Control method for automatic alignment of automobile compartment

Abstract

The invention discloses a control method for automatic alignment of an automobile compartment, relates to the technical field of new energy compartment detachable automobiles, and is applied to a compartment detachable automobile. The control method for automatic alignment of the automobile carriage comprises the steps that when an automobile backs up for alignment of an automobile frame and the carriage, whether the state of the automobile meets the automatic alignment condition or not is judged; if the vehicle state meets the automatic alignment condition, controlling the vehicle to reverse at a preset vehicle speed; determining the position deviation between the carriage bearing position and the carriage of the automobile; and according to the position deviation of the carriage bearing position and the carriage of the automobile, the steering angle of a steering wheel is controlled, and after the position deviation of the carriage bearing position and the carriage of the automobile reaches a preset alignment condition, the automobile is controlled to stop backing. Automatic control is adopted, the problems of long operation time and low accuracy of manual alignment of the chassis and the carriage bottom plate are solved, alignment of the vehicle chassis and the carriage is accurately controlled, accidents caused by unbalance loading of the vehicle are avoided, and the driving safety is improved; and the integration, automation and intelligence degrees are high.

Description

Technical Field

[0001] The invention relates to the technical field of new energy automobiles with detachable carriages, and in particular to a control method for automatic alignment of automobile carriages. Background Art

[0002] A detachable car is a special-purpose car equipped with a hydraulic towing and loading and unloading mechanism that can unload the special car or lift it onto the chassis. When loading a detachable car, the frame must first be accurately aligned under the longitudinal beam of the car floor, and then the longitudinal beam of the car floor must be dropped onto the frame through hydraulic lifting. If the chassis longitudinal beam and the car floor longitudinal beam deviate in the front-to-back and left-to-right directions, the car will be overloaded and an accident will occur during driving.

[0003] The existing technology mostly adopts the method of manual reverse alignment of the carriage, which has low accuracy, and the junction between the chassis and the carriage is located in the blind spot of vision, making it difficult to align accurately. At the same time, the manual alignment operation takes a long time and has low efficiency. Summary of the invention

[0004] The present application provides a control method for automatic alignment of a vehicle compartment, so as to at least solve one technical problem existing in the related art.

[0005] The invention is applied to a car with a detachable carriage; the control method for automatically aligning the carriage of the car comprises: when the vehicle is reversed and the frame and the carriage are aligned,

[0006] Determine whether the vehicle status meets the automatic alignment conditions;

[0007] If the vehicle state meets the automatic alignment condition, control the vehicle to reverse at a preset speed;

[0008] Determine the position deviation between the car's cabin support and the cabin;

[0009] The steering wheel angle is controlled according to the position deviation between the vehicle compartment supporting position and the vehicle compartment, and the vehicle is controlled to stop reversing after the position deviation between the vehicle compartment supporting position and the vehicle compartment reaches a preset alignment condition.

[0010] As an optional implementation, the direction of the vehicle's straight travel is set to the Y direction, and the direction perpendicular to the vehicle's straight travel direction is set to the X direction; determining the position deviation between the vehicle's compartment supporting position and the compartment includes: determining the angle deviation between the vehicle's compartment supporting position and the compartment and the distance deviation between the vehicle's compartment supporting position and the compartment in the X direction.

[0011] As an optional embodiment, the preset alignment conditions include: the angle deviation between the car body supporting position and the car body reaches a preset angle deviation, the distance deviation between the car body supporting position and the car body in the X direction reaches a first preset distance deviation; the distance deviation between the car body supporting position and the car body in the Y direction reaches a second preset distance deviation.

[0012] As an optional implementation, the preset angle deviation is set to 0°; the first preset distance deviation is set to 0; the second preset distance deviation is greater than 0, and the value range is set to 0-0.6m.

[0013] As an optional implementation manner, the preset vehicle speed is determined according to the distance deviation between the vehicle body supporting position and the vehicle body in the X direction and the distance deviation between the vehicle body supporting position and the vehicle body in the Y direction.

[0014] As an optional implementation, the automatic alignment conditions include: the distance deviation between the carriage supporting position and the carriage in the Y direction is less than a third preset distance deviation; the distance deviation between the carriage supporting position and the carriage in the X direction is less than a fourth preset distance deviation.

[0015] As an optional implementation manner, the value range of the third preset distance deviation is 5-8m; the value range of the fourth preset distance deviation is 1-1.5m.

[0016] As an optional embodiment, the vehicle with a detachable body includes a plurality of distance sensors, which are arranged at one end of the cab close to the body supporting position or at the body supporting position, and are used to determine the position deviation between the body supporting position and the body of the vehicle.

[0017] As an optional embodiment, the vehicle with a detachable carriage further includes an accelerator pedal opening sensor and a wheel speed sensor; controlling the vehicle to reverse at a preset speed includes: obtaining a signal from the accelerator pedal opening sensor and a signal from the wheel speed sensor; determining a first vehicle speed reference value based on the signal from the accelerator pedal opening sensor; determining a second vehicle speed reference value based on the signal from the wheel speed sensor; determining whether the first vehicle speed reference value is consistent with the second vehicle speed reference value; if the first vehicle speed reference value is consistent with the second vehicle speed reference value, controlling the vehicle to reverse at the preset speed.

[0018] As an optional embodiment, the vehicle with a detachable carriage further includes a steering wheel angle sensor and a wheel angle sensor; controlling the steering wheel angle according to the position deviation between the carriage supporting position and the carriage of the vehicle includes: obtaining the signal of the wheel angle sensor when the angle signal output by the steering wheel angle sensor is a first preset angle; determining whether the steering wheel angle corresponding to the signal of the wheel angle sensor is consistent with the angle signal output by the steering wheel angle sensor; if the steering wheel angle corresponding to the signal of the wheel angle sensor is consistent with the angle signal output by the steering wheel angle sensor, controlling the steering wheel angle according to the position deviation between the carriage supporting position and the carriage of the vehicle.

[0019] In an embodiment of the present application, a control method for automatic alignment of a car compartment is provided, including determining whether the vehicle state meets the automatic alignment conditions when the vehicle is reversing to align the frame and the compartment; if the vehicle state meets the automatic alignment conditions, controlling the vehicle to reverse at a preset speed; determining the position deviation between the car compartment support position and the compartment; controlling the steering wheel angle according to the position deviation between the car compartment support position and the compartment, and controlling the car to stop reversing after the position deviation between the car compartment support position and the compartment reaches the preset alignment condition. Automatic control is adopted to solve the problem of long operation time and low accuracy of manual alignment of the chassis and the compartment floor, accurately control the alignment of the vehicle chassis and the compartment, avoid accidents caused by vehicle overloading, and improve driving safety; the integration, automation, and intelligence are high. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 It is a schematic flow chart of a control method for automatic alignment of a vehicle compartment provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] like Figure 1 As shown, the embodiment of the present application provides a control method for automatic alignment of a vehicle compartment, which is applied to a vehicle with a detachable compartment; the control method for automatic alignment of the vehicle compartment comprises: when the vehicle is reversed to align the frame and the compartment,

[0026] S1 determines whether the vehicle state meets the automatic alignment conditions;

[0027] S2: if the vehicle state meets the automatic alignment condition, control the vehicle to reverse at a preset speed;

[0028] S3 determines the position deviation between the vehicle compartment support position and the vehicle compartment;

[0029] S4 controls the steering wheel angle according to the position deviation between the vehicle compartment supporting position and the vehicle compartment, and controls the vehicle to stop reversing after the position deviation between the vehicle compartment supporting position and the vehicle compartment reaches a preset alignment condition.

[0030] Specifically, automatic control is adopted to solve the problem of long operation time and low accuracy in manual alignment of the chassis and the car floor, and accurately control the alignment of the chassis and the car chassis to avoid accidents caused by vehicle unbalanced loading and improve driving safety; it has a high degree of integration, automation and intelligence.

[0031] Among them, the carriage supporting position refers to the position of the vehicle used to carry a detachable carriage, which is specifically arranged above the frame. When the carriage is on the car, the carriage should be accurately placed on the carriage supporting position. Therefore, any position on the carriage supporting position corresponds to a certain position on the bottom end surface of the carriage. Therefore, when determining the position deviation between the carriage supporting position of the car and the carriage, a reference position (such as a chassis longitudinal beam and a carriage floor longitudinal beam) can be first set at the carriage supporting position or the corresponding position of the carriage, such as a reference point or a reference line. When determining the deviation, the distance sensor is controlled to obtain the real-time position of the reference position to further determine the position deviation. This application does not make further restrictions on this, and it can be selected specifically according to the selected distance sensor, vehicle model and other parameters.

[0032] In addition, an automatic alignment button can be set in the cab. If the driver presses the automatic alignment button, the vehicle can enter the automatic alignment step. At the same time, in order to further ensure the safety of the vehicle during alignment, before alignment, it should be confirmed that the vehicle is in reverse gear.

[0033] As an optional implementation, the automatic alignment conditions include: the distance deviation between the carriage supporting position and the carriage in the Y direction is less than a third preset distance deviation; the distance deviation between the carriage supporting position and the carriage in the X direction is less than a fourth preset distance deviation.

[0034] That is, only when the distance deviation between the carriage supporting position and the carriage in the Y direction is less than the third preset distance deviation; and the distance deviation between the carriage supporting position and the carriage in the X direction is less than the fourth preset distance deviation, the vehicle meets the automatic alignment condition and the automatic alignment step between the carriage and the car can be further performed.

[0035] As an optional implementation manner, the value range of the third preset distance deviation is 5-8m; the value range of the fourth preset distance deviation is 1-1.5m.

[0036] As an optional implementation, the direction of the vehicle's straight travel is set to the Y direction, and the direction perpendicular to the vehicle's straight travel direction is set to the X direction; determining the position deviation between the vehicle's compartment supporting position and the compartment includes: determining the angle deviation between the vehicle's compartment supporting position and the compartment and the distance deviation between the vehicle's compartment supporting position and the compartment in the X direction.

[0037] After the vehicle state meets the automatic alignment conditions, the angle deviation between the carriage supporting position and the carriage and the distance deviation between the carriage supporting position of the car and the carriage in the X direction are determined, that is, the angle formed by the vehicle and the carriage, and the deviation in the X direction are determined, and the steering wheel angle is controlled according to the angle deviation between the carriage supporting position and the carriage and the distance deviation between the carriage supporting position of the car and the carriage in the X direction, so that the angle between the carriage supporting position and the carriage can be corrected, so that the carriage supporting position and the carriage are aligned in the Y direction.

[0038] As an optional embodiment, the preset alignment conditions include: the angle deviation between the car body supporting position and the car body reaches a preset angle deviation, the distance deviation between the car body supporting position and the car body in the X direction reaches a first preset distance deviation; the distance deviation between the car body supporting position and the car body in the Y direction reaches a second preset distance deviation.

[0039] As an optional implementation, the preset angle deviation is set to 0°; the first preset distance deviation is set to 0; the second preset distance deviation is greater than 0, and the value range is set to 0-0.6m.

[0040] That is, the angle between the carriage supporting position and the carriage is corrected so that the carriage supporting position and the carriage are aligned in the Y direction.

[0041] As an optional implementation manner, the preset vehicle speed is determined according to the distance deviation between the vehicle body supporting position and the vehicle body in the X direction and the distance deviation between the vehicle body supporting position and the vehicle body in the Y direction.

[0042] As an optional embodiment, the vehicle with a detachable body includes a plurality of distance sensors, which are arranged at one end of the cab close to the body supporting position or at the body supporting position, and are used to determine the position deviation between the body supporting position and the body of the vehicle.

[0043] The distance sensor may be a laser rangefinder.

[0044] As an optional embodiment, the vehicle with a detachable carriage further includes an accelerator pedal opening sensor and a wheel speed sensor; controlling the vehicle to reverse at a preset speed includes: obtaining a signal from the accelerator pedal opening sensor and a signal from the wheel speed sensor; determining a first vehicle speed reference value based on the signal from the accelerator pedal opening sensor; determining a second vehicle speed reference value based on the signal from the wheel speed sensor; determining whether the first vehicle speed reference value is consistent with the second vehicle speed reference value; if the first vehicle speed reference value is consistent with the second vehicle speed reference value, controlling the vehicle to reverse at the preset speed.

[0045] As an optional embodiment, the vehicle with a detachable carriage further includes a steering wheel angle sensor and a wheel angle sensor; controlling the steering wheel angle according to the position deviation between the carriage supporting position and the carriage of the vehicle includes: obtaining the signal of the wheel angle sensor when the angle signal output by the steering wheel angle sensor is a first preset angle; determining whether the steering wheel angle corresponding to the signal of the wheel angle sensor is consistent with the angle signal output by the steering wheel angle sensor; if the steering wheel angle corresponding to the signal of the wheel angle sensor is consistent with the angle signal output by the steering wheel angle sensor, controlling the steering wheel angle according to the position deviation between the carriage supporting position and the carriage of the vehicle.

[0046] Specifically, as an optional and specific implementation method, the laser rangefinder senses the front-to-rear position difference and left-right offset between the chassis longitudinal beam and the vehicle floor longitudinal beam; the accelerator pedal opening sensor and the wheel speed sensor serve as double insurance, sending accelerator pedal opening and wheel speed signals to the MCU; the steering wheel angle sensor and the wheel angle sensor serve as double insurance, sending steering wheel angle and wheel angle signals to the EPAS; the VCU mainly receives the automatic alignment button signal, the laser rangefinder distance signal, the electric throttle and vehicle speed signals sent by the MCU, the body posture signal sent by the EPAS, and the brake signal and vehicle speed signal sent by the EBS. At the same time, control instructions are sent to MCU, EPAS, EBS, and EPB, and the CAN network bus is connected at the same time; MCU mainly receives accelerator pedal opening and wheel speed signals, VCU control signals, and is connected to the CAN network bus; EPAS mainly receives steering wheel angle and wheel angle signals, VCU control signals, and is connected to the CAN network bus; EBS mainly receives brake pedal opening and wheel speed signals, VCU control signals, and is connected to the CAN network bus; EPB electronic control unit mainly receives VCU control signals, outputs signals to control the brake locking motor, and is connected to the CAN network bus.

[0047] The specific steps are as follows: the driver presses the automatic alignment button. If the shift switch is in N gear or forward gear, the instrument display does not meet the automatic alignment conditions, and the automatic alignment button is automatically turned off; if the shift handle is in reverse gear, the instrument display meets the precise reversing conditions, and the reversing program is entered.

[0048] The laser rangefinder measures the front-to-rear distance and left-to-right deviation between the chassis longitudinal beam and the longitudinal beam of the car floor. When the front-to-rear distance between the chassis longitudinal beam and the car floor is Y≥5m and the left-to-right deviation is X≥1m, the automatic alignment condition is not met and the automatic alignment button is automatically turned off. After moving the vehicle, when the front-to-rear distance between the chassis longitudinal beam and the car floor is Y≤5m and the left-to-right deviation between the chassis longitudinal beam and the longitudinal beam of the car floor is X≤1m, the automatic alignment condition is met and the vehicle's automatic reversing alignment system starts working.

[0049] MCU receives the signals from the accelerator pedal opening sensor and wheel speed sensor, sends them to VCU, and converts them into vehicle speed signals. If the two signals are converted into different vehicle speeds, VCU determines that the vehicle speed is not true, alarms the instrument cluster, and exits the automatic reverse alignment program; if the two signals are converted into the same vehicle speed, VCU determines that the vehicle speed is true, controls the vehicle speed to 0.4m / s, and performs automatic reverse.

[0050] When the vehicle is reversing at a speed of 0.4m / s, the laser rangefinder measures the left and right deviation between the chassis longitudinal beam and the car floor, and sends the deviation signal to the VCU, which controls the EPAS to control the steering wheel and wheel angles. When the angle reaches 1°, the steering wheel angle signal is compared with the wheel angle signal. If the wheel angle signal is converted into a different steering wheel angle signal, the VCU determines that the angle is not real, alarms the instrument cluster, and exits the automatic reverse alignment program; if the wheel angle signal is converted into the same steering wheel angle signal, the VCU determines that the angle is real, and controls the steering wheel and wheel angles according to the left and right deviation between the chassis longitudinal beam and the car floor longitudinal beam, and corrects the body angle until there is no left and right deviation between the chassis longitudinal beam and the car floor longitudinal beam.

[0051] After the chassis longitudinal beam is aligned with the longitudinal beam of the car floor, the chassis continues to reverse at 0.4m / s. When the laser rangefinder detects that the cab is 0.2m away from the car, the VCU sends a brake signal, controls the MCU by controlling the throttle opening, reduces the motor speed and torque, controls the EBS system, and starts the braking function. After the wheel speed returns to zero, it sends a signal to the VCU, and the VCU sends a signal to the EPB. The EPB electronic control unit mainly receives the VCU control signal and outputs a signal to control the brake locking motor; the brake locking motor mainly controls the parking mechanical actuator. When the vehicle stops completely, it shows that the reverse alignment with the car is completed.

[0052] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0053] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more electronic devices (such as personal computers, servers, or network devices) to perform all or part of the steps of the methods described in the various embodiments of the present application.

[0054] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0055] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0056] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0057] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0058] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0059] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A control method for automatic alignment of a vehicle compartment, characterized in that: The invention is applied to a car with a detachable carriage; the control method for automatically aligning the carriage of the car comprises: when the vehicle is reversed and the frame and the carriage are aligned, Determine whether the vehicle status meets the automatic alignment conditions; If the vehicle state meets the automatic alignment condition, control the vehicle to reverse at a preset speed; Determine the position deviation between the car's cabin support and the cabin; The steering wheel angle is controlled according to the position deviation between the vehicle compartment supporting position and the vehicle compartment, and the vehicle is controlled to stop reversing after the position deviation between the vehicle compartment supporting position and the vehicle compartment reaches a preset alignment condition.

2. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 1, characterized in that: The vehicle's straight-moving direction is set as the Y direction, and the direction perpendicular to the vehicle's straight-moving direction is set as the X direction; the determination of the position deviation between the vehicle's compartment support position and the compartment includes: Determine the angle deviation between the vehicle compartment support position and the vehicle compartment and the distance deviation between the vehicle compartment support position and the vehicle compartment in the X direction.

3. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 2, characterized in that: The preset alignment conditions include: The angle deviation between the carriage supporting position and the carriage reaches a preset angle deviation, and the distance deviation between the carriage supporting position and the carriage in the X direction reaches a first preset distance deviation; The distance deviation between the carriage supporting position and the carriage in the Y direction reaches a second preset distance deviation.

4. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 3, characterized in that: The preset angle deviation is set to 0°; the first preset distance deviation is set to 0; the second preset distance deviation is greater than 0, and the value range is set to 0-0.6m.

5. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 2, characterized in that: The preset vehicle speed is determined according to the distance deviation between the carriage supporting position and the carriage in the X direction and the distance deviation between the carriage supporting position and the carriage in the Y direction.

6. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 2, characterized in that: The automatic alignment conditions include: a distance deviation between the carriage supporting position and the carriage in the Y direction is less than a third preset distance deviation; and a distance deviation between the carriage supporting position and the carriage in the X direction is less than a fourth preset distance deviation.

7. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 6, characterized in that: The value range of the third preset distance deviation is 5-8m; the value range of the fourth preset distance deviation is 1-1.5m.

8. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 1, characterized in that: The vehicle with a detachable carriage comprises a plurality of distance sensors, which are arranged at one end of the driving cab close to the carriage supporting position or at the carriage supporting position, and are used for determining the position deviation between the carriage supporting position and the carriage of the vehicle.

9. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 7, characterized in that: The vehicle with a detachable carriage further includes an accelerator pedal opening sensor and a wheel speed sensor; and the method of controlling the vehicle to reverse at a preset speed includes: Acquiring a signal from the accelerator pedal opening sensor and a signal from the wheel speed sensor; determining a first vehicle speed reference value according to a signal of the accelerator pedal opening sensor; determining a second vehicle speed reference value according to a signal from the wheel speed sensor; determining whether the first vehicle speed reference value is consistent with the second vehicle speed reference value; If the first vehicle speed reference value is consistent with the second vehicle speed reference value, the vehicle is controlled to reverse at a preset vehicle speed.

10. The method for controlling the automatic alignment of a vehicle compartment as claimed in claim 7, characterized in that: The vehicle with a detachable carriage further includes a steering wheel angle sensor and a wheel angle sensor; the method of controlling the steering wheel angle according to the position deviation between the carriage support position and the carriage of the vehicle includes: Acquire a signal of the wheel angle sensor when the steering angle signal output by the steering wheel angle sensor is a first preset steering angle; Determining whether the steering wheel angle corresponding to the signal of the wheel angle sensor is consistent with the steering wheel angle signal output by the steering wheel angle sensor; If the steering wheel angle corresponding to the signal of the wheel angle sensor is consistent with the angle signal output by the steering wheel angle sensor, the steering wheel angle is controlled according to the position deviation between the vehicle compartment supporting position and the vehicle compartment.

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