Vehicle matching method and system considering heavy traction and electric drive dual power

Abstract

The invention belongs to the technical field of power traction, and particularly relates to a vehicle matching method and system considering heavy traction and electric drive dual power, and the method comprises the steps: obtaining the driving state information of a traction vehicle; according to the obtained driving state information, power variable parameters of the electric drive trailer and the speed and slip rate of the traction vehicle are obtained; calculating the speed of the electrically driven trailer based on the obtained speed of the traction vehicle and the driving state information; according to the obtained traction vehicle speed and the electric drive trailer speed, the slip rate of the electric drive trailer is calculated; and comparing the obtained slip rate of the traction vehicle with the slip rate of the electric drive trailer, and performing torque slip film dynamic compensation coordination control on the traction vehicle and the electric drive trailer to complete vehicle matching considering heavy traction and electric drive dual power.

Description

Technical Field

[0001] The present invention belongs to the field of power traction technology, and specifically relates to a vehicle matching method and system considering heavy-duty traction and electric drive dual power. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development and application of the global electric vehicle industry, various pure electric, range-extended, and hybrid technologies are maturing. This has led to the electrification of military vehicles, such as combat vehicles, work vehicles, and transport vehicles, offering significant advantages over traditional gasoline and diesel military vehicles in terms of information technology transformation, intelligent upgrades, vehicle power performance, high reliability, ease of maintenance, and enhanced concealment. Consequently, electrification upgrades and pre-research for military vehicles are becoming a global trend. The forward development, prototype testing, data accumulation, and in-depth research and development of electrified combat vehicles and electrified military work vehicles, as well as related electrical engineering disciplines, have naturally become urgent tasks for military-industrial units around the world.

[0004] Traditional heavy-duty multi-axle vehicles, especially the combination of tractors and trailers, usually have trailers that are driven vehicle chassis and mainly carry heavy cargo. The tractor is a single source of power. On roads with weak adhesion or when the vehicle is climbing or getting out of trouble, the tractor's traction is limited or cannot output power normally, and the entire vehicle cannot travel normally. In particular, when military tractors are traveling on off-road roads in the wild, large rescue vehicles cannot carry out rescue work in a timely manner. Summary of the Invention

[0005] To solve the above problems, the present invention proposes a vehicle matching method and system that takes into account heavy-duty traction and electric drive dual power. Through a power combination scheme, the traditional mechanical driving force and the electric driving force are coordinated. Without changing the original system structure of the tractor, the driving force of the entire vehicle system is greatly increased. The application of advanced power management strategies avoids the incoordination problem between the mechanical driving force and the electric driving force and improves the coordination ability. It solves the problem that the traditional tractor power is insufficient in off-road conditions, climbing and getting out of trouble, or the system has low road adhesion due to rigid connection.

[0006] According to some embodiments, a first solution of the present invention provides a vehicle matching method considering both heavy-duty traction and electric drive, using the following technical solutions:

[0007] A vehicle matching method considering both heavy-duty traction and electric drive dual power, comprising:

[0008] Obtaining driving status information of the towing vehicle;

[0009] According to the acquired driving state information, power variable parameters of the electric drive trailer and the speed and slip ratio of the towing vehicle are obtained;

[0010] Calculating the speed of the electric-drive trailer based on the obtained speed and driving state information of the towing vehicle;

[0011] Calculating the slip rate of the electric-drive trailer based on the obtained speed of the towing vehicle and the speed of the electric-drive trailer;

[0012] The obtained slip rates of the tractor vehicle and the electric-drive trailer are compared, and the torque sliding film dynamic compensation and coordinated control of the tractor vehicle and the electric-drive trailer are performed to complete the vehicle matching considering heavy-duty traction and electric drive dual power.

[0013] As a further technical limitation, when the obtained slip rate of the tractor vehicle is greater than the slip rate of the electric-drive trailer, the tractor vehicle is in a wheel slip state, and the wheels of the electric-drive trailer are in a stalled or slow rotation process; when the obtained slip rate of the tractor vehicle is less than the slip rate of the electric-drive trailer, the wheels of the tractor vehicle are in a stalled or slow rotation process.

[0014] As a further technical limitation, the speed of the traction vehicle is obtained by the anti-lock braking system installed on the driven wheel; the speed of the driving wheel of the traction vehicle is obtained according to the engine speed of the traction vehicle and the ratio of the gearbox, that is, the slip rate of the traction vehicle. Among them, V c is the driving wheel speed of the traction vehicle, V m is the speed of the towing vehicle.

[0015] As a further technical limitation, the electric trailer motor speed is obtained through motor resolver feedback, and the speed of the electric trailer is obtained by weighted average. Combined with the speed of the towing vehicle, the slip rate of the electric trailer is obtained. Among them, V h is the speed of the electric trailer, V m is the speed of the towing vehicle.

[0016] As a further technical limitation, the torque sliding film dynamic compensation coordinated control of the tractor vehicle and the electric drive trailer includes pre-distribution of target torques of the engine and the electric motor and calculation of the torque sliding film dynamic compensation control according to the slip ratio.

[0017] As a further technical limitation, the driving state information of the traction vehicle includes at least a pedal opening, a gear position, and an engine speed.

[0018] According to some embodiments, a second solution of the present invention provides a vehicle matching system that considers both heavy-duty traction and electric drive, using the following technical solutions:

[0019] A vehicle matching system considering both heavy-duty traction and electric drive, including:

[0020] an acquisition module configured to acquire driving state information of the towing vehicle;

[0021] a calculation module configured to obtain power variable parameters of the electric-drive trailer and the speed and slip ratio of the towing vehicle based on the obtained driving state information; calculate the speed of the electric-drive trailer based on the obtained speed of the towing vehicle and the driving state information; and calculate the slip ratio of the electric-drive trailer based on the obtained speed of the towing vehicle and the speed of the electric-drive trailer;

[0022] The matching module is configured to compare the obtained slip rate of the tractor vehicle and the slip rate of the electric-drive trailer, perform torque sliding film dynamic compensation coordinated control of the tractor vehicle and the electric-drive trailer, and complete vehicle matching considering heavy-duty traction and electric drive dual power.

[0023] According to some embodiments, a third solution of the present invention provides a computer-readable storage medium, which adopts the following technical solution:

[0024] A computer-readable storage medium stores a program thereon, which, when executed by a processor, implements the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in the first embodiment of the present invention.

[0025] According to some embodiments, a fourth solution of the present invention provides an electronic device, which adopts the following technical solution:

[0026] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in the first embodiment of the present invention.

[0027] According to some embodiments, a fifth solution of the present invention provides a computer program product, which adopts the following technical solution:

[0028] A computer program product includes software code, wherein the program in the software code executes the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in the first embodiment of the present invention.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention is rigidly connected to an existing single-engine driven vehicle and an electric-driven vehicle, and torque output is performed independently. The electric-driven vehicle reacts quickly. If the tractor and the electric-driven trailer repeatedly collide at the connection part or the rear vehicle is blocked during starting, acceleration or braking, the driving force of the electric-driven trailer assists the tractor's power output. According to the slip rate and vehicle speed acceleration of the two, the trailer's power and speed are guaranteed to follow the working state of the auxiliary tractor in real time. The electric-driven trailer's driving force output is calculated based on the speed of the electric-driven trailer during the starting phase and the tractor's speed during normal driving, acceleration or braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings constituting a part of the specification of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions of this embodiment are used to explain this embodiment and do not constitute an improper limitation on this embodiment.

[0032] Figure 1 This is a structural diagram of a conventional tractor and trailer power vehicle system in Example 1 of the present invention;

[0033] Figure 2 This is a flow chart of a vehicle matching method considering heavy-duty traction and electric drive dual power in embodiment 1 of the present invention;

[0034] Figure 3 Schematic diagram of the variable structure control principle of the synovial membrane in the first embodiment of the present invention;

[0035] Figure 4 Schematic diagram of the relationship between engine torque and speed in embodiment 1 of the present invention;

[0036] Figure 5 This is a detailed step diagram of a vehicle matching method considering heavy-duty traction and electric drive dual power in the first embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of torque distribution in the first embodiment of the present invention;

[0038] Figure 7 This is a structural block diagram of a vehicle matching system considering heavy-duty traction and electric drive dual power in embodiment 2 of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0040] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0041] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0042] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention, and should not be understood as limiting the present invention.

[0043] In the present invention, terms such as "fixed connection," "connected," and "connection" should be interpreted broadly to mean a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediary. Relevant researchers or technicians in this field may determine the specific meanings of these terms in the present invention based on specific circumstances, and they should not be construed as limitations of the present invention.

[0044] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0045] Example 1

[0046] The first embodiment of the present invention introduces a vehicle matching method considering both heavy-duty traction and electric drive.

[0047] According to the development of the new energy industry, a hybrid trailer with electric drive is designed to work in unison with the traditional mechanical tractor to work together on the entire vehicle system. The vehicle system structure diagram is as follows: Figure 1 As shown, the solid line represents the mechanical transmission path, A represents the mechanical connection between the tractor and trailer, the dashed line represents the electrical transmission path, and the dot-dash line represents the CAN bus. The tractor is a conventional engine tractor, and the trailer is an 8x8 hybrid drive. The motor shaft and drive shaft are parallel or coaxial. The motor torque is output from the motor output shaft and transmitted to the input shaft of the transmission system. After being decelerated by the transmission system, the amplified torque is transmitted to the wheel rims, ultimately driving the tires to drive the trailer vehicle.

[0048] This embodiment adopts Figure 2 A vehicle matching method considering heavy-duty traction and electric drive dual power is shown, including:

[0049] Obtaining driving status information of the towing vehicle;

[0050] Based on the acquired driving state information, obtain the power variable parameters of the electric drive trailer and the speed and slip ratio of the towing vehicle;

[0051] Based on the obtained speed and driving state information of the towing vehicle, calculate the speed of the electric drive trailer;

[0052] According to the obtained speed of the towing vehicle and the speed of the electric drive trailer, calculate the slip ratio of the electric drive trailer;

[0053] Compare the obtained slip ratio of the towing vehicle and the slip ratio of the electric drive trailer, perform torque synovial dynamic compensation coordination control on the towing vehicle and the electric drive trailer, and complete the vehicle matching considering heavy-duty towing and dual electric power.

[0054] In this embodiment, without affecting the power output law of the tractor, the electric drive ability of the electric drive trailer is adjusted in real time, and with the help of the rapidity of the electric adjustment ability, the effect of the combined action of the vehicle power is achieved; specifically:

[0055] For the system coordination of the driving force between the traditional tractor and the trailer, the trailer vehicle control unit (VCU) collects signals such as the tractor gear position, accelerator pedal, engine speed, etc. transmitted through the CAN line, and then converts them into input variable parameters of the trailer power output model. The real-time calculation of the vehicle slip ratio is adopted, and the synovial control algorithm is introduced. The front vehicle in the vehicle system has an anti-lock braking system (ABS), which is installed on the driven wheels and can measure the speed V of the towing vehicle m , and according to the engine speed and the gear ratio of the gearbox, calculate the speed V of the driving wheels of the towing vehicle c , and the slip ratio of the tractor can be calculated For the rear vehicle, through the motor resolver feedback, the current motor speed can be measured, and then the speed V of the electric drive trailer can be calculated by the weighted average method h , and then according to the speed V of the towing vehicle<00000​​​​​​​​Because the motor and mechanical brake system have relatively stable performance, a smooth mode switch can be ensured by properly controlling the motor's rate of change to avoid oscillations caused by sudden increases in motor load. Dynamic coordinated control of the engine and motor output torque ensures smooth power delivery during this process. During the switching process, the motor's fast response is leveraged to dynamically compensate for the power shortfall caused by delayed engine response during the mode switch. This is known as dynamic torque coordinated control of the powertrain.

[0058] The external characteristics of the tractor engine show that when the engine speed is 3000r / min, the torque value reaches a maximum of 1900N.M. When the driving force of the electric trailer motor is within the motor speed of 1000r / min, the output torque value can reach 1000N.M. Above this speed, the output torque gradually decreases. The traditional power output rate is slower than the electric drive force output rate. Usually, when the mechanical torque has not reached the optimal force, the electric drive motor has been in a state of stall or overload for a long time, and an alarm or protection situation will occur.

[0059] For the design of sliding mode control law for extended slip ratio and torque matching, the driving torque of the tractor and the electric drive trailer is to return to the sliding mode surface, so that the error between the tractor torque and the electric drive trailer torque and the theoretical maximum torque of the two is 0. Then the vehicle speed slip ratio is S1=S2=0, so the sliding mode control law can be designed as:

[0060] like Figure 3 In the sliding film variable structure control shown, point A crosses the sliding surface, point B diffuses from the sliding surface, and point C returns to the sliding surface from elsewhere. Only point C can ultimately stabilize the system and return it to the sliding surface. The sliding mode control law is designed to achieve the function of point C: when the system parameters are above the sliding surface, the system's motion trajectory is downward; when the system parameters are below the sliding surface, the system's motion trajectory is upward, and the system always moves toward the sliding surface.

[0061] This embodiment provides a solid foundation for the implementation of the sliding mode observer through the switching function sgn(). When the system parameters are above the sliding surface, that is, sgn = -1, the trajectory of the movement is downward; when the system parameters are below the sliding surface, that is, sgn = 1, the trajectory of the movement is upward.

[0062] This embodiment establishes the power system switching function of the traction vehicle as shown below, namely:

[0063] Permanent magnet synchronous motor dq axis electromagnetic torque equation

[0064] Permanent magnet synchronous motor dq axis motion equations

[0065] Among them, T eis the electromagnetic torque, T L is the load torque, ψ f is the permanent magnet flux, w e is the motor electrical angular velocity, w g is the mechanical angular velocity of the motor, n p is the number of motor pole pairs, L d is the motor direct axis inductance, L q is the motor quadrature-axis inductance, i d is the motor direct axis current, i q is the motor quadrature axis current, and J is the moment of inertia.

[0066] In this embodiment, under the dynamic working condition of the engine, the three parameters of speed n, throttle opening a, and torque T satisfy T = f(a,n); n = f(T,a); a = f(T,n); if one or two parameters change, the other parameter may also change. When the throttle opening remains unchanged, the engine speed is in the instantaneous state according to the driver's throttle opening a, the tractor's instantaneous acceleration a n , trailer instantaneous acceleration to calculate trailer driving torque T e and torque acceleration a e .

[0067] The relationship between engine speed, accelerator pedal opening and power is as follows Figure 4 As shown, where:

[0068] Line 1: The accelerator is pressed to the bottom;

[0069] Line 2: Due to the limitation of the intake valve, the ratio of torque increasing with speed is less than that when the intake valve is fully open.

[0070] Also due to the limitation of the intake valve, the maximum intake efficiency of the engine will be reduced, so the speed is lower than a certain position on Line 1 to reach the maximum torque speed at that throttle position.

[0071] At the next moment, the torque decreases, but the high-temperature, high-pressure gas speed is greater than the piston speed, so the speed continues to increase. This continues until the speeds become uniform. The speed stabilizes, and the torque no longer decreases. The car continues to move at a constant speed. The power curve is similar to Line 1.

[0072] Lines 3 and 4: The throttle is wide open. Although the engine's maximum intake efficiency is low, the low velocity of the high-temperature, high-pressure gas prevents the engine from reaching the maximum intake efficiency at this throttle limit. The gas velocity matches the piston speed, preventing the engine from reaching maximum torque at this position. Alternatively, the maximum torque at this position is achieved when the gas velocity matches the piston speed. Power gradually increases until the speed remains constant.

[0073] The relationship between the engine output torque and the accelerator pedal opening and the speed is not linear. When the traditional engine torque output and the electric drive torque output are combined, the torque pre-distribution and sliding film control algorithm are used. The electric drive power output adopts the acceleration deviation and then compensates. The switching function is sgn()=ksgn(i q )-Tpre; Tpre is the electric torque pre-distribution, ksgn(i q ) is used to calculate the torque value in real time, and then adjust the electric torque pre-allocation value in real time according to the switching function to achieve precise dynamic adjustment effect.

[0074] like Figure 5 As shown, the present embodiment adopts a parallel hybrid system dynamic control algorithm including two aspects, namely, pre-distribution of target torques of the engine and the electric motor and calculation of torque sliding film dynamic compensation control based on slip ratio. In the compensation control algorithm, firstly, the dynamic output torque is searched according to the engine torque MAP diagram, and the compensation torque of the electric motor is calculated. Then, according to the difference in acceleration values ​​between the tractor and the trailer, the electric drive torque output value and the rate of change are adjusted in real time, thereby reducing the rigid connection collision between the vehicles, improving the system robustness, and enhancing the driver's comfort. The parallel hybrid system dynamic control algorithm can be summarized as "torque pre-distribution + motor torque compensation control estimated based on slip ratio difference", in which, since the engine speed control only occurs under special working conditions such as getting out of trouble and climbing, the following is adopted. Figure 6 The dynamic control algorithm shown is "torque pre-distribution + motor torque compensation control estimated according to slip ratio difference".

[0075] This embodiment is rigidly connected to the existing single-engine driven vehicle and the electric drive vehicle, and torque output is performed separately. The electric drive vehicle reacts quickly. During starting, acceleration or braking, if the tractor and the electric drive trailer repeatedly collide at the connection part or the rear vehicle is blocked, the driving force of the electric drive trailer assists the power output of the tractor. According to the slip rate and vehicle speed acceleration of the two, the power and speed of the trailer are guaranteed to follow the working state of the auxiliary tractor in real time. The driving force output of the electric drive trailer is calculated based on the speed of the electric drive trailer during starting, and based on the speed of the tractor during normal driving, acceleration or braking.

[0076] Example 2

[0077] The second embodiment of the present invention introduces a vehicle matching system that takes into account both heavy-duty traction and electric drive.

[0078] like Figure 7 A vehicle matching system considering both heavy-duty traction and electric drive is shown, including:

[0079] an acquisition module configured to acquire driving state information of the towing vehicle;

[0080] a calculation module configured to obtain power variable parameters of the electric-drive trailer and the speed and slip ratio of the towing vehicle based on the obtained driving state information; calculate the speed of the electric-drive trailer based on the obtained speed of the towing vehicle and the driving state information; and calculate the slip ratio of the electric-drive trailer based on the obtained speed of the towing vehicle and the speed of the electric-drive trailer;

[0081] The matching module is configured to compare the obtained slip rate of the tractor vehicle and the slip rate of the electric-drive trailer, perform torque sliding film dynamic compensation coordinated control of the tractor vehicle and the electric-drive trailer, and complete vehicle matching considering heavy-duty traction and electric drive dual power.

[0082] The detailed steps are the same as those of the vehicle matching method considering heavy-duty traction and electric drive dual power provided in Example 1, and will not be repeated here.

[0083] Example 3

[0084] A third embodiment of the present invention provides a computer-readable storage medium.

[0085] A computer-readable storage medium stores a program thereon, which, when executed by a processor, implements the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in embodiment 1 of the present invention.

[0086] The detailed steps are the same as those of the vehicle matching method considering heavy-duty traction and electric drive dual power provided in Example 1, and will not be repeated here.

[0087] Example 4

[0088] A fourth embodiment of the present invention provides an electronic device.

[0089] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in Example 1 of the present invention.

[0090] The detailed steps are the same as those of the vehicle matching method considering heavy-duty traction and electric drive dual power provided in Example 1, and will not be repeated here.

[0091] Example 5

[0092] A fifth embodiment of the present invention provides a computer program product.

[0093] A computer program product includes software code, wherein the program in the software code executes the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in embodiment 1 of the present invention.

[0094] The detailed steps are the same as those of the vehicle matching method considering heavy-duty traction and electric drive dual power provided in Example 1, and will not be repeated here.

[0095] It will be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention may be implemented in various computer languages, for example, the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0096] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0099] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0100] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

[0101] The above description is merely a preferred embodiment of this embodiment and is not intended to limit this embodiment. Those skilled in the art will readily appreciate that this embodiment may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment shall be within the scope of protection of this embodiment.

Claims

1. A vehicle matching method considering heavy-duty traction and electric drive dual power, characterized in that: include: Acquiring driving status information of the towing vehicle; According to the acquired driving state information, power variable parameters of the electric drive trailer and the speed and slip rate of the towing vehicle are obtained; Calculating the speed of the electric-drive trailer based on the obtained speed and driving state information of the towing vehicle; Calculating the slip rate of the electric-drive trailer according to the obtained speed of the towing vehicle and the speed of the electric-drive trailer; The obtained slip rates of the traction vehicle and the electric-drive trailer are compared, and the torque sliding film dynamic compensation and coordinated control of the traction vehicle and the electric-drive trailer are performed to complete the vehicle matching considering heavy-duty traction and electric drive dual power.

2. A vehicle matching method considering heavy-duty traction and electric drive dual power as described in claim 1, characterized in that: When the obtained slip rate of the traction vehicle is greater than the slip rate of the electric-drive trailer, the traction vehicle is in a wheel slipping state, and the wheels of the electric-drive trailer are in a blocked or slow rotation process; when the obtained slip rate of the traction vehicle is less than the slip rate of the electric-drive trailer, the wheels of the traction vehicle are in a blocked or slow rotation process.

3. A vehicle matching method considering heavy-duty traction and electric drive dual power as described in claim 1, characterized in that: The speed of the traction vehicle is obtained through the anti-lock braking system installed on the driven wheel; the speed of the driving wheel of the traction vehicle is obtained according to the engine speed of the traction vehicle and the ratio of the gearbox, that is, the slip rate of the traction vehicle Among them, V c is the driving wheel speed of the traction vehicle, V m is the speed of the towing vehicle.

4. A vehicle matching method considering heavy-duty traction and electric drive dual power as described in claim 1, characterized in that: The electric trailer motor speed is obtained through the motor resolver feedback, and the speed of the electric trailer is obtained by weighted average. Combined with the speed of the towing vehicle, the slip rate of the electric trailer is obtained. Among them, V h is the speed of the electric trailer, V m is the speed of the towing vehicle.

5. A vehicle matching method considering heavy-duty traction and electric drive dual power as described in claim 1, characterized in that: The torque sliding film dynamic compensation coordinated control of the tractor vehicle and the electric drive trailer includes pre-distribution of target torques of the engine and the motor and calculation of the torque sliding film dynamic compensation control according to the slip ratio.

6. A vehicle matching method considering heavy-duty traction and electric drive dual power as described in claim 1, characterized in that: The driving state information of the traction vehicle at least includes a pedal opening, a gear position and an engine speed.

7. A vehicle matching system considering heavy-duty traction and electric drive dual power, characterized in that: include: an acquisition module configured to acquire driving state information of the towing vehicle; A calculation module, which is configured to obtain a power variable parameter of the electric drive trailer and a speed and a slip ratio of the towing vehicle according to the obtained driving state information; calculate the speed of the electric drive trailer based on the obtained speed of the towing vehicle and the driving state information; calculate the slip ratio of the electric drive trailer according to the obtained speed of the towing vehicle and the speed of the electric drive trailer; The matching module is configured to compare the obtained slip rate of the traction vehicle and the slip rate of the electric drive trailer, perform torque sliding film dynamic compensation coordinated control of the traction vehicle and the electric drive trailer, and complete vehicle matching considering heavy-duty traction and electric drive dual power.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in any one of claims 1-6 are implemented.

9. 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 program, the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in any one of claims 1-6 are implemented.

10. A computer program product comprising software code, characterized in that The program in the software code executes the steps of a vehicle matching method considering heavy-duty traction and electric drive dual power as described in any one of claims 1-6.

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