Control method and device of tractor and semitrailer, electronic equipment and readable medium

Abstract

The application belongs to the technical field of transport vehicles, and particularly relates to a control method and device for a tractor and a semitrailer, an electronic device and a readable medium. The method comprises the following steps: acquiring tractor motor parameters and semitrailer motor parameters, and calculating a first required torque according to the tractor motor parameters and the semitrailer motor parameters; acquiring tractor battery parameters and semitrailer battery parameters, and adjusting the first required torque according to the tractor battery parameters and the semitrailer battery parameters to obtain a second required torque, wherein the second required torque represents a required motor torque of the tractor and the semitrailer as a whole; calculating a second tractor required torque and a second semitrailer required torque based on the second required torque, and controlling the tractor through the second tractor required torque and controlling the semitrailer through the second semitrailer required torque. The application is used for improving the driving force distribution effect of the tractor and the semitrailer.

Description

Technical Field

[0001] This application belongs to the field of transportation vehicle technology, specifically relating to a control method, device, electronic equipment, and readable medium for a tractor and a semi-trailer. Background Technology

[0002] The hybrid tractor unit with an auxiliary drive semi-trailer can improve power while ensuring the overall vehicle's economy. However, since the tractor unit and semi-trailer have their own independent motors and batteries, how to distribute driving force and braking force during operation becomes a challenge. It is necessary to ensure that the battery usage of the tractor unit and semi-trailer are similar during operation, and to avoid situations where the semi-trailer significantly pushes the tractor unit, resulting in unstable handling. Summary of the Invention

[0003] The purpose of this application is to provide a control method, device, electronic equipment, and computer-readable medium for a tractor and a semi-trailer to improve the driving force distribution effect of the tractor and the semi-trailer.

[0004] According to one aspect of the embodiments of this application, a control method for a tractor and a semi-trailer is provided, the method comprising:

[0005] Obtain the parameters of the tractor motor and the semi-trailer motor, and calculate the first required torque based on the parameters of the tractor motor and the semi-trailer motor. The first required torque represents the motor torque required by the tractor and the semi-trailer as a whole.

[0006] Obtain the battery parameters of the tractor and the semi-trailer, and adjust the first required torque according to the battery parameters of the tractor and the semi-trailer to obtain the second required torque. The second required torque is the motor torque required by the tractor and the semi-trailer as a whole, calculated based on the battery usage of the tractor and the semi-trailer.

[0007] The second tractor torque and the second semi-trailer torque are calculated based on the second required torque. The tractor is controlled by the second required torque, and the semi-trailer is controlled by the second required torque.

[0008] According to one aspect of the embodiments of this application, a control device for a tractor and a semi-trailer is provided, the device comprising:

[0009] The first torque calculation module is used to obtain the motor parameters of the tractor and the semi-trailer, and calculate the first required torque based on the motor parameters of the tractor and the semi-trailer. The first required torque represents the motor torque required by the tractor and the semi-trailer as a whole.

[0010] The torque adjustment module is used to acquire the battery parameters of the tractor and the semi-trailer, and adjust the first required torque according to the battery parameters of the tractor and the semi-trailer to obtain the second required torque. The second required torque is the motor torque required by the tractor and the semi-trailer as a whole, calculated based on the battery usage of the tractor and the semi-trailer.

[0011] The vehicle control module is used to calculate the required torque of the second tractor and the required torque of the second semi-trailer based on the second required torque, control the tractor through the required torque of the second tractor, and control the semi-trailer through the required torque of the second semi-trailer.

[0012] According to one aspect of the embodiments of this application, an electronic device is provided, the electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform a control method for a tractor and a semi-trailer as described above by executing the executable instructions.

[0013] According to one aspect of the embodiments of this application, a computer-readable medium is provided having a computer program stored thereon, which, when executed by a processor, implements the control method for the tractor and semi-trailer as described in the above technical solutions.

[0014] According to one aspect of the embodiments of this application, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the control method for the tractor and semi-trailer as described in the above technical solutions.

[0015] In the technical solution provided in this application embodiment, by obtaining the parameters of the tractor motor and the semi-trailer motor, a first required torque is calculated based on the parameters of the tractor motor and the semi-trailer motor. The first required torque represents the motor torque required by the tractor and the semi-trailer as a whole. Further, the parameters of the tractor battery and the semi-trailer battery are obtained. Based on the parameters of the tractor battery and the semi-trailer battery, the first required torque is adjusted to obtain a second required torque. The second required torque represents the motor torque required by the tractor and the semi-trailer as a whole. The second required torque of the tractor and the second required torque of the semi-trailer are calculated based on the second required torque. The tractor is controlled by the second required torque of the tractor and the semi-trailer, respectively. On the one hand, the motor torque required by the semi-trailer and the tractor is calculated as a whole, and the optimal drive is obtained through the motor torque. Then, the distribution of driving force is determined according to the motor speed ratio between the tractor and the semi-trailer, so as to better drive the tractor and the semi-trailer and improve the driving effect of the tractor and the semi-trailer.

[0016] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0019] Figure 1 A flowchart illustrating the control method for a tractor and a semi-trailer according to an embodiment of this application is shown.

[0020] Figure 2 A schematic diagram of the power configuration of the tractor and semi-trailer is shown.

[0021] Figure 3 A schematic diagram of the structure of a control device for a tractor and a semi-trailer according to an embodiment of this application is shown.

[0022] Figure 4 A schematic diagram of a computer system architecture suitable for implementing the embodiments of this application is shown. Detailed Implementation

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0024] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0025] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0026] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0027] The P2 hybrid tractor unit combined with an electric-assisted semi-trailer offers improved fuel economy and power. The P2 hybrid tractor unit's powertrain consists of an engine and an electric motor. The engine provides the primary traction, while the electric motor provides additional power. However, both the tractor unit and the semi-trailer have their own independent batteries and motors. The distribution of driving force during operation, as well as the distribution of braking force between the tractor unit and the semi-trailer, are crucial considerations.

[0028] Specifically, this manifests as follows: during driving, how to distribute power among the tractor engine, P2 motor, and semi-trailer motor; and during braking, how to distribute electric braking force and air braking force among the tractor's P2 motor and semi-trailer motor, so as to maintain economy while ensuring stable operation of the tractor and semi-trailer during driving.

[0029] P2 is a hybrid system configuration in which the electric motor is placed between the engine and the transmission, while the clutch is located between the electric motor and the engine. This arrangement allows the electric motor to drive the vehicle independently, achieving pure electric drive mode, and can also switch to connect with the engine during kinetic energy recovery.

[0030] The P2 hybrid motor primarily achieves optimized fuel economy and power performance by controlling the output of both the electric motor and the engine. It has three main operating modes: electric mode, engine mode, and hybrid mode. In electric mode, the electric motor drives the tractor, and the engine is off. In engine mode, the engine drives the vehicle, and the electric motor outputs zero or negative torque; in negative torque mode, the energy exceeding the engine's power output is stored in the battery. In hybrid mode, both the electric motor and the engine are used for driving.

[0031] This embodiment provides a driving force distribution method in the scenario where the tractor adopts P2 hybrid technology and the semi-trailer adopts electric motor-assisted drive. In this embodiment, the tractor and semi-trailer are regarded as a whole, the tractor motor and the semi-trailer motor are equivalent to a whole vehicle motor, and the tractor battery and the semi-trailer battery are equivalent to a whole vehicle battery. The driving force is distributed between the tractor and the semi-trailer through the ECMS (Equivalent Fuel Minimum) strategy.

[0032] Figure 1 A schematic flowchart of a control method for a tractor and a semi-trailer according to an embodiment of this application is shown.

[0033] like Figure 1 As shown, the control method for the tractor and semi-trailer includes the following steps:

[0034] S100: Obtain the parameters of the tractor motor and the semi-trailer motor. Based on the parameters of the tractor motor and the semi-trailer motor, calculate the first required torque. The first required torque represents the motor torque required by the tractor and the semi-trailer as a whole.

[0035] Specifically, the tractor and semi-trailer are treated as a whole, and the parameters of the tractor motor and the semi-trailer motor are obtained to calculate the first required torque.

[0036] The parameters of the tractor motor and the semi-trailer motor are used to distinguish the speeds of the tractor motor and the semi-trailer motor, thereby determining the overall required torque.

[0037] The parameters for the tractor motor include its maximum speed, peak power, and peak torque. The parameters for the semi-trailer motor include its maximum speed, peak power, and peak torque.

[0038] S200: Obtain the battery parameters of the tractor and the semi-trailer, and adjust the first required torque according to the battery parameters of the tractor and the semi-trailer to obtain the second required torque. The second required torque is the motor torque required by the tractor and the semi-trailer as a whole, calculated based on the battery usage of the tractor and the semi-trailer.

[0039] After calculating the initial required torque, in order to ensure economy during driving, the usage of the tractor battery and the semi-trailer battery should be similar.

[0040] The tractor battery parameters are used to indicate the battery usage of the tractor, and the semi-trailer battery parameters are used to indicate the battery usage of the semi-trailer.

[0041] To ensure that the SOC value of the tractor battery fluctuates in the same way as that of the semi-trailer battery, the required torque needs to be adjusted based on the battery parameters of both the tractor and the semi-trailer.

[0042] Based on this, the parameters of the tractor battery and the semi-trailer battery are obtained, and the second required torque is obtained by adjusting the parameters of the tractor battery and the semi-trailer battery.

[0043] S300 calculates the required torque of the second tractor and the required torque of the second semi-trailer based on the second required torque, controls the tractor through the required torque of the second tractor, and controls the semi-trailer through the required torque of the second semi-trailer.

[0044] Based on the second required torque, the required torque of the second tractor and the required torque of the second semi-trailer are calculated. The tractor is controlled by the required torque of the second tractor, and the semi-trailer is controlled by the required torque of the second semi-trailer.

[0045] In this embodiment, by obtaining the parameters of the tractor motor and the semi-trailer motor, a first required torque is calculated based on these parameters. The first required torque represents the motor torque required by the tractor and semi-trailer as a whole. Further, the parameters of the tractor battery and the semi-trailer battery are obtained to adjust the first required torque and obtain a second required torque. The second required torque includes a second required torque for the tractor and a second required torque for the semi-trailer. The tractor is controlled by the second required torque, and the semi-trailer is controlled by the second required torque for the tractor. On the one hand, the required motor torque for the tractor and semi-trailer is calculated as a whole, and the optimal drive is obtained through the motor torque. Then, based on the motor speed ratio between the tractor and semi-trailer, the distribution of driving force is determined, thereby better driving the tractor and semi-trailer and improving their driving effect.

[0046] Furthermore, in S100, the parameters of the tractor motor and the semi-trailer motor are obtained, and the first required torque is calculated based on the parameters of the tractor motor and the semi-trailer motor, including;

[0047] S110, based on the relationship between the parameters of the tractor motor and the semi-trailer motor, determines the required torque of the first tractor and the required torque of the first semi-trailer.

[0048] S120, calculate the first required torque based on the required torque of the first tractor and the required torque of the first semi-trailer.

[0049] Figure 2 A schematic diagram of the power configuration of the tractor and semi-trailer is shown.

[0050] In this design, the motors of the tractor and the semi-trailer are considered as a single vehicle motor, and the batteries of the tractor and the semi-trailer are considered as a single vehicle battery.

[0051] Based on the relationship between the parameters of the tractor motor and the semi-trailer motor, a formula is established to establish the relationship between the first required torque and the parameters of the first tractor motor and the first semi-trailer motor.

[0052] Furthermore, S120 calculates the first required torque based on the first tractor's required torque and the first semi-trailer's required torque, including:

[0053] S121, determine the first weight and second weight corresponding to the required torque of the first tractor and the required torque of the first semi-trailer.

[0054] S122, Calculate the first required torque based on the first weight and the second weight.

[0055] Specifically, the required torque of the first tractor is multiplied by the first weight, and the required torque of the second semi-trailer is multiplied by the second weight. The sum of the products of the two yields the first required torque.

[0056] The first weight is determined based on the relationship between the parameters of the tractor motor and the semi-trailer motor.

[0057] The first required torque is expressed by the following formula:

[0058]

[0059] Among them, TorCom MOTall Indicates the first required torque, TorCom MOT1 Indicates the torque required by the first tractor unit, TorCom MOT2 This indicates the torque requirement of the first semi-trailer, Rot. MOT1 Rot indicates the rotational speed of the tractor motor. MOT2 R represents the rotational speed of the semi-trailer motor.m R represents the current gear ratio of the semi-trailer's transmission. d This indicates the current gear ratio of the tractor's transmission.

[0060] Based on the above formula, we can further obtain:

[0061]

[0062] Among them, P MOT1 P is the peak power of the tractor motor. MOT2 This represents the peak power of the semi-trailer motor.

[0063] Based on formulas (1) and (2), we can conclude that:

[0064]

[0065]

[0066] The first weight is determined based on the peak power of the tractor motor and the peak power of the semi-trailer motor, while the second weight is determined based on the peak power of the tractor motor, the peak power of the semi-trailer motor, the gear ratio of the tractor gearbox, and the gear ratio of the semi-trailer gearbox.

[0067] In this embodiment, in order to compensate for the speed ratio difference between the tractor motor and the semi-trailer motor, a first required torque is calculated. At the same time, the first required torque is based on the parameters of the tractor motor and the semi-trailer motor to construct the relationship between the motor torque required for the whole vehicle and the first required torque of the tractor and the first required torque of the semi-trailer.

[0068] Furthermore, after S110, if the required torque of the first tractor is greater than the tractor torque threshold, the tractor operation is controlled based on the tractor torque threshold. If the required torque of the first semi-trailer is greater than the semi-trailer torque threshold, the semi-trailer operation is controlled based on the semi-trailer torque threshold.

[0069] Specifically, after calculating the required torque of the first tractor, if the required torque of the first tractor is greater than the tractor torque threshold, the tractor is controlled to operate according to the tractor torque threshold. Similarly, after calculating the required torque of the first semi-trailer, if the required torque of the first semi-trailer is greater than the semi-trailer torque threshold, the semi-trailer is controlled to operate according to the semi-trailer torque threshold.

[0070] The torque thresholds for tractor units and semi-trailers satisfy the following formula:

[0071] TorInf MOTall ×R d =TorInf MOT1 ×R d +TorInf MOT2 ×Rm

[0072] Among them, TorInf MOTall TorInf represents the maximum / minimum torque value of the vehicle's motor. MOT1 TorInf is the torque threshold for the tractor vehicle. MOT2 This is the torque threshold for semi-trailers.

[0073] Due to power limitations, when the torque required by the first semi-trailer exceeds the torque threshold of the tractor, it can only be controlled according to the torque threshold of the tractor. The missing torque is compensated by the other motor based on the speed ratio conversion of the two motors. If the other motor cannot fully compensate, the engine of the tractor is controlled to compensate for the missing torque.

[0074] Further, in S200, the battery parameters of the tractor and the semi-trailer are acquired, and the first required torque is adjusted based on the battery parameters of the tractor and the semi-trailer to obtain the second required torque, including:

[0075] S210, based on the battery parameters of the tractor and the semi-trailer, adjusts the first required torque and calculates the second required torque for the tractor.

[0076] S220, adjust the torque required by the first semi-trailer according to the torque required by the first tractor and the torque required by the second tractor to obtain the torque required by the second semi-trailer.

[0077] Specifically, this is to ensure that the usage of the tractor battery and the semi-trailer battery meets expectations, that is, that their usage is relatively similar.

[0078] By obtaining the battery parameters of the tractor and the semi-trailer, the first required torque is adjusted, and the second required torque of the tractor is calculated.

[0079] The required torque of the first semi-trailer is adjusted based on the required torque of the first tractor and the required torque of the second tractor to obtain the required torque of the second semi-trailer.

[0080] The tractor battery parameters are used to characterize the usage of the tractor battery, and the semi-trailer battery parameters are used to characterize the usage of the semi-trailer battery.

[0081] Specifically, the first tractor's required torque in the first required torque is adjusted to obtain the second tractor's required torque.

[0082] For example, it can be calculated using the following formula:

[0083]

[0084]

[0085] Among them, TorCom 2 MOT1 TorCom requires torque for the second tractor unit. 2 MOT2 For the torque required by the second semi-trailer, SOC BAT1 For tractor battery parameters, SOC BAT2 These are the parameters for the semi-trailer battery.

[0086] K(>0) is a correction factor, and its value is determined according to the actual situation.

[0087] By adjusting the primary torque requirement, the usage of the tractor battery is made closer to that of the semi-trailer battery, thus maintaining the lifespan of both batteries and ensuring a more balanced power output between the tractor and semi-trailer during operation.

[0088] Furthermore, following the S300, this includes:

[0089] S410 checks whether the wheel-end torque of the semi-trailer is greater than the wheel-end torque of the tractor. The tractor's drive structure includes the tractor's motor and engine.

[0090] S420 If the wheel-end torque of the semi-trailer is greater than the wheel-end torque of the tractor, then reduce the running torque of the semi-trailer.

[0091] Specifically, if the wheel-end torque of the semi-trailer is greater than the total wheel-end torque of the tractor, the semi-trailer may push the tractor, and in severe cases, the entire vehicle may fold over.

[0092] To ensure the stability of the tractor and semi-trailer during operation, if the torque at the wheel end of the semi-trailer is greater than the total torque at the wheel end of the tractor, the operating torque of the semi-trailer is reduced and the operating torque of the tractor is increased, so that the total torque of the vehicle remains unchanged. At the same time, the operating torque of the semi-trailer is not greater than the torque of the tractor, thus ensuring the stability of the tractor and semi-trailer during operation.

[0093] Furthermore, following the S300, this includes:

[0094] S510 determines the braking force distribution parameters based on the ratio between the tractor, semi-trailer, and axle load.

[0095] S520 calculates the braking force of the tractor and semi-trailer based on the braking force distribution parameters, and controls the tractor and semi-trailer according to the braking force.

[0096] Specifically, the braking force distribution parameters are determined by the ratio of the sum of the axle loads of the tractor to the sum of the axle loads of the semi-trailer.

[0097] The ratio of the sum of the axle loads of the tractor to the sum of the axle loads of the semi-trailer represents the vertical load distribution of each axle on the supporting plane.

[0098] The sum of the axle loads of the tractor and the semi-trailer is determined based on the mass limits of each axle. For example, the tractor has one front axle with a mass limit of 6 tons; two rear axles with a mass limit of 18 tons; and three rear axles with a mass limit of 25 tons. Since the mass limit of the tractor is the sum of the masses of the front and rear axles, the braking force distribution parameter can be expressed as: tractor braking force : semi-trailer braking force = 24:25.

[0099] Based on the braking force distribution parameters, the braking force of the tractor and semi-trailer is calculated, and the tractor and semi-trailer are controlled according to the braking force.

[0100] As an alternative implementation, the energy recovered from the electric drive axles of the tractor and semi-trailer is used for electric braking, with mechanical braking supplementing any insufficient braking force.

[0101] In this embodiment, the braking force distribution between the tractor and the semi-trailer is determined by the sum ratio of the axle loads between the tractor and the semi-trailer.

[0102] Figure 3 A schematic block diagram illustrating the structure of the control device for a tractor and semi-trailer provided in an embodiment of this application is shown. Figure 3 As shown, the control devices for the tractor and semi-trailer include:

[0103] The first torque calculation module 31 is used to obtain the parameters of the tractor motor and the semi-trailer motor, and calculate the first required torque based on the parameters of the tractor motor and the semi-trailer motor. The first required torque represents the motor torque required by the tractor and the semi-trailer as a whole.

[0104] The torque adjustment module 32 is used to acquire the battery parameters of the tractor and the semi-trailer, and adjust the first required torque according to the battery parameters of the tractor and the semi-trailer to obtain the second required torque. The second required torque is the motor torque required by the tractor and the semi-trailer as a whole, calculated based on the battery usage of the tractor and the semi-trailer.

[0105] The vehicle control module 33 is used to calculate the required torque of the second tractor and the required torque of the second semi-trailer based on the second required torque, control the tractor through the required torque of the second tractor, and control the semi-trailer through the required torque of the second semi-trailer.

[0106] Furthermore, the first torque calculation module 31 includes...

[0107] The first required torque determination unit is used to determine the required torque of the first tractor and the required torque of the first semi-trailer based on the relationship between the parameters of the tractor motor and the semi-trailer motor.

[0108] The second required torque determination unit is used to calculate the first required torque based on the required torque of the first tractor and the required torque of the first semi-trailer.

[0109] Furthermore, the second demand torque determination unit includes:

[0110] Determine the first weight and second weight corresponding to the required torque of the first tractor and the required torque of the first semi-trailer.

[0111] The first required torque is calculated based on the first weight and the second weight.

[0112] Furthermore, the control devices for the tractor and semi-trailer also include:

[0113] The tractor control module is used to control the operation of the tractor based on the tractor torque threshold if the required torque of the first tractor is greater than the tractor torque threshold.

[0114] The semi-trailer control module is used to control the operation of the semi-trailer based on the semi-trailer torque threshold if the required torque of the first semi-trailer is greater than the semi-trailer torque threshold.

[0115] Furthermore, the torque adjustment module 32 includes:

[0116] The second required torque calculation unit is used to adjust the first required torque based on the battery parameters of the tractor and the semi-trailer, and calculate the second required torque of the tractor.

[0117] The torque demand adjustment unit is used to adjust the torque demand of the first semi-trailer according to the torque demand of the first tractor and the torque demand of the second tractor, so as to obtain the torque demand of the second semi-trailer.

[0118] Furthermore, the control devices for the tractor and semi-trailer include:

[0119] The torque detection module is used to detect whether the wheel-end torque of the semi-trailer is greater than the wheel-end torque of the tractor. The drive structure of the tractor includes the tractor's motor and engine.

[0120] The torque adjustment module is used to reduce the operating torque of the semi-trailer if the wheel-end torque of the semi-trailer is greater than that of the tractor.

[0121] Furthermore, the control devices for the tractor and semi-trailer include:

[0122] The brake force distribution module is used to determine the brake force distribution parameters based on the ratio between the axle loads of the tractor and the semi-trailer.

[0123] The vehicle control module is used to calculate the braking force of the tractor and semi-trailer based on the braking force distribution parameters, and to control the tractor and semi-trailer according to the braking force.

[0124] Figure 4 A schematic block diagram of a computer system architecture for implementing an electronic device according to embodiments of the present application is shown.

[0125] It should be noted that, Figure 4 The computer system 700 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0126] like Figure 4 As shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 702 or programs loaded from storage section 708 into random access memory (RAM) 703. The RAM 703 also stores various programs and data required for system operation. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output interface 705 (I / O interface) is also connected to the bus 704.

[0127] The following components are connected to the input / output interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a local area network card, modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the input / output interface 705 as needed. A removable medium 711, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed.

[0128] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by central processing unit 701, it performs various functions defined in the system of this application.

[0129] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0130] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0131] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0132] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of this application.

[0133] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0134] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method of a tractor and a semitrailer, characterized by, The method comprises the following steps: obtaining tractor motor parameters and semitrailer motor parameters, and calculating a first demand torque according to the tractor motor parameters and the semitrailer motor parameters, wherein the first demand torque represents the motor torque required by the tractor and the semitrailer as a whole; wherein the first tractor demand torque and the first semitrailer demand torque are determined based on the relationship between the tractor motor parameters and the semitrailer motor parameters; after obtaining the tractor motor parameters and the semitrailer motor parameters and calculating the first demand torque according to the tractor motor parameters and the semitrailer motor parameters, if the first tractor demand torque is greater than a tractor torque threshold, the tractor is controlled based on the tractor torque threshold; if the first semitrailer demand torque is greater than a semitrailer torque threshold, the semitrailer is controlled based on the semitrailer torque threshold; obtaining tractor battery parameters and semitrailer battery parameters, and adjusting the first demand torque according to the tractor battery parameters and the semitrailer battery parameters to obtain a second demand torque, wherein the second demand torque is the motor torque required by the tractor and the semitrailer as a whole calculated according to the battery usage of the tractor and the semitrailer; calculating a second tractor demand torque and a second semitrailer demand torque based on the second demand torque, and controlling the tractor by the second tractor demand torque and controlling the semitrailer by the second semitrailer demand torque; after controlling the tractor by the second tractor demand torque and controlling the semitrailer by the second semitrailer demand torque, detecting whether the wheel end torque of the semitrailer is greater than the wheel end torque of the tractor, wherein the drive structure of the tractor comprises the motor and the engine of the tractor; if the wheel end torque of the semitrailer is greater than the wheel end torque of the tractor, the running torque of the semitrailer is reduced.

2. The control method of the tractor-semitrailer according to claim 1, characterized by, The method comprises the following steps: calculating the first demand torque according to the first tractor demand torque and the first semitrailer demand torque.

3. The control method of the tractor-semitrailer according to claim 2, characterized in that, The method comprises the following steps: determining the first weight and the second weight corresponding to the first tractor demand torque and the first semitrailer demand torque; calculating the first demand torque based on the first weight and the second weight.

4. The control method of the tractor-semitrailer according to claim 1, characterized by, The method comprises the following steps: adjusting the first demand torque according to the tractor battery parameters and the semitrailer battery parameters to obtain a second tractor demand torque; adjusting the first semitrailer demand torque according to the first tractor demand torque and the second tractor demand torque to obtain a second semitrailer demand torque.

5. The control method of the tractor-semitrailer according to claim 1, characterized by, After controlling the tractor unit by the torque demand of the second tractor unit and the semi-trailer by the torque demand of the second semi-trailer, the method further includes: The braking force distribution parameters are determined based on the distance between the tractor, the semi-trailer, and the axle load. Based on the braking force distribution parameters, the braking force of the tractor and the semi-trailer is calculated, and the tractor and the semi-trailer are controlled according to the braking force.

6. A control device for a tractor and semitrailer, characterized in that include: A first torque calculation module is used to acquire the parameters of the tractor motor and the semi-trailer motor, and calculate a first required torque based on the parameters of the tractor motor and the semi-trailer motor. The first required torque represents the motor torque required by the tractor and the semi-trailer as a whole. The first required torque of the tractor and the first required torque of the semi-trailer are determined based on the relationship between the parameters of the tractor motor and the semi-trailer motor. After acquiring the parameters of the tractor motor and the semi-trailer motor, and calculating the first required torque, if the first required torque of the tractor is greater than a tractor torque threshold, the tractor is controlled to operate based on the tractor torque threshold; if the first required torque of the semi-trailer is greater than a semi-trailer torque threshold, the semi-trailer is controlled to operate based on the semi-trailer torque threshold. The torque adjustment module is used to acquire the battery parameters of the tractor and the semi-trailer, and adjust the first required torque according to the battery parameters of the tractor and the semi-trailer to obtain the second required torque. The second required torque is the motor torque required by the tractor and the semi-trailer as a whole, calculated based on the battery usage of the tractor and the semi-trailer. The vehicle control module is used to calculate the second tractor's required torque and the second semi-trailer's required torque based on the second required torque. It controls the tractor and the semi-trailer using the second tractor's required torque. After controlling the tractor and semi-trailer using the second tractor's required torque, it detects whether the wheel-end torque of the semi-trailer is greater than the wheel-end torque of the tractor. The tractor's drive structure includes its motor and engine. If the semi-trailer's wheel-end torque is greater than the tractor's wheel-end torque, the module reduces the semi-trailer's operating torque.

7. An electronic device, comprising: include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to cause the electronic device to perform the control method for the tractor and semi-trailer as described in any one of claims 1 to 5 by executing the executable instructions.

8. A computer readable medium characterized by The computer-readable medium stores a computer program that, when executed by a processor, implements the control method for the tractor and semi-trailer as described in any one of claims 1 to 5.

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