Train group stability control method and device, vehicle and storage medium

Abstract

The invention relates to a train set stability control method, a train set is composed of a tractor and a trailer, and the train set stability control method comprises the following steps: obtaining driving data of the train set; determining yaw information of the train group according to the driving data; when the yawing information meets a first preset condition, the tractor is controlled to conduct symmetrical braking so as to restrain yawing of the train set; when the yawing information meets a second preset condition, the tractor is controlled to conduct asymmetric braking so as to restrain yawing of the train set; and when the yawing information meets a third preset condition, the tractor is controlled to conduct torque reduction deceleration and asymmetric braking so as to restrain yawing of the train set. The invention further provides a device. The invention further provides a vehicle. The invention further provides a storage medium. When the train set yaws, the tractor is controlled to reasonably brake, and the stability of the train set can be effectively recovered.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a train set stability control method, device, vehicle and storage medium. Background Art

[0002] Some vehicles can be used as tractors to tow trailers. When a vehicle tows a trailer, the vehicle and trailer form a train set. The critical speed range of the train set is generally 90km / h to 130km / h. When the speed of the train set is less than the critical speed, the train set usually still has good yaw self-convergence and can stabilize itself. When the speed of the train set is within the critical speed range, the train set has poor yaw self-convergence, and the trailer is prone to swing, which causes the entire train set to swing, and the train set is prone to lose control and cause an accident.

[0003] Some technologies have proposed a vehicle body stability control method to help the vehicle restore stability when the vehicle yaws. The vehicle body stability control method in the prior art is usually designed for passenger cars and often has the following technical problems: it is difficult to meet the stability control requirements of train sets, there is a single stability control method, and the stability control effect is poor. Summary of the invention

[0004] The object of the present invention is to provide a train set stability control method, device, vehicle and storage medium to alleviate or eliminate at least one of the above-mentioned technical problems.

[0005] The present invention provides a train set stability control method, wherein the train set is composed of a tractor and a trailer, and the train set stability control method comprises the following steps: Acquiring the travel data of the train set; Determine the yaw information of the train set according to the driving data; When the yaw information meets a first preset condition, controlling the tractor to perform symmetrical braking to suppress the yaw of the train set; When the yaw information meets a second preset condition, controlling the tractor to perform asymmetric braking to suppress the yaw of the train set; When the yaw information meets a third preset condition, the tractor is controlled to perform torque reduction deceleration and asymmetric braking to suppress the yaw of the train set.

[0006] Optionally, determining the yaw information of the train set based on the driving data includes the following steps: calculating the yaw failure risk of the train set based on the yaw rate, target yaw rate, driving speed and longitudinal acceleration in the driving data.

[0007] Optionally, the yaw information includes a steering angle, a lateral acceleration, a yaw angular velocity and the yaw failure risk.

[0008] Optionally, when the yaw information satisfies the first preset condition, the yaw degree of the train group is less than the yaw degree of the train group when the yaw information satisfies the second preset condition, and when the yaw information satisfies the second preset condition, the yaw degree of the train group is less than the yaw degree of the train group when the yaw information satisfies the third preset condition.

[0009] Optionally, controlling the tractor to perform asymmetric braking includes the following steps: when it is detected that the train set is swaying to the left, controlling the left wheel of the tractor to brake; when it is detected that the train set is swaying to the right, controlling the right wheel of the tractor to brake.

[0010] Optionally, controlling the left wheel of the tractor to brake is controlling the left front wheel of the tractor to brake, and controlling the right wheel of the tractor to brake is controlling the right front wheel of the tractor to brake.

[0011] Optionally, the train group stability control method further includes the following steps: when it is detected that the tractor is towing the trailer and the train group stability control function of the tractor is not available, controlling the tractor to issue a warning message.

[0012] The present invention also proposes a device, comprising: An acquisition module, used for acquiring the travel data of the train set; A determination module, used to determine the yaw information of the train set according to the driving data; A control module is used to: when the yaw information meets a first preset condition, control the tractor to perform symmetrical braking to suppress the yaw of the train set; when the yaw information meets a second preset condition, control the tractor to perform asymmetrical braking to suppress the yaw of the train set; when the yaw information meets a third preset condition, control the tractor to perform torque reduction deceleration and asymmetrical braking to suppress the yaw of the train set.

[0013] The present invention also proposes a vehicle, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes any one of the above-mentioned train group stability control methods.

[0014] The present invention also proposes a storage medium, in which a computer program is stored, and the characteristic is that when the computer program is executed by a processor, the processor executes any one of the above-mentioned train group stability control methods.

[0015] The present invention controls the tractor to perform reasonable braking when the train set yaws, which can effectively enable the train set to restore stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of the train group stability control method described in some embodiments; Figure 2 Schematic diagram of symmetrical braking for controlling the tractor; Figure 3 One of the schematic diagrams for controlling asymmetric braking of the tractor; Figure 4 The second schematic diagram for controlling asymmetric braking of the tractor; Figure 5 Schematic diagram of the device described in some embodiments.

[0017] In the figure, 10 is a tractor, 20 is a trailer, 30 is a left front wheel, 40 is a right front wheel, 50 is an acquisition module, 60 is a first submodule, 70 is a second submodule, and 80 is a control module. DETAILED DESCRIPTION

[0018] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0020] like Figures 2 to 4 As shown, a train set is generally composed of a tractor 10 and a trailer 20, and the tractor 10 and the trailer 20 can be connected by a tow hook. In order to meet the stability control requirements of the train set and improve the stability control effect of the train set, this embodiment proposes a train set stability control method. Figure 1 As shown, the train group stability control method includes the following steps: S100: Acquire the travel data of the train group; S200: Determine yaw information of the train set according to the driving data; S300: When the yaw information meets the first preset condition, the tractor 10 is controlled to perform symmetrical braking to suppress the yaw of the train set; S400: When the yaw information meets the second preset condition, the tractor 10 is controlled to perform asymmetric braking to suppress the yaw of the train set; S500: When the yaw information meets the third preset condition, the tractor 10 is controlled to reduce torque deceleration and perform asymmetric braking to suppress the yaw of the train set.

[0021] By adopting the above train set stability control method, on the one hand, corresponding control strategies are adopted for different degrees of yaw of the train set, and the control methods are rich and can more accurately and fully control the stability of the train set. On the other hand, by adopting asymmetric braking and combining torque reduction deceleration with asymmetric braking to improve the ability of stability control, the train set can be restored to stability when the train set yaws or yaws out of control. In addition, the above train set stability control method can be implemented using the hardware of the existing passenger car body electronic stability system, which is easy to implement.

[0022] In a specific implementation, the driving data of the train set includes various information and parameters generated during the driving of the tractor 10 and the trailer 20. The yaw information of the train set refers to information and parameters related to the yaw of the train set, which may include information and parameters directly measured by on-board sensors, or information and parameters calculated and analyzed according to the driving data of the train set according to preset rules or models.

[0023] In some embodiments, determining the yaw information of the train set according to the driving data includes the following steps: calculating the yaw failure risk of the train set according to the yaw rate, target yaw rate, driving speed and longitudinal acceleration in the driving data. By adopting the above technical solution, the yaw failure risk of the train set can be determined, and then the corresponding control strategy can be adopted according to the size of the yaw failure risk of the train set, so as to more accurately and fully control the stability of the train set.

[0024] In some embodiments, the yaw information includes steering angle, lateral acceleration, yaw angular velocity and yaw failure risk. The yaw direction of the train set can be determined by steering and lateral acceleration, providing support for determining the braking side of asymmetric braking, and the yaw state of the train set can be determined by yaw angular velocity and yaw failure risk. By adopting the above technical solution, the yaw direction of the train set, the braking side of asymmetric braking and the yaw state of the train set can be accurately determined, providing a basis for more accurate and sufficient stability control of the train set.

[0025] In specific implementation, the first preset condition, the second preset condition and the third preset condition can be set according to the calibration of the train set. Generally, when the yaw information meets the first preset condition, the yaw degree of the train set is less than the yaw degree of the train set when the yaw information meets the second preset condition, and when the yaw information meets the second preset condition, the yaw degree of the train set is less than the yaw degree of the train set when the yaw information meets the third preset condition. With the above technical solution, as the yaw degree of the train set becomes increasingly serious, a step-by-step enhanced control strategy is adopted to intervene in the queuing vehicle set, which can better ensure the safety and stability of the train set operation.

[0026] In specific implementation, the steering angle, lateral acceleration, yaw angular velocity and yaw failure risk can be graded to determine three levels of yaw degree. Specifically: when the steering angle, lateral acceleration, yaw angular velocity and yaw failure risk meet the first preset condition, the yaw degree is relatively light; when the steering angle, lateral acceleration, yaw angular velocity and yaw failure risk meet the second preset condition, the yaw degree is medium; when the steering angle, lateral acceleration, yaw angular velocity and yaw failure risk meet the third preset condition, the yaw degree is relatively heavy.

[0027] In some embodiments, controlling the tractor 10 to perform asymmetric braking includes the following steps: when the train set is detected to sway to the left, the left wheels of the tractor 10 are controlled to brake; when the train set is detected to sway to the right, the right wheels of the tractor 10 are controlled to brake.

[0028] Using the above technical solution, such as Figure 3 As shown, when the train set sways to the right, a counterclockwise deflection torque is generated. By braking the right wheel of the tractor 10, the counterclockwise deflection can be suppressed, which will cause the train set to return to its original stable state. Figure 4 As shown, when the train set sways to the left, a clockwise deflection torque is generated. At this time, by braking the left wheel of the tractor 10, the clockwise deflection can be suppressed, which will cause the train set to return to its original stable state. The above-mentioned asymmetric braking has the characteristics of being easy to implement and having a good sway suppression effect. As a preferred example, controlling the left wheel of the tractor 10 to brake is to control the left front wheel 30 of the tractor 10 to brake, and controlling the right wheel of the tractor 10 to brake is to control the right front wheel 40 of the tractor 10 to brake, which has the characteristics of being easy to implement and easy to control.

[0029] In a specific implementation, when the vehicle controller controls the tractor 10 to perform asymmetric braking, a control instruction may be sent to the brake control module 80 of the tractor 10, and the brake control module 80 may be used to control the brake on one side of the tractor 10 to brake the wheels.

[0030] In specific implementation, Figure 2 As shown, when controlling the tractor 10 to perform symmetrical braking, the deceleration control can be performed by requesting the engine or motor of the tractor 10 to reduce the torque, and a propulsion torque request is issued to the engine or motor based on the reduced torque. Symmetrical braking can also be achieved by controlling the brakes of the wheels on both sides of the tractor 10 to brake the wheels on both sides of the tractor 10. Symmetrical braking can also be achieved by combining the above two methods.

[0031] As a specific example, when the yaw information of the train set meets the third preset condition, it usually means that the train set has yaw out of control. The vehicle controller of the tractor 10 will first request the engine or motor of the tractor 10 to reduce the torque for deceleration control, and will also control the tractor 10 to perform asymmetric braking to achieve stronger stability control.

[0032] In some embodiments, the train set stability control method further includes the following steps: when it is detected that the tractor 10 is towing a trailer 20 and the train set stability control function is unavailable, the tractor 10 is controlled to issue a warning message. By controlling the tractor 10 to issue a warning message, the user can be reminded that the train set stability control function is unavailable, which helps to ensure vehicle safety.

[0033] As a specific example, when the vehicle is equipped with a rear tow hook, when the trailer stability assist control function of the vehicle is unavailable (or frame dropping) and the trailer harness connector is connected, a pop-up window may be displayed on the vehicle's display screen, displaying the text "Trailer stability assist function is unavailable, please check whether the vehicle body electronic stability system is on or faulty". When the vehicle is not equipped with a rear tow hook, since the vehicle's CAN signal will be interpreted as unavailable by default, no text prompt is required. After a pop-up window prompting "Trailer stability assist function is unavailable, please check whether the vehicle body electronic stability system is on or faulty" appears on the display screen, the user can click the "OK" or "X" button to close the pop-up window.

[0034] In order to implement the above train group stability control method, the present invention also proposes a device, such as Figure 5 As shown, the device comprises: An acquisition module 50 is used to acquire the travel data of the train set; A determination module, used to determine the yaw information of the train set according to the driving data; The control module 80 is used to: when the yaw information meets the first preset condition, control the tractor 10 to perform symmetrical braking to suppress the yaw of the train set; when the yaw information meets the second preset condition, control the tractor 10 to perform asymmetrical braking to suppress the yaw of the train set; when the yaw information meets the third preset condition, control the tractor 10 to reduce torque deceleration and asymmetrical braking to suppress the yaw of the train set.

[0035] The above device can be used to implement the train group stability control method. It should be noted that the above explanation of the embodiment of the train group stability control method is also applicable to the device of this embodiment, and will not be repeated here.

[0036] As a specific example, Figure 5 As shown, the determination module includes a first submodule 60 and a second submodule 70. The acquisition module 50 is configured to input the acquired yaw rate, target yaw rate, and vehicle speed of the train group to the first submodule 60, and the first submodule 60 is configured to analyze the yaw angular velocity of the current train group based on the above information, and output the analysis result to the control module 80. The acquisition module 50 is configured to input the acquired yaw rate, target yaw rate, vehicle speed, and longitudinal acceleration of the train group to the second submodule 70, and the second submodule 70 is configured to calculate the yaw out-of-control risk of the train group based on the above information. The control module 80 determines the corresponding intervention strategy based on the steering angle, lateral acceleration, yaw angular velocity, and yaw out-of-control risk of the train group, and controls the tractor 10 to perform symmetrical or asymmetrical braking based on the intervention strategy.

[0037] The present invention also proposes a vehicle, which may include a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes any one of the train group stability control methods described above.

[0038] Furthermore, the vehicle also includes: a communication interface for communication between the memory and the processor.

[0039] Optionally, in a specific implementation, the memory is used to store a computer program that can be executed on the processor, and the memory may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0040] If the memory, processor and communication interface are implemented independently, the communication interface, memory and processor can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0041] Optionally, in a specific implementation, if the memory, processor, and communication interface are integrated on a chip, the memory, processor, and communication interface can communicate with each other through an internal interface.

[0042] Optionally, in a specific implementation, the processor may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0043] The present invention also proposes a storage medium, in which a computer program is stored, and the characteristic is that when the computer program is executed by a processor, the processor executes any one of the above-mentioned train group stability control methods.

[0044] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. In the description of this specification, the description of reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics of the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

Claims

1. A train set stability control method, wherein the train set consists of a tractor and a trailer, characterized in that: The train set stability control method comprises the following steps: Acquiring the travel data of the train set; Determine the yaw information of the train set according to the driving data; When the yaw information meets a first preset condition, controlling the tractor to perform symmetrical braking to suppress the yaw of the train set; When the yaw information meets a second preset condition, controlling the tractor to perform asymmetric braking to suppress the yaw of the train set; When the yaw information meets a third preset condition, the tractor is controlled to perform torque reduction deceleration and asymmetric braking to suppress the yaw of the train set.

2. The train set stability control method according to claim 1, characterized in that: Determining the yaw information of the train set according to the driving data comprises the following steps: calculating the yaw failure risk of the train set according to the yaw rate, target yaw rate, driving speed and longitudinal acceleration in the driving data.

3. The train set stability control method according to claim 2, characterized in that: The yaw information includes a steering angle, a lateral acceleration, a yaw angular velocity, and the yaw failure risk.

4. The train set stability control method according to claim 3, characterized in that: When the yaw information satisfies the first preset condition, the yaw degree of the train set is less than the yaw degree of the train set when the yaw information satisfies the second preset condition; when the yaw information satisfies the second preset condition, the yaw degree of the train set is less than the yaw degree of the train set when the yaw information satisfies the third preset condition.

5. The train set stability control method according to claim 1, characterized in that: Controlling the tractor to perform asymmetric braking The method comprises the following steps: when it is detected that the train set is swaying to the left, the left wheel of the tractor is controlled to brake; when it is detected that the train set is swaying to the right, the right wheel of the tractor is controlled to brake.

6. The train set stability control method according to claim 5, characterized in that: The controlling of the left wheel of the tractor to brake is to control the left front wheel of the tractor to brake, and the controlling of the right wheel of the tractor to brake is to control the right front wheel of the tractor to brake.

7. The train set stability control method according to claim 1, characterized in that: The following steps are also included: When it is detected that the tractor is towing the trailer and the train set stability control function of the tractor is unavailable, the tractor is controlled to issue a warning message.

8. A device, characterized in that: include: An acquisition module, used for acquiring the travel data of the train set; A determination module, used to determine the yaw information of the train set according to the driving data; A control module is used to: when the yaw information meets a first preset condition, control the tractor to perform symmetrical braking to suppress the yaw of the train set; when the yaw information meets a second preset condition, control the tractor to perform asymmetrical braking to suppress the yaw of the train set; when the yaw information meets a third preset condition, control the tractor to perform torque reduction deceleration and asymmetrical braking to suppress the yaw of the train set.

9. A vehicle, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the train group stability control method according to any one of claims 1 to 7.

10. A storage medium storing a computer program, wherein: When the computer program is executed by a processor, the processor executes the train group stability control method according to any one of claims 1 to 7.

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