Electric trailer control method and device

Abstract

The present invention relates to a method and device for controlling an electric trailer, belonging to the technical field of trailer control, wherein the method includes obtaining the driving data of the main vehicle and the sensing data of an induction ring when the main vehicle drives the trailer to travel through a main vehicle-trailer decoupling device; wherein the sensing data includes the current coordinates of the center point of the induction ring in a plane rectangular coordinate system; determining the output torque based on the current coordinates and the driving data; and controlling the trailer based on the output torque. The trailer of the present invention can be connected to the main vehicle through the main vehicle-trailer decoupling device, and when the main vehicle is traveling, it can drive the trailer to travel, so that the output torque of the trailer can be controlled based on the driving data of the main vehicle and the sensing data of the induction ring, thereby preventing accidents such as rollover and reducing safety hazards of the vehicle during driving.

Description

Technical Field

[0001] The present invention relates to the technical field of trailer control, and in particular to a method and device for controlling an electric trailer. Background Art

[0002] With the continuous development of new energy vehicle technology, commercial vehicles are evolving into electrified vehicles, with different energy and powertrain configurations emerging. Tractors in particular are becoming increasingly diverse. Current mainstream technical solutions primarily focus on tractors, exploring pure electric, fuel-electric, hybrid, and battery-swap options. However, decoupling control for trailers, which primarily serve as the primary vehicle, presents numerous technical challenges.

[0003] One of the most important technical difficulties in trailer electrification is the decoupled and coordinated control of the main vehicle and trailer. In existing technologies, the current mainstream approach in the industry is to transmit power and control signals through the physical connection device between the main vehicle and trailer (trailer locating pins, connecting wiring harnesses and sockets), and use the trailer EBS / ABS for brake energy recovery. The independent control of the main vehicle and the lack of control of the trailer cause the main vehicle and trailer to generate reaction torque during driving and braking, which accelerates the wear of the trailer towing pin and the main vehicle saddle, and brings the safety hazard of rollover during vehicle cornering.

[0004] Therefore, it is urgent to propose an electric trailer control method and device to solve the technical problem in the prior art that the main vehicle and trailer are independently controlled devices, which will generate reaction torque during driving and braking, resulting in the safety hazard of vehicle rollover during turning. Summary of the Invention

[0005] In view of this, it is necessary to provide an electric trailer control method and device to solve the technical problem in the prior art that the main vehicle and trailer are independently controlled devices, which will generate reaction torque during driving and braking, resulting in the safety hazard of vehicle rollover during turning.

[0006] In order to solve the above problems, the present invention provides an electric trailer control method for controlling an electric trailer device, wherein the electric trailer device includes a main vehicle, a trailer, and a main vehicle trailer decoupling device disposed between the main vehicle and the trailer, wherein the main vehicle trailer decoupling device includes an induction ring, including:

[0007] When the main vehicle drives the trailer through the main vehicle trailer decoupling device, the driving data of the main vehicle and the sensing data of the sensing ring are obtained; the sensing data includes the current coordinates of the center point of the sensing ring in the plane rectangular coordinate system;

[0008] determining an output torque according to the current coordinates and the driving data;

[0009] The trailer is controlled according to the output torque.

[0010] In a possible implementation, the driving data includes vehicle acceleration, and determining the output torque according to the current coordinates and the driving data includes:

[0011] determining an initial torque based on the vehicle acceleration;

[0012] Determine the current coordinates and obtain a determination result;

[0013] The initial torque is processed according to the judgment result to obtain the output torque.

[0014] In a possible implementation, the driving data includes a maximum driving torque of a motor and a minimum driving torque of a motor, and determining the initial torque according to the vehicle acceleration includes:

[0015] When the vehicle acceleration is zero, determining that the initial torque is zero;

[0016] When the vehicle acceleration is not zero, determining whether the vehicle acceleration is greater than zero;

[0017] If yes, obtaining the initial torque according to the first adjustment factor, the maximum driving torque of the motor, the vehicle acceleration and the proportional coefficient;

[0018] If not, the initial torque is obtained according to the second adjustment factor, the minimum driving torque of the motor, the vehicle acceleration and the proportional coefficient; the power usage interval of the first adjustment factor is larger than the power usage interval of the second adjustment factor.

[0019] In a possible implementation, determining the current coordinates to obtain a determination result includes:

[0020] In the plane rectangular coordinate system, the motion trajectory of the center of the induction loop and the forward direction of the main vehicle are set as the X-axis direction, and the motion trajectory and the right lateral direction of the forward direction of the main vehicle are set as the Y-axis direction, and the plane rectangular coordinate system is divided in sequence in a counterclockwise direction to obtain multiple quadrants;

[0021] Determining whether the current coordinates meet a preset condition;

[0022] If yes, obtaining a determination result according to the current coordinates and the multiple quadrants;

[0023] If not, the judgment result is determined according to the positive or negative value of the current coordinates.

[0024] In a possible implementation, the multiple quadrants include a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant, and obtaining a judgment result according to the current coordinates and the multiple quadrants includes:

[0025] When the current coordinate is in the first quadrant or the third quadrant, determining that the judgment result is that the trailer and the main vehicle are in a positive tension connection state;

[0026] When the current coordinate is in the second quadrant or the fourth quadrant, it is determined that the trailer and the main vehicle are in a negative tension connection state.

[0027] In one possible implementation, determining whether the X-axis value of the current coordinate is a positive value;

[0028] If so, determining that the judgment result is that the trailer and the main vehicle are in a positive tension connection state;

[0029] If not, it is determined that the judgment result is that the trailer and the main vehicle are in a negative tension connection state.

[0030] In a possible implementation, processing the initial torque according to the judgment result to obtain the output torque includes:

[0031] When the current coordinates do not meet the preset conditions and are in the positive tension connection state, determining the initial torque as the output torque;

[0032] When the current coordinates do not meet the preset conditions and are in the negative tension connection state, the output torque is determined to be zero.

[0033] In a possible implementation, the processing the initial torque according to the judgment result to obtain the output torque further includes:

[0034] When the current coordinates meet the preset conditions and are in the positive tension connection state, calculating the initial torque and a third adjustment factor to obtain an output torque;

[0035] When the current coordinates meet the preset conditions and are in the negative tension connection state, the initial torque and a fourth adjustment factor are calculated to obtain the output torque; the fourth adjustment factor is the negative of the third adjustment factor.

[0036] In a possible implementation, determining the output torque according to the current coordinates and the driving data further includes:

[0037] When the Z-axis value of the current coordinate is not zero, determining the output torque to be zero;

[0038] When the Z-axis value of the current coordinate is zero, the output torque is determined according to the current coordinate and the driving data.

[0039] On the other hand, the present invention also provides an electric trailer control device for controlling an electric trailer device, wherein the electric trailer device includes a main vehicle, a trailer, and a main vehicle trailer decoupling device disposed between the main vehicle and the trailer, wherein the main vehicle trailer decoupling device includes an induction ring, including:

[0040] a data acquisition module, configured to acquire driving data of the main vehicle and sensing data of the sensing ring when the main vehicle drives the trailer via the main vehicle-trailer decoupling device; the sensing data including the current coordinates of the center point of the sensing ring in a plane rectangular coordinate system;

[0041] a torque determination module, configured to determine an output torque based on the current coordinates and the driving data;

[0042] A trailer control module is used to control the trailer according to the output torque.

[0043] The beneficial effect of the present invention is that when the main vehicle drives the trailer to travel through the main vehicle-trailer decoupling device, the driving data of the main vehicle and the sensing data of the sensing ring can be obtained; wherein, the sensing data may include the current coordinates of the center point of the sensing ring in the plane rectangular coordinate system; and then the output torque can be determined according to the current coordinates and the driving data; and then the trailer can be controlled according to the output torque; the trailer of the present invention can be connected to the main vehicle through the main vehicle-trailer decoupling device, and when the main vehicle is traveling, it can drive the trailer to travel, so that the output torque of the trailer can be controlled according to the driving data of the main vehicle and the sensing data of the sensing ring, thereby preventing accidents such as rollover and reducing safety hazards of the vehicle during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic flow chart of an embodiment of the electric trailer control method provided by the present invention;

[0045] Figure 2 A schematic structural diagram of an embodiment of the main vehicle trailer decoupling device provided by the present invention;

[0046] Figure 3 For the present invention Figure 1 A schematic flow chart of an embodiment of step S102;

[0047] Figure 4 For the present invention Figure 3 A schematic flow chart of an embodiment of step S302;

[0048] Figure 5A schematic structural diagram of an embodiment of a plane rectangular coordinate system provided by the present invention;

[0049] Figure 6 A schematic structural diagram of an embodiment of the electric trailer control device provided by the present invention;

[0050] Figure 7 This is a schematic structural diagram of an embodiment of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0052] like Figure 1 As shown, a specific embodiment of the present invention discloses an electric trailer control method for controlling an electric trailer device, wherein the electric trailer device includes a main vehicle, a trailer, and a main vehicle trailer decoupling device disposed between the main vehicle and the trailer, wherein the main vehicle trailer decoupling device includes an induction ring, including:

[0053] S101. When the main vehicle drives the trailer through the main vehicle trailer decoupling device, obtain the main vehicle driving data and the sensing data of the sensing ring; the sensing data includes the current coordinates of the center point of the sensing ring in the plane rectangular coordinate system;

[0054] S102, determining output torque according to current coordinates and driving data;

[0055] S103: Control the trailer according to the output torque.

[0056] In a specific embodiment of the present invention, the electric trailer device may include a main vehicle, a trailer, and a main vehicle trailer decoupling device disposed between the main vehicle and the trailer. Figure 2As shown, the vehicle-trailer decoupling device may include a tow pin, a tow pin groove, and a sensing ring. Specifically, the tow pin has a cylindrical groove, and a position sensing ring is connected to its exterior. Surrounding the groove, the position sensing ring is used to sense the longitudinal and lateral relative movement of the vehicle and trailer. The sensing ring is elastically connected to the tow pin. When the vehicle and trailer move relative to each other, the position of the sensing ring's center point follows a trajectory δ. On a flat road, the trajectory of δ is the area between the sensing ring L1 and the tow pin's diameter L2. When the main vehicle and trailer are traveling through the main vehicle trailer decoupling device, the driving data of the main vehicle can be obtained, and the sensing data of the sensing ring on the main vehicle trailer decoupling device can also be obtained, wherein the sensing data can include the current coordinates of the center point of the sensing ring in the plane rectangular coordinate system, and the motion trajectory of the center point δ of the sensing ring and the forward direction of the main vehicle are set as the X-axis direction, the motion trajectory of the center point δ of the sensing ring and the forward right lateral direction of the main vehicle are set as the Y-axis direction, and the up and down bouncing trajectory of the trailer and the towing pin are set as the Z-axis motion trajectory, so that a plane rectangular coordinate system can be constructed according to the X-axis, Y-axis and Z-axis. The current coordinates can represent the current driving status of the trailer. For example, when the current coordinates are (X, ), indicating that the trailer is moving under positive tension. The output torque can then be calculated based on the current coordinates and driving data, and the trailer can be controlled accordingly. This allows for real-time control of the trailer based on the main vehicle's real-time driving data and sensor data from the main vehicle-trailer decoupling device.

[0057] Compared with the prior art, the present embodiment provides a main vehicle-trailer decoupling device, which may include an induction ring. When the main vehicle and the trailer travel through the main vehicle-trailer decoupling device, the driving data of the main vehicle and the induction data of the induction ring may be obtained; wherein the induction data may include the current coordinates of the center point of the induction ring in the plane rectangular coordinate system; and then the output torque may be determined based on the current coordinates and the driving data; and then the trailer may be controlled based on the output torque; the trailer of the present invention may be connected to the main vehicle through the main vehicle-trailer decoupling device, and when the main vehicle travels, the trailer may be driven to travel, so that the output torque of the trailer may be controlled based on the driving data of the main vehicle and the induction data of the induction ring, thereby preventing accidents such as rollover and reducing safety hazards of the vehicle during driving.

[0058] In some embodiments of the present invention, Figure 3 As shown, the driving data includes vehicle acceleration, and step S102 includes:

[0059] S301, determining an initial torque according to vehicle acceleration;

[0060] S302, judging the current coordinates and obtaining a judgment result;

[0061] S303: Process the initial torque according to the judgment result to obtain the output torque.

[0062] In a specific embodiment of the present invention, the driving data may include vehicle acceleration, and the initial torque may be determined based on the magnitude of the vehicle acceleration. The current coordinates may also be judged to obtain a judgment result, and the initial torque may be processed based on the judgment result. The initial torque may be calculated based on different judgment results to obtain the output torque under different circumstances.

[0063] In some embodiments of the present invention, the driving data includes a maximum driving torque of the motor and a minimum driving torque of the motor. Step S301 includes:

[0064] When the vehicle acceleration is zero, the initial torque is determined to be zero;

[0065] When the vehicle acceleration is not zero, determining whether the vehicle acceleration is greater than zero;

[0066] If yes, the initial torque is obtained according to the first adjustment factor, the maximum driving torque of the motor, the vehicle acceleration and the proportional coefficient;

[0067] If not, the initial torque is obtained according to the second adjustment factor, the minimum driving torque of the motor, the vehicle acceleration and the proportional coefficient; the power usage range of the first adjustment factor is smaller than the power usage range of the second adjustment factor.

[0068] In a specific embodiment of the present invention, the driving data may also include the maximum driving torque Tmax and the minimum driving torque Tmin of the motor, and the vehicle acceleration may be judged to determine whether the vehicle acceleration a is zero. If so, the initial torque T may be determined to be zero. If not, it may be determined whether the vehicle acceleration a is greater than zero. Specifically: T is a function of f(soc,a), and a is the acceleration of the vehicle.

[0069] When a=0, T=0;

[0070] When a>0, the initial torque T=Min(k1×K2a×a,Tmax), where k1 is a proportional coefficient. k1 can be obtained by offline calculation of a vehicle dynamics model, and is not limited in this embodiment of the present invention. K2a is a first adjustment factor. When the battery SOC usage range (20%, 100%) is set, K2a=1 / 80×(soc-20).

[0071] When a < 0, the initial torque T = Min(k1 × K2b × a, Tmin), where k1 is the proportional coefficient. K1 can be obtained by offline calculation using a vehicle dynamics model, and is not limited in this embodiment of the present invention. K2b is the second adjustment factor. Given the battery SOC usage range (0%, 95%), K2b = 1-(1 / 95 × soc). Based on the SOC usage range, it can be seen that the battery usage range for the first adjustment factor is smaller than the battery usage range for the second adjustment factor.

[0072] In some embodiments of the present invention, Figure 4 As shown, step S302 includes:

[0073] S401. In a plane rectangular coordinate system, the motion trajectory of the center of the induction loop and the forward direction of the main vehicle are set as the X-axis direction, and the motion trajectory and the right lateral direction of the main vehicle are set as the Y-axis direction. The plane rectangular coordinate system is divided in a counterclockwise direction to obtain multiple quadrants.

[0074] S402, determining whether the current coordinates meet the preset conditions;

[0075] S403: If yes, obtain a judgment result based on the current coordinates and multiple quadrants;

[0076] S404: If not, determine the judgment result according to the positive or negative of the current coordinates.

[0077] In a specific embodiment of the present invention, Figure 5 As shown, in a rectangular coordinate system, the motion trajectory of the induction ring center and the forward direction of the main vehicle are set as the X-axis direction, and the motion trajectory and the right lateral direction of the main vehicle are set as the Y-axis direction. The rectangular coordinate system is divided counterclockwise to obtain multiple quadrants, which can be quadrants I, II, III, and IV. The motion trajectory of the induction ring center point δ is expressed as δ = f(x, y), where x and y are the x- and y-axis coordinates, respectively. θ is the angle between the x and y axes. The current coordinate can be judged to determine whether it meets a preset condition. For example, the preset condition can be that the current coordinate is not (L / 2, 0) or (-L / 2, 0). The current coordinate can be judged to be (L / 2, 0) or (-L / 2, 0), where L represents the diameter of the ring. If not, the preset condition is determined to be met. Therefore, a judgment result can be obtained based on the current coordinate and the multiple quadrants. If yes, the positive and negative signs of the current coordinate are determined to determine the judgment result.

[0078] In some embodiments of the present invention, step S404 includes:

[0079] Determine whether the X-axis value of the current coordinate is positive;

[0080] If so, it is determined that the trailer and the main vehicle are in a positive tension connection state;

[0081] If not, it is determined that the trailer and the main vehicle are in a negative tension connection state.

[0082] In a specific embodiment of the present invention, when the current coordinates do not meet the preset conditions, indicating that the current coordinates are (L / 2, 0) or (-L / 2, 0), it is then possible to determine whether the X-axis value of the current coordinates is positive. If so, indicating that the current coordinates are (L / 2, 0), it can be determined that the trailer and the main vehicle are in a positive tension connection state, and the initial torque can be determined as the output torque. If not, indicating that the current coordinates are (-L / 2, 0), it can be determined that the trailer and the main vehicle are in a negative tension connection state, and the output torque can be determined as zero.

[0083] In some embodiments of the present invention, the plurality of quadrants include a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant, and step S403 includes:

[0084] When the current coordinates are in the first quadrant or the third quadrant, it is determined that the trailer and the main vehicle are in a positive tension connection state;

[0085] When the current coordinates are in the second quadrant or the fourth quadrant, it is determined that the trailer and the main vehicle are in a negative tension connection state.

[0086] In a specific embodiment of the present invention, when the current coordinate of the induction loop center point δ is in the first quadrant, indicating that the trailer and the main vehicle are in a positive tension connection state, the third adjustment factor can be determined to be k3=tan(θ), and then the initial torque and the third adjustment factor can be calculated to obtain the output torque T1, specifically: T1=k3×T. When the current coordinate of the induction loop center point δ is in the second quadrant, indicating that the trailer and the main vehicle are in a negative tension connection state, the fourth adjustment factor can be determined to be k4=-tan(θ), and then the initial torque and the fourth adjustment factor can be calculated to obtain the output torque T2, specifically: T2=k4×T. When the current coordinate of the induction loop center point δ is in the third quadrant, indicating that the trailer and the main vehicle are in a positive tension connection state, the third adjustment factor can be determined to be k3=tan(θ), and then the initial torque and the third adjustment factor can be calculated to obtain the output torque T3, specifically: T3=k3×T. When the current coordinate of the center point δ of the induction loop is in the fourth quadrant, it means that the trailer and the main vehicle are in a negative tension connection state. The fourth adjustment factor can be determined as k4=-tan(θ). Then, the initial torque and the fourth adjustment factor can be calculated to obtain the output torque T4, specifically: T4=k4×T.

[0087] Furthermore, when the coordinates of the induction loop's center point δ are (-L / 2, 0), the trailer is determined to be in a negative tension state with the host vehicle. At this point, the trailer's output torque is controlled to a set torque of T = 0. Specifically, when a = 0, T = 0. When a > 0, the controller's initial output torque T decreases until the coordinates of the induction loop's center point δ move to (L / 2, 0). When a < 0, the controller's initial output torque T decreases until the coordinates of the induction loop's center point δ move to (L / 2, 0). After this movement, the aforementioned quadrant determination is repeated. In principle, the trailer and host vehicle should always be controlled to maintain a positive tension state, and gap movement between the host vehicle and trailer should be minimized to the greatest extent possible.

[0088] In some embodiments of the present invention, step S102 further includes:

[0089] When the Z-axis value of the current coordinate is not zero, the output torque is determined to be zero;

[0090] When the Z-axis value of the current coordinate is zero, the output torque is determined based on the current coordinate and driving data.

[0091] In a specific embodiment of the present invention, motion sensing judgment in the Z-axis direction is added. When the vehicle fluctuates up and down in the Z-axis direction, it indicates that the Z-axis value of the current coordinate is not zero. The absolute value of the Z-axis jump amount ΔZ is set to be greater than the set threshold γ, and the output torque of the trailer is set to 0. Otherwise, it indicates that the Z-axis value of the current coordinate is zero, and the linear coefficient ζ is set. ζ is a calibration parameter of [0, 1], so that the output torque of the trailer can be controlled through the above-mentioned X-axis and Y-axis.

[0092] The embodiments of the present invention achieve optimized control of the main trailer, while solving the problem of accelerated wear of the towing pin caused by the clearance movement between the main vehicle and the trailer; avoiding the safety risk of the trailer pushing the main vehicle under braking and turning conditions; and reducing the information interaction between the main trailer, so that the trailer can exist as an independent drive unit, laying the foundation for the electric independence of the trailer.

[0093] In order to better implement the electric trailer control method in the embodiment of the present invention, based on the electric trailer control method, the embodiment of the present invention also provides an electric trailer control device, such as Figure 6 As shown, it is used to control an electric trailer device, which includes a main vehicle, a trailer, and a main vehicle trailer decoupling device arranged between the main vehicle and the trailer. The main vehicle trailer decoupling device includes an induction ring. The electric trailer control device 600 includes:

[0094] The data acquisition module 601 is used to acquire the driving data of the main vehicle and the sensing data of the sensing ring when the main vehicle drives the trailer through the main vehicle trailer decoupling device. The sensing data includes the current coordinates of the center point of the sensing ring in the plane rectangular coordinate system;

[0095] The torque determination module 602 is used to determine the output torque according to the current coordinates and driving data;

[0096] The trailer control module 603 is used to control the trailer according to the output torque.

[0097] The electric trailer control device 600 provided in the above embodiment can implement the technical solution described in the above electric trailer control method embodiment. The specific implementation principles of the above modules or units can be found in the corresponding contents in the above electric trailer control method embodiment, which will not be repeated here.

[0098] like Figure 7 As shown, the present invention also provides an electronic device 700. The electronic device 700 includes a processor 701, a memory 702 and a display 703. Figure 7 Only some of the components of the electronic device 700 are shown, but it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.

[0099] In some embodiments, the memory 702 may be an internal storage unit of the electronic device 700, such as a hard disk or memory of the electronic device 700. In other embodiments, the memory 702 may also be an external storage device of the electronic device 700, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 700.

[0100] Furthermore, the memory 702 may include both an internal storage unit of the electronic device 700 and an external storage device. The memory 702 is used to store application software installed in the electronic device 700 and various data.

[0101] In some embodiments, the processor 701 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 702 , such as the electric trailer control method of the present invention.

[0102] In some embodiments, display 703 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 703 is used to display information about electronic device 700 and to display a visual user interface. Components 701-703 of electronic device 700 communicate with each other via a system bus.

[0103] In some embodiments of the present invention, when the processor 701 executes the electric trailer control program in the memory 702, the following steps may be implemented:

[0104] When the main vehicle drives the trailer through the main vehicle trailer decoupling device, the main vehicle driving data and the sensing data of the sensing ring are obtained; the sensing data includes the current coordinates of the center point of the sensing ring in the plane rectangular coordinate system;

[0105] Determine the output torque based on the current coordinates and driving data;

[0106] The trailer is controlled according to the output torque.

[0107] It should be understood that, when the processor 701 executes the electric trailer control program in the memory 702 , in addition to the above functions, it can also implement other functions. For details, please refer to the description of the corresponding method embodiment above.

[0108] Furthermore, the embodiments of the present invention do not specifically limit the type of electronic device 700 mentioned. The electronic device 700 may be a portable electronic device such as a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, or laptop computer. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The portable electronic devices mentioned above may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 700 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0109] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the electric trailer control method steps or functions provided in the above-mentioned method embodiments can be implemented.

[0110] Those skilled in the art will appreciate that all or part of the process flow of the above-described method embodiment can be implemented by instructing related hardware (such as a processor, controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0111] The electric trailer control method and device provided by the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core concept of the present invention. At the same time, for those skilled in the art, according to the concept of the present invention, there may be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for controlling an electric trailer, characterized in that: Used to control an electric trailer device, the electric trailer device includes a main vehicle, a trailer and a main vehicle trailer decoupling device arranged between the main vehicle and the trailer, the main vehicle trailer decoupling device includes an induction ring, including: When the main vehicle drives the trailer through the main vehicle trailer decoupling device, the driving data of the main vehicle and the sensing data of the sensing ring are obtained; the sensing data includes the current coordinates of the center point of the sensing ring in the plane rectangular coordinate system; determining an output torque according to the current coordinates and the driving data; controlling the trailer according to the output torque; The driving data includes vehicle acceleration, and determining the output torque according to the current coordinates and the driving data includes: determining an initial torque based on the vehicle acceleration; Determine the current coordinates and obtain a determination result; Processing the initial torque according to the judgment result to obtain the output torque; The driving data includes a maximum driving torque of the motor and a minimum driving torque of the motor. The determining of the initial torque according to the vehicle acceleration includes: When the vehicle acceleration is zero, determining that the initial torque is zero; When the vehicle acceleration is not zero, determining whether the vehicle acceleration is greater than zero; If yes, obtaining the initial torque according to the first adjustment factor, the maximum driving torque of the motor, the vehicle acceleration and the proportional coefficient; If not, the initial torque is obtained according to the second adjustment factor, the minimum driving torque of the motor, the vehicle acceleration and the proportional coefficient; the power usage range of the first adjustment factor is smaller than the power usage range of the second adjustment factor.

2. The electric trailer control method according to claim 1, characterized in that: The determining the current coordinates to obtain a determination result includes: In the plane rectangular coordinate system, the motion trajectory of the center of the induction loop and the forward direction of the main vehicle are set as the X-axis direction, and the motion trajectory and the right lateral direction of the forward direction of the main vehicle are set as the Y-axis direction, and the plane rectangular coordinate system is divided in sequence in a counterclockwise direction to obtain multiple quadrants; Determining whether the current coordinates meet a preset condition; If yes, obtaining a determination result according to the current coordinates and the multiple quadrants; If not, the judgment result is determined according to the positive or negative value of the current coordinates.

3. The electric trailer control method according to claim 2, characterized in that: The multiple quadrants include a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant, and obtaining a judgment result based on the current coordinates and the multiple quadrants includes: When the current coordinate is in the first quadrant or the third quadrant, determining that the judgment result is that the trailer and the main vehicle are in a positive tension connection state; When the current coordinate is in the second quadrant or the fourth quadrant, it is determined that the judgment result is that the trailer and the main vehicle are in a negative tension connection state.

4. The electric trailer control method according to claim 3, characterized in that: The determining of the judgment result according to the positive or negative value of the current coordinates includes: Determine whether the X-axis value of the current coordinate is positive; If so, determining that the judgment result is that the trailer and the main vehicle are in a positive tension connection state; If not, it is determined that the judgment result is that the trailer and the main vehicle are in a negative tension connection state.

5. The electric trailer control method according to claim 4, characterized in that: The processing of the initial torque according to the judgment result to obtain the output torque includes: When the current coordinates do not meet the preset conditions and are in the positive tension connection state, determining the initial torque as the output torque; When the current coordinates do not meet the preset conditions and are in the negative tension connection state, the output torque is determined to be zero.

6. The electric trailer control method according to claim 4, characterized in that: The processing of the initial torque according to the judgment result to obtain the output torque further includes: When the current coordinates meet the preset conditions and are in the positive tension connection state, calculating the initial torque and a third adjustment factor to obtain an output torque; When the current coordinates meet the preset conditions and are in the negative tension connection state, the initial torque and a fourth adjustment factor are calculated to obtain the output torque; the fourth adjustment factor is the negative of the third adjustment factor.

7. The electric trailer control method according to claim 1, characterized in that: The determining the output torque according to the current coordinates and the driving data further includes: When the Z-axis value of the current coordinate is not zero, determining the output torque to be zero; When the Z-axis value of the current coordinate is zero, the output torque is determined according to the current coordinate and the driving data.

8. An electric trailer control device, based on the electric trailer control method according to claims 1-7, characterized in that: Used to control an electric trailer device, the electric trailer device includes a main vehicle, a trailer and a main vehicle trailer decoupling device arranged between the main vehicle and the trailer, the main vehicle trailer decoupling device includes an induction ring, including: a data acquisition module, configured to acquire driving data of the main vehicle and sensing data of the sensing ring when the main vehicle drives the trailer via the main vehicle-trailer decoupling device; the sensing data including the current coordinates of the center point of the sensing ring in a plane rectangular coordinate system; a torque determination module, configured to determine an output torque based on the current coordinates and the driving data; a trailer control module, configured to control the trailer according to the output torque; The driving data includes vehicle acceleration, and the torque determination module is further configured to determine an initial torque based on the vehicle acceleration; determine the current coordinates to obtain a determination result; and process the initial torque based on the determination result to obtain an output torque; The driving data includes a maximum driving torque of the motor and a minimum driving torque of the motor. The determining of the initial torque according to the vehicle acceleration includes: When the vehicle acceleration is zero, determining that the initial torque is zero; When the vehicle acceleration is not zero, determining whether the vehicle acceleration is greater than zero; If yes, obtaining the initial torque according to the first adjustment factor, the maximum driving torque of the motor, the vehicle acceleration and the proportional coefficient; If not, the initial torque is obtained according to the second adjustment factor, the minimum driving torque of the motor, the vehicle acceleration and the proportional coefficient; the power usage range of the first adjustment factor is smaller than the power usage range of the second adjustment factor.

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