractor, and the relative pitch angle between the trailer and the tractor; The trailer pitch angle is obtained based on the tractor pitch angle and the relative pitch angle; The slope acceleration compensation is calculated based on the tractor's tare weight, the trailer's tare weight, the current load weight, the tractor's pitch angle, and the trailer's pitch angle. The acceleration control quantity is obtained based on the slope acceleration compensation amount, the planned acceleration, the curve acceleration compensation amount, and the speed closed-loop acceleration correction amount.

5. The semi-trailer acceleration compensation method as described in claim 4, characterized in that, The step of calculating the slope acceleration compensation based on the tractor's tare weight, the trailer's tare weight, the current load weight, the tractor's pitch angle, and the trailer's pitch angle includes: Based on the tractor's tare weight, the trailer's tare weight, the current load weight, the tractor's pitch angle, and the trailer's pitch angle, the slope acceleration compensation is calculated using Formula 3. Formula 3: Among them, a p M represents the ramp acceleration compensation, M represents the current load mass, M g For the trailer's tare weight, M q Let α be the tractor's own weight, α1 be the trailer pitch angle, α0 be the tractor's pitch angle, and G be the gravitational acceleration.

6. The semi-trailer acceleration compensation method according to any one of claims 1-5, characterized in that, After the step of obtaining the acceleration control amount based on the planned acceleration and the cornering acceleration compensation amount, the method further includes: Based on the current vehicle speed and the acceleration control quantity, the braking control quantity and the throttle control quantity are obtained; The brake control and throttle control quantities are sent to the drive-by-wire chassis.

7. The semi-trailer acceleration compensation method as described in claim 6, characterized in that, The step of obtaining the braking control amount and the throttle control amount based on the current vehicle speed and the acceleration control amount includes: Based on the current vehicle speed and the acceleration control quantity, the brake-throttle calibration table is consulted to obtain the brake control quantity and the throttle control quantity.

8. A semi-trailer acceleration compensation device, characterized in that, The device includes: The information acquisition module is used to acquire the current planned acceleration, current articulation angle, current vehicle speed, and current load mass. An acceleration compensation module is used to perform linear interpolation in a preset three-dimensional space based on the current hinge angle, the current vehicle speed, and the current load mass to obtain the cornering acceleration compensation amount; the horizontal axis of the preset three-dimensional space represents the vehicle speed, the vertical axis represents the hinge angle, and the vertical axis represents the vehicle load mass. An acceleration control module is used to obtain an acceleration control quantity based on the planned acceleration and the cornering acceleration compensation amount.

9. A semi-trailer acceleration compensation device, characterized in that, The device includes: a memory, a processor, and a semi-trailer acceleration compensation program stored in the memory and executable on the processor, the semi-trailer acceleration compensation program being configured to implement the steps of the semi-trailer acceleration compensation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a semi-trailer acceleration compensation program, which, when executed by a processor, implements the steps of the semi-trailer acceleration compensation method as described in any one of claims 1 to 7.

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