Trailer swing detection and control method, device and equipment, storage medium and product

Abstract

The invention provides a trailer swing detection and control method, device and equipment, a storage medium and a product, and the method comprises the steps: obtaining the motion state data, measured by an electronic stability control sensor, of a tractor in a current detection period, and calculating and obtaining a yaw velocity difference signal based on the motion state data of the tractor in the current detection period; judging whether the trailer swings or not according to the yaw velocity difference signal; if the trailer swings, whether a driver takes a swing eliminating measure or not is judged; and if the driver does not take the anti-swing measures, brake intervention control is carried out, so that the trailer stops swinging. According to the scheme, the abnormal swing of the trailer can be found in time by applying the existing sensor signals of the vehicle, so that corresponding control measures are taken, and the swing detection and control cost of the trailer is saved while the stability and the safety of a vehicle system are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a trailer sway detection and control method, device, equipment, storage medium and product. Background Art

[0002] Tractor and trailer are common vehicle combinations in road transport, mainly used for cargo transportation. Among them, the tractor, also known as the tractor head or the head, is the vehicle that provides power and control. It is connected to the trailer and provides power to it (in some cases, the trailer may have its own power), while controlling the direction and speed of travel. The trailer is an unpowered vehicle connected to the rear of the tractor for carrying cargo. The trailer relies on the tractor to move.

[0003] When a tractor is towing a trailer, the tractor may swing back and forth around the saddle joint due to the reciprocating steering of the tractor or the influence of crosswind, which will have a great impact on the safe driving of the vehicle or surrounding vehicles. Since trailers often lack sensors to measure corresponding variables, how to detect the swing of the trailer in time and attenuate it through active control is a technical problem in the stability control of the tractor.

[0004] In the prior art, the detection and control of trailer swing basically need to be realized by adding additional sensors or actuators. On the one hand, the cost of trailer swing detection and control is high. On the other hand, when the trailer swing is detected, it is impossible to effectively suppress the trailer swing in time, thus affecting the stability and safety of the entire vehicle system.

[0005] It can be seen that the cost of existing trailer swing detection and control is high, and the stability and safety of the vehicle system are poor. Summary of the invention

[0006] The present invention provides a trailer sway detection and control method, device, equipment, storage medium and product, which are used to solve the defects of the existing trailer sway detection and control in the prior art, such as high cost and poor stability and safety of the vehicle system, thereby improving the stability and safety of the vehicle system and saving the cost of trailer sway detection and control.

[0007] The present invention provides a trailer swing detection and control method, which is applied to a vehicle operation system. The vehicle operation system includes a tractor, a trailer, a trailer swing detection and control device, and an electronic stability control sensor deployed on the tractor. The method includes the following steps.

[0008] The trailer sway detection and control device obtains the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor, and calculates the yaw rate difference signal based on the motion state data of the tractor in the current detection cycle; wherein the running state data of the involved vehicle include: the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, the characteristic speed of the tractor and the actual yaw rate of the tractor.

[0009] The trailer sway detection and control device determines whether the trailer sways according to the yaw angular velocity difference signal.

[0010] If the trailer swings, the trailer swing detection and control device determines whether the driver has taken measures to eliminate the swing.

[0011] If the driver does not take measures to eliminate the sway, the trailer sway detection and control device performs brake intervention control to stop the trailer from swaying; wherein the brake intervention control includes: reducing the engine torque value of the tractor according to a predetermined rate of change; applying brake pressure to each axle of the trailer, the front axle of the tractor, and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle operating system.

[0012] According to a trailer sway detection and control method provided by the present invention, the yaw angular velocity difference signal is calculated based on the motion state data of the tractor in the current detection period, and includes the following steps.

[0013] The trailer sway detection and control device calculates the target yaw angular velocity at each moment of the current detection period based on the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor at each moment of the current detection period.

[0014] The trailer sway detection and control device calculates the difference between the actual yaw rate and the target yaw rate at each moment in the current detection period to obtain the yaw rate difference signal.

[0015] According to a trailer sway detection and control method provided by the present invention, the trailer sway detection and control device determines whether the trailer sways according to the yaw angular velocity difference signal, including the following steps.

[0016] The trailer sway detection and control device performs system identification on the yaw angular velocity difference signal to obtain the vibration amplitude of the yaw angular velocity difference signal.

[0017] The trailer swing detection and control device determines whether the vibration amplitude of the yaw angular velocity difference signal is greater than a preset first threshold; if greater, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

[0018] According to a trailer sway detection and control method provided by the present invention, the trailer sway detection and control device determines whether the trailer sways according to the yaw angular velocity difference signal, including the following steps.

[0019] The trailer sway detection and control device performs a first-order low-pass filter on the yaw angular velocity difference signal to obtain a first filtered signal.

[0020] The trailer sway detection and control device performs a second-order Butterworth filter on the first filtered signal to obtain a second filtered signal.

[0021] The trailer swing detection and control device calculates the difference between the maximum value and the minimum value of the second filtered signal in each steady-state evaluation period to obtain the steady-state swing amplitude in each steady-state evaluation period; wherein the current detection cycle includes multiple steady-state evaluation periods.

[0022] The trailer swing detection and control device uses the maximum value of the steady-state swing amplitude in the current detection cycle as the vibration intensity value in the current detection cycle.

[0023] The trailer swing detection and control device calculates the average value of the vibration intensity value in the current integration period to obtain the vibration enhancement average value; wherein the integration period includes multiple detection cycles.

[0024] The trailer swing detection and control device calculates the difference between the vibration intensity value at each moment in the current integration period and the vibration enhancement average value in the previous integration period to obtain the vibration enhancement processing value.

[0025] In the current integration period, the trailer swing detection and control device integrates the vibration enhancement processing value to obtain a first integration value.

[0026] In the current integration period, the trailer swing detection and control device takes the absolute value of the vibration enhancement processing value and integrates it to obtain a second integral value.

[0027] The trailer sway detection and control device calculates the difference between the second integral value and the first integral value to obtain an integral difference value.

[0028] The trailer swing detection and control device determines whether the integral difference value is greater than a preset second threshold value; if so, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

[0029] According to a trailer sway detection and control method provided by the present invention, after the braking intervention control is performed, the method further includes the following steps.

[0030] The trailer swing detection and control device determines whether the integral difference value is greater than a preset third threshold value, and if so, increases the pressure of the outer front wheel of the tractor; wherein the third threshold value is greater than the second threshold value.

[0031] According to a trailer sway detection and control method provided by the present invention, the trailer sway detection and control device determines whether the driver has taken anti-sway measures, including the following steps.

[0032] The current brake pedal opening and the current steering wheel angle of the tractor are obtained.

[0033] If the current brake pedal opening is greater than the preset fourth threshold value, and the current steering wheel angle is greater than the preset fifth threshold value, the trailer sway detection and control device determines that the driver has taken anti-sway measures, otherwise, it is determined that the driver has not taken anti-sway measures.

[0034] The present invention also provides a trailer sway detection and control device, which is applied to a vehicle operation system. The vehicle operation system includes a tractor, a trailer, a trailer sway detection and control device, and an electronic stability control sensor deployed on the tractor. The device includes the following modules.

[0035] An acquisition module, used for acquiring the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor; a calculation module, configured to calculate and obtain a yaw rate difference signal based on the motion state data of the tractor vehicle in the current detection cycle; wherein the motion state data of the tractor vehicle includes: a steering wheel angle of the tractor vehicle, a speed of the tractor vehicle, a front wheel angle of the tractor vehicle, a wheelbase of the tractor vehicle, a characteristic speed of the tractor vehicle, and an actual yaw rate of the tractor vehicle; A first judgment module, used for judging whether the trailer swings according to the yaw angular velocity difference signal; A second judgment module is used to judge whether the driver has taken measures to eliminate the swaying if the trailer sways; A control module is used for performing brake intervention control to stop the trailer from swinging if the driver fails to take anti-swaying measures; wherein the brake intervention control includes: reducing the engine torque value of the tractor according to a predetermined rate of change; applying brake pressure to each axle of the trailer, the front axle of the tractor, and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle operation system.

[0036] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, any of the above-mentioned trailer swing detection and control methods is implemented.

[0037] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for detecting and controlling the trailer swing as described in any one of the above is implemented.

[0038] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned trailer swing detection and control methods.

[0039] The trailer sway detection and control method, device, equipment, storage medium and product provided by the present invention obtain the motion state data of the tractor measured by the existing electronic stability control sensor, and calculate the yaw angular velocity difference signal. According to the yaw angular velocity difference signal, the abnormal sway of the trailer can be detected in time, so that corresponding control measures can be taken, saving the cost of trailer sway detection and control. Furthermore, after the trailer sway is detected, and when the driver does not take anti-sway measures, braking intervention control is carried out in a timely and effective manner to achieve timely and effective control of the trailer sway, thereby improving the stability and safety of the vehicle system. In summary, it can be seen that the scheme of the present invention saves the cost of trailer sway detection and control while improving the stability and safety of the vehicle system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a schematic diagram of the swing of the trailer provided by the present invention.

[0042] Figure 2 It is a flow chart of the trailer swing detection and control method provided by the present invention.

[0043] Figure 3 It is a structural schematic diagram of the trailer swing detection and control device provided by the present invention.

[0044] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0047] The terms "first", "second", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise indicated. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, for example, they can be implemented in an order other than those given in the diagrams or descriptions of the embodiments of this application.

[0048] In addition, the terms "including" and "having" and any variations thereof are intended to cover but not exclude inclusion, for example, a product or device comprising a series of components is not necessarily limited to those components explicitly listed, but may include other components not explicitly listed or inherent to these products or devices. The term "module" as used in this application refers to any known or later developed hardware, software, firmware, artificial intelligence, fuzzy logic or combination of hardware and / or software code that can perform the functions associated with the element.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0050] Tractor and trailer are common vehicle combinations in road transport, mainly used for cargo transportation. The tractor, also known as the tractor head or the head, is the vehicle that provides the power and control part. It is connected to the trailer and provides power to it (in some cases, the trailer may have its own power) and controls the direction and speed of travel. The trailer is an unpowered vehicle connected to the rear of the tractor to carry cargo. The trailer relies on the tractor to move.

[0051] Figure 1 Schematic diagram of the trailer swing provided by the present invention, such as Figure 1 As shown, is the actual yaw angular velocity, is the steering wheel angle. In practice, when the tractor 10 is towing the trailer 20, if the tractor 10 turns back and forth or is affected by the crosswind, the trailer 20 may swing back and forth around the saddle joint, which may have a significant impact on the safe driving of the vehicle or surrounding vehicles. Since the trailer 20 often lacks sensors to measure the corresponding variables, how to detect the swing of the trailer 20 in time and attenuate it through active control is a technical problem in the stability control of the tractor 10.

[0052] In the prior art, the detection and control of trailer swing basically need to be realized by adding additional sensors or actuators. On the one hand, the cost of trailer swing detection and control is high. On the other hand, when the trailer swing is detected, it is impossible to effectively suppress the trailer swing in time, thus affecting the stability and safety of the entire vehicle system.

[0053] It can be seen that the cost of existing trailer swing detection and control is high, and the stability and safety of the vehicle system are poor.

[0054] In view of the above technical problems, the present invention proposes the following technical concept: using the existing sensor signals of the vehicle to calculate the yaw rate difference signal; based on the yaw rate difference signal, detecting whether the trailer is swinging, and accurately detecting the swing of the trailer without adding additional sensors or actuators, so as to save the cost of detecting and controlling the swing of the trailer. Furthermore, after detecting that the trailer is swinging, and when the driver does not take measures to eliminate the swing, timely brake intervention control is performed to achieve timely and effective control of the swing of the trailer, so as to improve the safety and stability of the vehicle operation system.

[0055] The following specific embodiments are used to describe in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. Figure 2 The trailer sway detection and control method of the present invention is described.

[0056] Figure 2FIG. 1 is a flow chart of the trailer swing detection and control method provided by the present invention, such as Figure 2 As shown, the method includes the following steps 201 to 205.

[0057] In practical applications, the executor of the trailer swing detection and control method can be a trailer swing detection and control device, which can be implemented in many ways, for example, through a computer program, such as application software, etc.; or, for example, a chip, etc. It can also be implemented as a medium storing relevant computer programs, such as a U disk, a cloud disk, etc.; or, it can also be implemented through a physical device integrated or installed with relevant computer programs, such as a server, etc.

[0058] Specifically, the trailer sway detection and control method provided by the present invention is applied to a vehicle operation system, and the vehicle movement system includes a tractor, a trailer, a trailer sway detection and control device, and an electronic stability control sensor deployed on the tractor.

[0059] Step 201: The trailer sway detection and control device obtains the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor.

[0060] Among them, the Electronic Stability Control Sensor (ESC sensor) is a general term for a set of sensor systems used in existing vehicles to monitor the dynamic state of the vehicle and assist in maintaining vehicle stability. The ESC sensor is an important part of automotive safety technology. It collects motion state data through a series of sensors and automatically adjusts the vehicle's braking and power output when necessary to help the driver maintain control of the vehicle.

[0061] For example, ECS sensors include, but are not limited to, yaw rate sensor, lateral acceleration sensor, steering wheel angle sensor, wheel speed sensors, vehicle speed sensor, brake pressure sensor, and vehicle position sensor.

[0062] In this embodiment, the running status data of the tractor includes: the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, the characteristic speed of the tractor and the actual yaw rate of the tractor.

[0063] The detection cycle refers to the cycle for detecting the swing of the trailer. The duration of the detection cycle can be set according to actual needs. In actual applications, when the current detection cycle arrives, the running status data of the tractor measured by the ESC is obtained.

[0064] Step 202: The trailer swing detection and control device calculates and obtains a yaw rate difference signal based on the motion state data of the tractor in the current detection cycle.

[0065] Among them, the yaw rate difference signal The actual yaw rate and target yaw rate In vehicle dynamics, yaw rate describes the rate at which a vehicle rotates around its vertical axis. This rate can reflect the stability and handling of the vehicle when turning or subjected to lateral forces.

[0066] Specifically, the target yaw rate The ideal yaw rate is calculated by the motion state data of the tractor, and the target yaw rate It reflects the yaw rate that the vehicle should reach to achieve a smooth turn under the current steering and speed conditions. Actual yaw rate The actual yaw rate is measured by the ESC sensor. Reflects the actual dynamic behavior of the vehicle.

[0067] In this embodiment, the actual yaw angular velocity and target yaw rate Subtract the yaw rate difference signal obtained Yaw angular velocity difference signal It can be used to detect and analyze the stability of the vehicle. If the dynamic behavior of the vehicle is consistent with expectations, then is close to zero. If Large deviations indicate that the vehicle's stability is affected, such as trailer sway.

[0068] Optionally, in a possible implementation manner, the above step 202 includes: The trailer sway detection and control device calculates the target yaw angular velocity at each moment of the current detection period based on the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor at each moment of the current detection period; The trailer sway detection and control device calculates the difference between the actual yaw angular velocity and the target yaw angular velocity at each moment in the current detection cycle to obtain a yaw angular velocity difference signal.

[0069] In one example, based on the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor at each moment in the current detection cycle, the target yaw angular velocity at each moment in the current detection cycle can be calculated through a mathematical model (Ackerman model).

[0070] Specifically, when the steering wheel angle of the tractor reaches a predetermined value or angle, the target yaw rate is calculated using the Ackerman vehicle model. The Ackerman vehicle model is a simplified vehicle dynamics model that assumes that when the vehicle turns, all wheels move along the same circular arc path, and the steering angles of the inner and outer wheels are related to the wheelbase and turning radius of the vehicle. In this model, the target yaw rate is calculated based on the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor, and is used to describe the yaw dynamics of the vehicle under ideal conditions.

[0071] Specifically, when the driver turns the steering wheel to a predetermined angle, this angle is used as one of the input parameters. Combined with the tractor's speed, the tractor's front wheel angle, the tractor's wheelbase, and the tractor's characteristic speed, the Ackerman model is used to calculate the vehicle's target yaw rate under the steering condition. The target yaw rate reflects the yaw dynamics that the vehicle should have under the current steering and speed conditions in order to achieve stable turning. By comparing the actual yaw rate with the target yaw rate, it is possible to evaluate whether the actual dynamics of the vehicle are consistent with expectations, which can then be used to detect and control the stability of the vehicle, especially in a system consisting of a tractor and a trailer, which is particularly important for detecting and suppressing the sway of the trailer.

[0072] Specifically, the target yaw rate The expression is as follows: in, is the target yaw rate, is the speed of the tractor, is the wheelbase of the tractor, is the front wheel turning angle of the tractor, is the characteristic speed of the tractor.

[0073] In this implementation, a yaw rate difference signal is calculated based on the motion state data of the tractor in the current detection cycle. The yaw rate difference signal is a key indicator for detecting the swing state of the trailer. Through the yaw rate difference signal, it can be accurately identified whether the trailer is swinging.

[0074] In the present invention, the target yaw rate is calculated based on the motion state data measured by the ESC sensor. By comparing the actual yaw rate directly measured by the ESC sensor with the target yaw rate, it is possible to evaluate whether the trailer is swaying and perform corresponding control to improve the stability and safety of the vehicle operation system.

[0075] Step 203: The trailer swing detection and control device determines whether the trailer swings according to the yaw angular velocity difference signal.

[0076] In the present invention, there is no specific limitation on the method for determining the trailer sway. As an example, a sway discrimination model is established and trained based on a machine learning network. The yaw angular velocity difference signal is input into the sway discrimination model, and a sway discrimination result output by the sway discrimination model can be obtained.

[0077] In actual application, when the trailer swings, There will be periodic vibration, so by identifying The vibration characteristics of the trailer are used to detect the swaying of the trailer. Specifically, when the vibration characteristics reach a certain threshold value, it is considered that the swaying of the trailer occurs.

[0078] Optionally, in a possible implementation manner, the above step 203 includes: The trailer swing detection and control device performs system identification on the yaw angular velocity difference signal to obtain the vibration amplitude of the yaw angular velocity difference signal; The trailer swing detection and control device determines whether the vibration amplitude of the yaw angular velocity difference signal is greater than a preset first threshold; if greater, it is determined that the trailer swings, otherwise, it is determined that the trailer does not swing.

[0079] Among them, system identification refers to the process of describing and analyzing the dynamic behavior of the system through mathematical models. In this embodiment, by analyzing the yaw angular velocity difference signal By performing system identification, the characteristics of trailer swing, namely the vibration amplitude, can be extracted. The vibration amplitude reflects the intensity of trailer swing, namely the amplitude of swing.

[0080] Furthermore, the calculated vibration amplitude is compared with a preset first threshold value. The first threshold value is set according to the characteristics of the trailer swing and is used to distinguish whether the trailer swings. If the vibration amplitude is greater than the first threshold value, it means that the swing amplitude of the trailer exceeds the normal range, and it can be determined that the trailer swings. On the contrary, if the vibration amplitude is less than or equal to the first threshold value, it means that the swing amplitude of the trailer is within the normal range, and it can be determined that the trailer does not swing.

[0081] In this embodiment, the yaw rate difference signal is subjected to system identification to obtain the vibration amplitude of the yaw rate difference signal, and the vibration amplitude is compared with the first threshold value to determine whether the trailer is swinging, providing a basis for subsequent control strategies. When the trailer is detected to be swinging, corresponding control measures can be taken, such as adjusting the braking force or the engine torque, to attenuate the swing of the trailer, thereby improving the stability and safety of the vehicle.

[0082] Optionally, in a possible implementation manner, the above step 203 includes: The trailer swing detection and control device performs a first-order low-pass filter on the yaw angular velocity difference signal to obtain a first filtered signal; The trailer swing detection and control device performs a second-order Butterworth filter on the first filter signal to obtain a second filter signal; The trailer swing detection and control device calculates the difference between the maximum value and the minimum value of the second filtered signal in each steady-state evaluation period to obtain the steady-state swing amplitude in each steady-state evaluation period; wherein the current detection cycle includes multiple steady-state evaluation periods; The trailer swing detection and control device uses the maximum value of the steady-state swing amplitude in the current detection cycle as the vibration intensity value in the current detection cycle; The trailer swing detection and control device calculates the average value of the vibration intensity value in the current integration period to obtain the vibration enhancement average value; wherein the integration period includes multiple detection cycles; The trailer swing detection and control device calculates the difference between the vibration intensity value at each moment in the current integration period and the average value of vibration enhancement in the previous integration period to obtain a vibration enhancement processing value; In the current integration period, the trailer swing detection and control device integrates the vibration enhancement processing value to obtain a first integration value; In the current integration period, the trailer swing detection and control device takes the absolute value of the vibration enhancement processing value and integrates it to obtain a second integral value; The trailer sway detection and control device calculates the difference between the second integral value and the first integral value to obtain an integral difference value; The trailer swing detection and control device determines whether the integral difference value is greater than a preset second threshold value; if so, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

[0083] In practical applications, in order to eliminate the yaw rate difference signal The burr in the yaw rate difference signal Specifically, the yaw rate difference signal Perform a first-order low-pass filter to obtain the first filtered signal , ensuring that no large phase delay is caused by filtering. Further, the first filtered signal Perform a second-order Butterworth filter, mainly used to capture The amplitude characteristics in the current detection cycle are used to obtain the second filtered signal Calculate the second filtered signal for each steady-state evaluation period The difference between the maximum and minimum values ​​of the steady-state swing amplitude in each steady-state evaluation period is obtained. ; The current detection cycle includes multiple steady-state evaluation periods. Further, the steady-state swing amplitude in the current detection cycle The maximum value is used as the vibration intensity value in the current detection cycle , as the basis for determining whether the trailer is shimmying.

[0084] Further, calculate the vibration intensity value in the current integration period The average value of vibration enhancement is obtained ; Wherein, the integration period includes multiple detection cycles.

[0085] Furthermore, the vibration intensity value at each moment in the current integration period is calculated Compared with the average value of vibration intensification in the previous integration period The difference between the two gives the vibration enhancement value. .

[0086] Furthermore, in the current integration period, the vibration enhancement processing value Integrate and obtain the first integral value .

[0087] Furthermore, in the current integration period, the vibration enhancement processing value Take the absolute value and integrate to get the second integral value .

[0088] Further, the second integral value is calculated and the first integral value The difference between the two gets the integral difference value , specifically, .

[0089] Further, determine the integral difference value Is it greater than the preset second threshold? ; If it is greater than, it is determined that the trailer has swung, otherwise, it is determined that the trailer has not swung.

[0090] Optionally, in a possible implementation manner, the above step 203 includes: The trailer swing detection and control device performs a first-order low-pass filter on the yaw angular velocity difference signal to obtain a first filtered signal; The trailer swing detection and control device performs a second-order Butterworth filter on the first filter signal to obtain a second filter signal; The trailer swing detection and control device calculates the difference between the maximum value and the minimum value of the second filtered signal in each steady-state evaluation period to obtain the steady-state swing amplitude in each steady-state evaluation period; wherein the current detection cycle includes multiple steady-state evaluation periods; The trailer swing detection and control device determines whether the steady-state swing amplitude is greater than a preset sixth threshold value; if greater, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

[0091] Step 204: If the trailer swings, the trailer swing detection and control device determines whether the driver has taken measures to eliminate the swing.

[0092] In practical applications, after determining that the trailer has swayed, the next step is to determine whether the driver has taken measures to eliminate or reduce the sway. The purpose of this step is to determine whether the trailer sway detection and control device needs to intervene and how to intervene to ensure the stability and safety of the vehicle.

[0093] It is understandable that step 204 is to ensure that the trailer sway detection and control device does not conflict with the driver's operation and can provide appropriate assistance when necessary to improve the vehicle's controllability and safety. By intelligently judging the driver's intention and operation, the trailer sway detection and control device can more effectively manage the dynamic behavior of the vehicle, especially in a complex vehicle operation system.

[0094] As an example, in a possible implementation manner, in the above step 204, the trailer sway detection and control device determines whether the driver has taken sway reduction measures, including: The trailer sway detection and control device obtains the current brake pedal opening and the current steering wheel angle of the tractor.

[0095] If the current brake pedal opening is greater than the preset fourth threshold, and the current steering wheel angle is greater than the preset fifth threshold, the trailer sway detection and control device determines that the driver has taken anti-sway measures, otherwise, it is determined that the driver has not taken anti-sway measures.

[0096] In practical applications, the fourth threshold and the fifth threshold can be preset according to historical data or experimental data of the vehicle operation system. It is understandable that the current brake pedal opening is greater than the preset fourth threshold. , and the current steering wheel angle is greater than the preset fifth threshold , indicating that the driver has taken measures to eliminate the sway. At this time, the system does not actively trigger the anti-sway control, but mainly responds to the driver's input.

[0097] Step 205: If the driver does not take measures to eliminate the sway, the trailer sway detection and control device performs brake intervention control to stop the trailer from swaying; wherein the brake intervention control includes: reducing the engine torque value of the tractor according to a predetermined rate of change; applying brake pressure to each axle of the trailer, the front axle of the tractor, and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle operating system.

[0098] Specifically, the torque output of the tractor engine is reduced according to a predetermined rate of change, which can reduce the driving force of the vehicle, thereby reducing the instability caused by the swaying of the trailer. In actual applications, the rate of change of torque reduction can be calibrated according to the actual vehicle test results to ensure the control effect while avoiding excessive impact on the vehicle's driving performance.

[0099] Specifically, brake pressure is applied to each axle of the trailer and the front and rear axles of the tractor, and the application of brake pressure is performed according to a preset fixed ratio, which can be determined according to the brake pressure distribution ratio when the brake system is designed, for example, according to 1:1:1, brake pressure is applied to each axle of the trailer and the front and rear axles of the tractor. The purpose of applying brake pressure is to generate longitudinal deceleration, thereby helping to reduce the speed of the vehicle and further suppress the swing of the trailer.

[0100] It is understandable that the longitudinal acceleration of the vehicle's operating system can be reduced by brake intervention control. , that is, the acceleration in the vehicle's forward direction, thereby reducing the vehicle's speed and preventing the danger caused by further aggravation of the oscillation.

[0101] It is understandable that if the driver takes measures to eliminate the sway, the trailer sway detection and control device does not perform brake intervention control. Optionally, the trailer sway detection and control device continues to monitor the sway of the trailer. If the trailer is still in a swaying state after a period of time, the trailer sway detection and control device performs brake intervention control to assist the driver in taking measures to eliminate the sway, so as to achieve timely and effective control of the trailer sway, thereby improving the stability and safety of the vehicle system.

[0102] In this embodiment, the motion state data of the tractor measured by the existing electronic stability control sensor is obtained to calculate the yaw rate difference signal. According to the yaw rate difference signal, the abnormal swing of the trailer can be detected in time, so that corresponding control measures can be taken, saving the cost of trailer swing detection and control. Furthermore, after the trailer swing is detected, and when the driver does not take anti-swing measures, the braking intervention control is carried out in a timely and effective manner to achieve timely and effective control of the trailer swing, thereby improving the stability and safety of the vehicle system. In summary, the scheme of this embodiment saves the cost of trailer swing detection and control while improving the stability and safety of the vehicle system.

[0103] In addition, when When the value of further increases, it is greater than the preset third threshold When the current yaw angular velocity The outer front and rear wheels of the main vehicle (tractor) in the corresponding swing direction exert a slightly greater pressure than the inner wheels, that is, additional pressure is added to the outer wheels , in order to correct possible oversteering situations and better stabilize the vehicle's posture quickly during large oscillations. The specific value can be determined based on experience or actual vehicle test calibration.

[0104] Optionally, in a possible implementation manner, after the above step 205, the above method further includes: The trailer swing detection and control device determines whether the integral difference value is greater than a preset third threshold value, and if so, increases the pressure of the outer front wheel of the tractor; wherein the third threshold value is greater than the second threshold value.

[0105] In this embodiment, the integral difference value of the yaw rate difference signal Exceeding the preset third threshold Apply additional pressure to the outside wheels of the tractor , which can more effectively suppress the swaying of the trailer and enhance the stability of the vehicle.

[0106] The trailer sway detection and control method provided in this embodiment obtains the motion state data of the tractor measured by the existing electronic stability control sensor, and calculates the yaw angular velocity difference signal. According to the yaw angular velocity difference signal, the abnormal sway of the trailer can be detected in time, so that corresponding control measures can be taken, saving the cost of trailer sway detection and control. Furthermore, after the trailer sway is detected, and when the driver does not take anti-sway measures, the braking intervention control is carried out in a timely and effective manner to achieve timely and effective control of the trailer sway, thereby improving the stability and safety of the vehicle system. In summary, it can be seen that the scheme of this embodiment saves the cost of trailer sway detection and control while improving the stability and safety of the vehicle system.

[0107] The trailer sway detection and control device provided by the present invention is described below. The trailer sway detection and control device described below and the trailer sway detection and control method described above can be referred to each other.

[0108] In practical applications, there are many ways to implement the trailer swing detection and control device, for example, it can be implemented through a computer program, such as application software, etc., or, for example, a chip, etc. It can also be implemented as a medium storing relevant computer programs, such as a USB disk, a cloud disk, etc., or it can also be implemented through a physical device integrated or installed with relevant computer programs, such as a server, etc.

[0109] Specifically, the trailer sway detection and control device provided by the present invention is applied to a vehicle operation system, and the vehicle motion system includes a tractor, a trailer, a trailer sway detection and control device, and an electronic stability control sensor deployed on the tractor.

[0110] Figure 3 : is a schematic diagram of the structure of the trailer swing detection and control device provided by the present invention, such as Figure 3 As shown, the trailer swing detection and control device includes: an acquisition module 31, a calculation module 32, a first judgment module 33, a second judgment module 34 and a control module 35.

[0111] The acquisition module 31 is used to acquire the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor.

[0112] Among them, the Electronic Stability Control Sensor (ESC sensor) is a general term for a set of sensor systems used in existing vehicles to monitor the dynamic state of the vehicle and assist in maintaining vehicle stability. The ESC sensor is an important part of automotive safety technology. It collects motion state data through a series of sensors and automatically adjusts the vehicle's braking and power output when necessary to help the driver maintain control of the vehicle.

[0113] In this embodiment, the running status data of the tractor includes: the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, the characteristic speed of the tractor and the actual yaw rate of the tractor.

[0114] The detection cycle refers to the cycle for detecting the swing of the trailer. The duration of the detection cycle can be set according to actual needs. In actual applications, when the current detection cycle arrives, the running status data of the tractor measured by the ESC is obtained.

[0115] Combination Figure 3, a calculation module 32 is used to calculate and obtain a yaw angular velocity difference signal based on the motion state data of the tractor in the current detection cycle.

[0116] Among them, the yaw rate difference signal The actual yaw rate and target yaw rate In vehicle dynamics, yaw rate describes the rate at which a vehicle rotates around its vertical axis. This rate can reflect the stability and handling of the vehicle when turning or subjected to lateral forces.

[0117] Specifically, the target yaw rate The ideal yaw rate is calculated by the motion state data of the tractor, and the target yaw rate It reflects the yaw rate that the vehicle should reach to achieve a smooth turn under the current steering and speed conditions. Actual yaw rate The actual yaw rate is measured by the ESC sensor. Reflects the actual dynamic behavior of the vehicle.

[0118] In this embodiment, the calculation module 32 calculates the actual yaw angular velocity and target yaw rate Subtract the yaw rate difference signal obtained Yaw angular velocity difference signal It can be used to detect and analyze the stability of the vehicle. If the dynamic behavior of the vehicle is consistent with expectations, then is close to zero. If Large deviations indicate that the vehicle's stability is affected, such as trailer sway.

[0119] Optionally, in a possible implementation manner, the calculation module 32 is specifically configured to: Based on the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor at each moment of the current detection period, the target yaw rate at each moment of the current detection period is calculated; The difference between the actual yaw angular velocity and the target yaw angular velocity at each moment in the current detection cycle is calculated to obtain a yaw angular velocity difference signal.

[0120] In one example, based on the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor at each moment in the current detection cycle, the calculation module 32 can calculate the target yaw angular velocity at each moment in the current detection cycle through a mathematical model (Ackerman model).

[0121] Specifically, when the steering wheel angle of the tractor reaches a predetermined value or angle, the calculation module 32 calculates the target yaw rate using the Ackerman vehicle model. The Ackerman vehicle model is a simplified vehicle dynamics model, which assumes that when the vehicle turns, all wheels move along the same arc path, and the steering angles of the inner and outer wheels are related to the wheelbase and turning radius of the vehicle. In this model, the target yaw rate is calculated based on the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor, and is used to describe the yaw dynamics of the vehicle under ideal conditions.

[0122] Specifically, when the driver turns the steering wheel to a predetermined angle, this angle will be used as one of the input parameters. Combined with the speed of the tractor, the front wheel steering angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor, the calculation module 32 calculates the target yaw rate of the vehicle under the steering condition through the Ackerman model. The target yaw rate reflects the yaw dynamics that the vehicle should have under the current steering and speed conditions in order to achieve stable turning. By comparing the actual yaw rate with the target yaw rate, it is possible to evaluate whether the actual dynamics of the vehicle are consistent with expectations, and then use it to detect and control the stability of the vehicle, especially in a system consisting of a tractor and a trailer, which is particularly important for detecting and suppressing the swing of the trailer.

[0123] Specifically, the target yaw rate The expression is as follows: in, is the target yaw rate, is the speed of the tractor, is the wheelbase of the tractor, is the front wheel turning angle of the tractor, is the characteristic speed of the tractor.

[0124] In this embodiment, the calculation module 32 calculates the yaw rate difference signal based on the motion state data of the tractor in the current detection cycle. The yaw rate difference signal is a key indicator for detecting the swing state of the trailer. Through the yaw rate difference signal, it can be accurately identified whether the trailer is swinging.

[0125] In the present invention, the target yaw rate is calculated based on the motion state data measured by the ESC sensor. By comparing the actual yaw rate directly measured by the ESC sensor with the target yaw rate, it is possible to evaluate whether the trailer is swaying and perform corresponding control to improve the stability and safety of the vehicle operation system.

[0126] Combination Figure 3The first judgment module 33 is used to judge whether the trailer swings according to the yaw angular velocity difference signal.

[0127] In the present invention, there is no specific limitation on the method for determining the trailer sway. As an example, a sway discrimination model is established and trained based on a machine learning network. The yaw angular velocity difference signal is input into the sway discrimination model, and a sway discrimination result output by the sway discrimination model can be obtained.

[0128] In actual application, when the trailer swings, There will be periodic vibration, so by identifying The vibration characteristics of the trailer are used to detect the swaying of the trailer. Specifically, when the vibration characteristics reach a certain threshold value, it is considered that the swaying of the trailer occurs.

[0129] Optionally, in a possible implementation manner, the first determination module 33 is specifically configured to: Performing system identification on the yaw angular velocity difference signal to obtain the vibration amplitude of the yaw angular velocity difference signal; It is determined whether the vibration amplitude of the yaw angular velocity difference signal is greater than a preset first threshold; if so, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

[0130] Among them, system identification refers to the process of describing and analyzing the dynamic behavior of the system through mathematical models. In this embodiment, by analyzing the yaw angular velocity difference signal By performing system identification, the characteristics of trailer swing, namely the vibration amplitude, can be extracted. The vibration amplitude reflects the intensity of trailer swing, namely the amplitude of swing.

[0131] Furthermore, the calculated vibration amplitude is compared with a preset first threshold value. The first threshold value is set according to the characteristics of the trailer swing and is used to distinguish whether the trailer swings. If the vibration amplitude is greater than the first threshold value, it means that the swing amplitude of the trailer exceeds the normal range, and it can be determined that the trailer swings. On the contrary, if the vibration amplitude is less than or equal to the first threshold value, it means that the swing amplitude of the trailer is within the normal range, and it can be determined that the trailer does not swing.

[0132] In this embodiment, the yaw rate difference signal is subjected to system identification to obtain the vibration amplitude of the yaw rate difference signal, and the vibration amplitude is compared with the first threshold value to determine whether the trailer is swinging, providing a basis for subsequent control strategies. When the trailer is detected to be swinging, corresponding control measures can be taken, such as adjusting the braking force or the engine torque, to attenuate the swing of the trailer, thereby improving the stability and safety of the vehicle.

[0133] Optionally, in a possible implementation manner, the first determination module 33 is specifically configured to: Performing a first-order low-pass filter on the yaw angular velocity difference signal to obtain a first filtered signal; Performing a second-order Butterworth filter on the first filtered signal to obtain a second filtered signal; Calculate the difference between the maximum value and the minimum value of the second filtered signal in each steady-state evaluation period to obtain the steady-state swing amplitude in each steady-state evaluation period; wherein the current detection cycle includes multiple steady-state evaluation periods; The maximum value of the steady-state swing amplitude in the current detection cycle is used as the vibration intensity value in the current detection cycle; Calculate the average value of the vibration intensity value in the current integration period to obtain the vibration enhancement average value; wherein the integration period includes multiple detection cycles; Calculate the difference between the vibration intensity value at each moment in the current integration period and the average value of vibration enhancement in the previous integration period to obtain the vibration enhancement processing value; In the current integration period, the vibration enhancement processing value is integrated to obtain a first integration value; In the current integration period, taking the absolute value of the vibration enhancement processing value and integrating it to obtain a second integral value; Calculating the difference between the second integral value and the first integral value to obtain an integral difference value; It is determined whether the integral difference value is greater than a preset second threshold value; if so, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

[0134] In practical applications, in order to eliminate the yaw rate difference signal The burr in the yaw rate difference signal Specifically, the yaw rate difference signal Perform a first-order low-pass filter to obtain the first filtered signal , ensuring that no large phase delay is caused by filtering. Further, the first filtered signal Perform a second-order Butterworth filter, mainly used to capture The amplitude characteristics in the current detection cycle are used to obtain the second filtered signal Calculate the second filtered signal for each steady-state evaluation period The difference between the maximum and minimum values ​​of the steady-state swing amplitude in each steady-state evaluation period is obtained. ; The current detection cycle includes multiple steady-state evaluation periods. Further, the steady-state swing amplitude in the current detection cycle The maximum value is used as the vibration intensity value in the current detection cycle , as the basis for determining whether the trailer is shimmying.

[0135] Further, calculate the vibration intensity value in the current integration period The average value of vibration enhancement is obtained ; Wherein, the integration period includes multiple detection cycles.

[0136] Furthermore, the vibration intensity value at each moment in the current integration period is calculated Compared with the average value of vibration intensification in the previous integration period The difference between the two gives the vibration enhancement value. .

[0137] Furthermore, in the current integration period, the vibration enhancement processing value Integrate and obtain the first integral value .

[0138] Furthermore, in the current integration period, the vibration enhancement processing value Take the absolute value and integrate to get the second integral value .

[0139] Further, the second integral value is calculated and the first integral value The difference between the two gets the integral difference value , specifically, .

[0140] Further, determine the integral difference value Is it greater than the preset second threshold? ; If it is greater than, it is determined that the trailer has swung, otherwise, it is determined that the trailer has not swung.

[0141] Optionally, in a possible implementation manner, the first determination module 33 is specifically configured to: Performing a first-order low-pass filter on the yaw angular velocity difference signal to obtain a first filtered signal; Performing a second-order Butterworth filter on the first filtered signal to obtain a second filtered signal; Calculate the difference between the maximum value and the minimum value of the second filtered signal in each steady-state evaluation period to obtain the steady-state swing amplitude in each steady-state evaluation period; wherein the current detection cycle includes multiple steady-state evaluation periods; It is determined whether the steady-state swing amplitude is greater than a preset sixth threshold value; if so, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

[0142] Combination Figure 3 The second judgment module 34 is used to judge whether the driver has taken measures to eliminate the swing if the trailer swings.

[0143] In practical applications, after determining that the trailer has swayed, the next step is to determine whether the driver has taken measures to eliminate or reduce the sway. The purpose of this step is to determine whether the trailer sway detection and control device needs to intervene and how to intervene to ensure the stability and safety of the vehicle.

[0144] It is understandable that the second judgment module 34 is to ensure that the trailer swing detection and control device does not conflict with the driver's operation and can provide appropriate assistance when necessary to improve the vehicle's controllability and safety. By intelligently judging the driver's intention and operation, the trailer swing detection and control device can more effectively manage the dynamic behavior of the vehicle, especially in a complex vehicle operation system.

[0145] As an example, in a possible implementation manner, the second determination module 34 is specifically configured to: Get the current brake pedal opening and current steering wheel angle of the tractor.

[0146] If the current brake pedal opening is greater than the preset fourth threshold, and the current steering wheel angle is greater than the preset fifth threshold, it is determined that the driver has taken anti-sway measures, otherwise, it is determined that the driver has not taken anti-sway measures.

[0147] In practical applications, the fourth threshold and the fifth threshold can be preset according to historical data or experimental data of the vehicle operation system. It is understandable that the current brake pedal opening is greater than the preset fourth threshold. , and the current steering wheel angle is greater than the preset fifth threshold , indicating that the driver has taken measures to eliminate the sway. At this time, the system does not actively trigger the anti-sway control, but mainly responds to the driver's input.

[0148] Combination Figure 3 The control module 35 is used to perform brake intervention control to stop the trailer from swinging if the driver does not take anti-swaying measures; wherein the brake intervention control includes: reducing the engine torque value of the tractor according to a predetermined change rate; applying brake pressure to each axle of the trailer, the front axle of the tractor, and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle running system.

[0149] Specifically, the torque output of the tractor engine is reduced according to a predetermined rate of change, which can reduce the driving force of the vehicle, thereby reducing the instability caused by the swaying of the trailer. In actual applications, the rate of change of torque reduction can be calibrated according to the actual vehicle test results to ensure the control effect while avoiding excessive impact on the vehicle's driving performance.

[0150] Specifically, brake pressure is applied to each axle of the trailer and the front and rear axles of the tractor, and the application of brake pressure is performed according to a preset fixed ratio, which can be determined according to the brake pressure distribution ratio when the brake system is designed, for example, according to 1:1:1, brake pressure is applied to each axle of the trailer and the front and rear axles of the tractor. The purpose of applying brake pressure is to generate longitudinal deceleration, thereby helping to reduce the speed of the vehicle and further suppress the swing of the trailer.

[0151] It is understandable that the longitudinal acceleration of the vehicle's operating system can be reduced by brake intervention control. , that is, the acceleration in the vehicle's forward direction, thereby reducing the vehicle's speed and preventing the danger caused by further aggravation of the oscillation.

[0152] In this embodiment, the motion state data of the tractor measured by the existing electronic stability control sensor is obtained by the acquisition module 31, and the calculation module 32 calculates and obtains the yaw angular velocity difference signal. According to the yaw angular velocity difference signal, the abnormal swing of the trailer can be detected in time, so that corresponding control measures can be taken, saving the cost of trailer swing detection and control. Furthermore, after the trailer is detected to be swinging, and when the driver does not take measures to eliminate the swing, the control module 35 promptly and effectively performs brake intervention control to achieve timely and effective control of the trailer swing, thereby improving the stability and safety of the vehicle system. In summary, the scheme of this embodiment saves the cost of trailer swing detection and control while improving the stability and safety of the vehicle system.

[0153] In addition, when When the value of further increases, it is greater than the preset third threshold When the current yaw angular velocity The outer front and rear wheels of the main vehicle (tractor) in the corresponding swing direction exert a slightly greater pressure than the inner wheels, that is, additional pressure is added to the outer wheels , in order to correct possible oversteering situations and better stabilize the vehicle's posture quickly during large oscillations. The specific value can be determined based on experience or actual vehicle test calibration.

[0154] Optionally, in a possible implementation manner, the above device further includes: The processing module is used to determine whether the integral difference value is greater than a preset third threshold value, and if so, increase the pressure of the outer front wheel of the tractor; wherein the third threshold value is greater than the second threshold value.

[0155] In this embodiment, the integral difference value of the yaw rate difference signal Exceeding the preset third threshold Apply additional pressure to the outside wheels of the tractor , which can more effectively suppress the swaying of the trailer and enhance the stability of the vehicle.

[0156] The trailer sway detection and control device provided in this embodiment obtains the motion state data of the tractor measured by the existing electronic stability control sensor through the acquisition module, and the calculation module calculates and obtains the yaw angular velocity difference signal. According to the yaw angular velocity difference signal, the abnormal sway of the trailer can be detected in time, so that corresponding control measures can be taken, saving the cost of trailer sway detection and control. Furthermore, after the trailer is detected to be swaying, and when the driver does not take measures to eliminate the sway, the control module promptly and effectively performs brake intervention control to achieve timely and effective control of the trailer sway, thereby improving the stability and safety of the vehicle system. In summary, it can be seen that the solution of this embodiment saves the cost of trailer sway detection and control while improving the stability and safety of the vehicle system.

[0157] Figure 4 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 4 As shown, the electronic device may include: a processor (processor) 410 , a communication interface (Communications Interface) 420 , a memory (memory) 430 and a communication bus 440 , wherein the processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 . The processor 410 can call the logic instructions in the memory 430 to execute the trailer sway detection and control method, which includes: obtaining the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor, and calculating the yaw rate difference signal based on the motion state data of the tractor in the current detection cycle; wherein the running state data of the involved vehicle includes: the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, the characteristic speed of the tractor and the actual yaw rate of the tractor; judging whether the trailer sways according to the yaw rate difference signal; if the trailer sways, judging whether the driver has taken anti-sway measures; if the driver has not taken anti-sway measures, performing brake intervention control to stop the trailer from swaying; wherein the brake intervention control includes: reducing the engine torque value of the tractor according to a predetermined change rate; applying brake pressure to each axle of the trailer, the front axle of the tractor, and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle operation system.

[0158] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0159] On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the trailer sway detection and control method provided by the above methods, the method comprising: obtaining the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor, and calculating the yaw angular velocity difference signal based on the motion state data of the tractor in the current detection cycle; wherein the running state data of the involved vehicle include: the steering wheel angle of the tractor, the traction The method comprises the following steps: determining the speed of the trailer, the front wheel turning angle of the tractor, the wheelbase of the tractor, the characteristic speed of the tractor and the actual yaw rate of the tractor; determining whether the trailer swings according to the yaw rate difference signal; determining whether the driver has taken anti-swinging measures if the trailer swings; if the driver has not taken anti-swinging measures, performing brake intervention control to stop the trailer from swinging; wherein the brake intervention control comprises: reducing the engine torque value of the tractor according to a predetermined rate of change; applying brake pressure to each axle of the trailer, the front axle of the tractor and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle operation system.

[0160] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented by a processor to execute the trailer sway detection and control method provided by the above methods when the computer program is executed, the method comprising: obtaining the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor, and calculating a yaw rate difference signal based on the motion state data of the tractor in the current detection cycle; wherein the running state data of the involved vehicle comprises: the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, the characteristic speed of the tractor and the actual yaw rate of the tractor; judging whether the trailer sways according to the yaw rate difference signal; if the trailer sways, judging whether the driver has taken measures to eliminate the sway; if the driver has not taken measures to eliminate the sway, performing brake intervention control to stop the trailer from swaying; wherein the brake intervention control comprises: reducing the engine torque value of the tractor according to a predetermined change rate; applying brake pressure to each axle of the trailer, the front axle of the tractor and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle running system.

[0161] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0162] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A trailer swing detection and control method, characterized in that: Applied to a vehicle operation system, the vehicle movement system includes a tractor, a trailer, a trailer swing detection and control device, and an electronic stability control sensor deployed on the tractor; the method includes: The trailer sway detection and control device obtains the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor, and calculates the yaw rate difference signal based on the motion state data of the tractor in the current detection cycle; wherein the running state data of the involved vehicle includes: the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, the characteristic speed of the tractor and the actual yaw rate of the tractor; The trailer sway detection and control device determines whether the trailer sways according to the yaw angular velocity difference signal; If the trailer sways, the trailer sway detection and control device determines whether the driver has taken measures to eliminate the sway; If the driver does not take measures to eliminate the sway, the trailer sway detection and control device performs brake intervention control to stop the trailer from swaying; wherein the brake intervention control includes: reducing the engine torque value of the tractor according to a predetermined rate of change; applying brake pressure to each axle of the trailer, the front axle of the tractor, and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle operating system.

2. The trailer sway detection and control method according to claim 1, characterized in that: The calculating and obtaining the yaw rate difference signal based on the motion state data of the tractor in the current detection cycle includes: The trailer sway detection and control device calculates the target yaw rate at each moment of the current detection period based on the steering wheel angle of the tractor, the speed of the tractor, the front wheel angle of the tractor, the wheelbase of the tractor, and the characteristic speed of the tractor at each moment of the current detection period; The trailer sway detection and control device calculates the difference between the actual yaw rate and the target yaw rate at each moment in the current detection period to obtain the yaw rate difference signal.

3. The trailer sway detection and control method according to claim 2, characterized in that: The trailer sway detection and control device determines whether the trailer sways according to the yaw angular velocity difference signal, including: The trailer sway detection and control device performs system identification on the yaw angular velocity difference signal to obtain the vibration amplitude of the yaw angular velocity difference signal; The trailer swing detection and control device determines whether the vibration amplitude of the yaw angular velocity difference signal is greater than a preset first threshold; if greater, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

4. The trailer sway detection and control method according to claim 2, characterized in that: The trailer sway detection and control device determines whether the trailer sways according to the yaw angular velocity difference signal, including: The trailer sway detection and control device performs a first-order low-pass filter on the yaw angular velocity difference signal to obtain a first filtered signal; The trailer sway detection and control device performs a second-order Butterworth filter on the first filtered signal to obtain a second filtered signal; The trailer swing detection and control device calculates the difference between the maximum value and the minimum value of the second filtered signal in each steady-state evaluation period to obtain the steady-state swing amplitude in each steady-state evaluation period; wherein the current detection cycle includes multiple steady-state evaluation periods; The trailer swing detection and control device uses the maximum value of the steady-state swing amplitude in the current detection cycle as the vibration intensity value in the current detection cycle; The trailer swing detection and control device calculates the average value of the vibration intensity value in the current integration period to obtain the vibration enhancement average value; wherein the integration period includes multiple detection cycles; The trailer swing detection and control device calculates the difference between the vibration intensity value at each moment in the current integration period and the vibration enhancement average value in the previous integration period to obtain a vibration enhancement processing value; In the current integration period, the trailer swing detection and control device integrates the vibration reinforcement processing value to obtain a first integration value; In the current integration period, the trailer swing detection and control device takes an absolute value of the vibration enhancement processing value and integrates it to obtain a second integral value; The trailer sway detection and control device calculates the difference between the second integral value and the first integral value to obtain an integral difference value; The trailer swing detection and control device determines whether the integral difference value is greater than a preset second threshold value; if so, it is determined that the trailer swings; otherwise, it is determined that the trailer does not swing.

5. The trailer sway detection and control method according to claim 4, characterized in that: After performing the brake intervention control, the method further includes: The trailer swing detection and control device determines whether the integral difference value is greater than a preset third threshold value, and if so, increases the pressure of the outer front wheel of the tractor; wherein the third threshold value is greater than the second threshold value.

6. The trailer sway detection and control method according to any one of claims 1 to 5, characterized in that: The trailer sway detection and control device determines whether the driver has taken sway reduction measures, including: The trailer sway detection and control device obtains the current brake pedal opening and the current steering wheel angle of the tractor; If the current brake pedal opening is greater than the preset fourth threshold value, and the current steering wheel angle is greater than the preset fifth threshold value, the trailer sway detection and control device determines that the driver has taken anti-sway measures, otherwise, it is determined that the driver has not taken anti-sway measures.

7. A trailer swing detection and control device, characterized in that: Applied to a vehicle operation system, the vehicle movement system includes a tractor, a trailer, a trailer swing detection and control device, and an electronic stability control sensor deployed on the tractor; the device includes: An acquisition module, used for acquiring the motion state data of the tractor in the current detection cycle measured by the electronic stability control sensor; a calculation module, configured to calculate and obtain a yaw rate difference signal based on the motion state data of the tractor vehicle in the current detection cycle; wherein the motion state data of the tractor vehicle includes: a steering wheel angle of the tractor vehicle, a speed of the tractor vehicle, a front wheel angle of the tractor vehicle, a wheelbase of the tractor vehicle, a characteristic speed of the tractor vehicle, and an actual yaw rate of the tractor vehicle; A first judgment module, used for judging whether the trailer swings according to the yaw angular velocity difference signal; A second judgment module is used to judge whether the driver has taken measures to eliminate the swaying if the trailer sways; A control module is used for performing brake intervention control to stop the trailer from swinging if the driver fails to take anti-swaying measures; wherein the brake intervention control includes: reducing the engine torque value of the tractor according to a predetermined rate of change; applying brake pressure to each axle of the trailer, the front axle of the tractor, and the rear axle of the tractor according to a preset fixed ratio to reduce the longitudinal acceleration of the vehicle operation system.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the trailer sway detection and control method as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the trailer sway detection and control method as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the trailer sway detection and control method as described in any one of claims 1 to 6 is implemented.

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