A vehicle matching method and system considering heavy traction and electric drive dual power

Abstract

The present application belongs to the field of power traction, and particularly relates to a vehicle matching method and system considering heavy traction and electric drive dual power, comprising: obtaining driving state information of a traction vehicle; obtaining power variable parameters of an electric drive trailer and speed and slip rate of the traction vehicle according to the obtained driving state information; calculating the electric drive trailer speed based on the obtained speed of the traction vehicle and driving state information; calculating the electric drive trailer slip rate according to the obtained speed of the traction vehicle and the electric drive trailer speed; comparing the obtained slip rate of the traction vehicle and the electric drive trailer slip rate, and performing torque slip film dynamic compensation coordination control of the traction vehicle and the electric drive trailer, so as to complete the vehicle matching considering heavy traction and electric drive dual power.

Description

Technical Field

[0001] This invention belongs to the field of power traction technology, specifically relating to a vehicle matching method and system that considers both heavy-duty traction and electric drive. Background Technology

[0002] The statements in this section are merely 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, pure electric, range-extended, and hybrid technologies are becoming increasingly mature. This has extended to the military field, where electrification of military vehicles such as combat vehicles, operational vehicles, and transport vehicles offers significant advantages over traditional gasoline and diesel military vehicles in terms of information technology upgrades, intelligent enhancements, vehicle power performance, high reliability, ease of maintenance, and strong stealth capabilities. Therefore, the electrification upgrade and preliminary research of military vehicles has gradually become a global trend. The forward development, prototype testing, data accumulation, and in-depth research and development of related electrical disciplines for electrified combat vehicles and electrified military operational vehicles have naturally become urgent tasks for various countries and military industrial units.

[0004] Traditional heavy-duty multi-axle vehicles, especially those combining tractors and trailers, typically have trailers as driven vehicles, primarily carrying heavy cargo, while the tractor is the sole power source. On roads with low traction or when the vehicle is climbing or getting out of trouble, the tractor's traction is limited or it cannot output power normally, making the entire vehicle unable to move. This is especially true for military tractors traveling on off-road terrain, where large rescue vehicles cannot provide timely assistance. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes a vehicle matching method and system that considers both heavy-duty traction and electric drive. By coordinating traditional mechanical and electric drive forces through a power combination scheme, the driving force of the entire vehicle system is significantly increased without altering the original system structure of the tractor. Advanced power management strategies are applied to avoid incoordination between mechanical and electric drive forces, thereby improving coordination capabilities. This solves the problem of insufficient power or low road surface adhesion caused by rigid connections in traditional tractor systems when operating off-road, climbing, or getting out of trouble.

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

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

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

[0009] Based on the acquired driving status information, the power variable parameters of the electric drive trailer, as well as the speed and slip ratio of the towing vehicle, are obtained.

[0010] Based on the obtained speed and driving status information of the tractor vehicle, the speed of the electric drive trailer is calculated;

[0011] Calculate the slip ratio of the electric trailer based on the obtained speed of the tractor vehicle and the speed of the electric trailer.

[0012] By comparing the obtained slip ratios of the tractor vehicle and the electric drive trailer, dynamic compensation and coordinated control of torque slip film is performed on the tractor vehicle and the electric drive trailer to complete the vehicle matching that takes into account both heavy-duty tractor and electric drive power.

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

[0014] As a further technical limitation, the speed of the traction vehicle is obtained through an anti-lock braking system installed on the driven wheel; the speed of the driving wheel of the traction vehicle is obtained based on the engine speed of the traction vehicle and the gearbox ratio, thus yielding the slip ratio of the traction vehicle. Among them, V c V is the speed of the driving wheel of the traction vehicle. m The speed at which the vehicle is towed.

[0015] As a further technical limitation, the electric drive trailer obtains the motor speed through motor resolver feedback, and the speed of the electric drive trailer is obtained through a weighted average method. Combined with the speed of the towing vehicle, the slip ratio of the electric drive trailer is obtained. Among them, V h V is the speed of the electrically driven trailer. m The speed at which the vehicle is towed.

[0016] As a further technical limitation, the torque slip dynamic compensation coordinated control of the tractor vehicle and the electric drive trailer includes the pre-allocation of target torque of the engine and electric motor and the calculation of torque slip dynamic compensation control based on the slip ratio.

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

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

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

[0020] The acquisition module is configured to acquire driving status information of the towing vehicle;

[0021] The calculation module is configured to obtain the power variable parameters of the electric drive trailer, as well as the speed and slip ratio of the towing vehicle, based on the acquired driving state information; calculate the speed of the electric drive trailer based on the acquired speed of the towing vehicle and driving state information; and calculate the slip ratio of the electric drive trailer based on the acquired speed of the towing vehicle and the speed of the electric drive trailer.

[0022] The matching module is configured to compare the obtained slip ratio of the tractor vehicle and the slip ratio of the electric drive trailer, perform torque slip dynamic compensation coordination control of the tractor vehicle and the electric drive trailer, and complete vehicle matching that takes into account both heavy-duty tractor and electric drive power.

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

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

[0025] According to some embodiments, the fourth aspect 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, wherein the processor executes the program to implement the steps in a vehicle matching method considering both heavy-duty traction and electric drive as described in the first aspect of the present invention.

[0027] According to some embodiments, the fifth aspect 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 performs the steps of a vehicle matching method considering both heavy-duty traction and electric drive as described in the first aspect of the present invention.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] This invention provides a rigid connection between existing single-engine driven vehicles and electric-driven vehicles, allowing for independent torque output. Electric-driven vehicles have a fast response, but during startup, acceleration, or braking, there may be repeated collisions between the tractor and the electric-driven trailer at the connection point, or the rear vehicle may become stuck. The electric-driven trailer's driving force assists the tractor's power output. Based on the slip ratio and vehicle speed acceleration of both, the trailer's power and speed are kept in real time to ensure that the tractor's working state is followed by the tractor. During startup, the electric-driven trailer's speed is used as the basis, while during normal driving, acceleration, or braking, the tractor's speed is used as the basis for calculating the electric-driven trailer's driving force output. Attached Figure Description

[0031] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

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

[0033] Figure 2 This is a flowchart of a vehicle matching method considering both heavy-duty traction and electric drive in Embodiment 1 of the present invention;

[0034] Figure 3 This is a schematic diagram of the sliding membrane variable structure control principle in Embodiment 1 of the present invention;

[0035] Figure 4 This is a schematic diagram illustrating the relationship between engine torque and speed in Embodiment 1 of the present invention;

[0036] Figure 5 This is a detailed step diagram of the vehicle matching method considering both heavy-duty traction and electric drive in Embodiment 1 of the present invention;

[0037] Figure 6 This is a schematic diagram of torque distribution in Embodiment 1 of the present invention;

[0038] Figure 7 This is a structural block diagram of a vehicle matching system that considers both heavy-duty traction and electric drive, according to Embodiment 2 of the present invention. Detailed Implementation

[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 intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

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

[0042] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0043] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0044] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0045] Example 1

[0046] Embodiment 1 of the present invention introduces a vehicle matching method that considers both heavy-duty traction and electric drive.

[0047] Based on the development of the new energy industry, a hybrid trailer with electric drive was designed to work in conjunction with a traditional mechanical tractor, jointly contributing to the overall vehicle system. The vehicle system structure diagram is shown below. Figure 1 As shown, the solid lines represent the mechanical transmission path, A is the mechanical connection mechanism between the tractor and the trailer, the dashed lines represent the electrical transmission path, and the dotted lines represent the CAN bus. The tractor is a traditional engine tractor, and the trailer is an 8x8 hybrid drive. The motor shaft and the drive shaft are parallel or coaxial. The torque of the motor is output from the motor's output shaft and transmitted to the input shaft of the transmission system. After being decelerated by the transmission system, the increased torque is transmitted to the wheel rims, ultimately driving the tires to rotate and propel the trailer.

[0048] This embodiment employs, as follows: Figure 2 The vehicle matching method shown includes considering both heavy-duty traction and electric drive dual power, comprising:

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

[0050] Obtaining power variable parameters of the electrically driven trailer, as well as the speed and slip rate of the towing vehicle according to the acquired driving state information;

[0051] Calculating the speed of the electrically driven trailer based on the obtained speed and driving state information of the towing vehicle;

[0052] Calculating the slip rate of the electrically driven trailer according to the obtained speed of the towing vehicle and the speed of the electrically driven trailer;

[0053] Comparing the obtained slip rate of the towing vehicle with the slip rate of the electrically driven trailer, performing sliding mode dynamic compensation coordinated control on the torques of the towing vehicle and the electrically driven trailer, and completing vehicle matching considering dual power of heavy-duty traction and electric drive.

[0054] In this embodiment, without affecting the power output law of the towing vehicle, the electric drive capacity of the electrically driven trailer is adjusted in real time, and by virtue of the rapidity of electric adjustment capacity, the effect of joint action of the whole vehicle power is achieved; specifically:

[0055] For the coordinated operation of the driving force system of a traditional towing vehicle and trailer, the vehicle control unit (VCU) of the trailer collects signals such as the gear of the towing vehicle, accelerator pedal position, and engine speed transmitted via the CAN bus, and then converts them into input variable parameters for the trailer power output model. Through real-time calculation of the overall vehicle slip rate and introduction of a sliding mode control algorithm, the front vehicle in the overall vehicle system is provided with an ABS (Anti-lock Braking System) installed on the driven wheels, which can measure the speed V of the towing vehicle m , and the driving wheel speed V of the towing vehicle is calculated according to the engine speed and the gear ratio of the gearbox c , whereby the slip rate of the towing vehicle can be calculated The rear trailer obtains feedback through the motor resolver, can measure the current motor speed and further calculates the speed V of the electrically driven trailer by means of weighted average h , and then according to the speed V of the towing vehicle m , the slip rate of the electrically driven trailer can be obtained indirectly When S1 > S2, it indicates that the towing vehicle is in a wheel slip state, and the wheels of the electrically driven trailer are in the process of locked-rotation or slow rotation; when S1 < S2, the wheels of the towing vehicle are in the process of locked-rotation or slow rotation.

[0056] This embodiment may cause sudden changes in the output torques of the engine and the motor. Due to the different dynamic response characteristics of the engine and the motor, the engine cannot immediately respond to changes in the target torque, while the motor has a fast response speed. When the operating state of the vehicle changes, if control is performed separately according to their respective target torques to meet the total torque demand of the whole vehicle, it may lead to insufficient power and oscillation of the whole vehicle during the operation mode switching process, which affects the vehicle power performance and driving comfort.

[0057] Since the performance of the electric motor and mechanical braking system is relatively stable, as long as the rate of change of the motor is reasonably controlled to avoid oscillations caused by sudden increases in motor load, the smoothness of the mode switching process can be guaranteed. Dynamic coordination control of the output torque of the engine and motor ensures the smoothness of power transmission during this process. During the switching process, the rapid response of the motor is utilized to dynamically compensate for the power shortage caused by the engine's lag during mode switching; this is called dynamic torque coordination control of the power system.

[0058] The tractor engine's external characteristics show that the torque reaches a maximum of 1900 N.M at an engine speed of 3000 r / min. The electric drive trailer motor's driving force can achieve an output torque of 1000 N.M when the motor speed is below 1000 r / min. Above this speed, the output torque gradually decreases. The output rate of traditional power is slower than that of electric drive force. Usually, when the mechanical torque has not reached the optimal force, the electric drive motor is already stalled or overloaded. After a long time, alarms or protection situations will occur.

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

[0060] like Figure 3 The sliding mode variable structure control shown has point A crossing the sliding surface, point B diffusing from the sliding surface, and point C returning to the sliding surface from elsewhere. Only point C can ultimately bring the system to stability, allowing it to return to the sliding surface. The design of the sliding mode control law aims to achieve the function of point C: when the system parameters are above the sliding surface, its trajectory is downward; when the system parameters are below the sliding surface, its trajectory is upward, and its motion is always towards 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 run above the sliding surface, i.e., sgn = -1, it indicates that its trajectory is downward; when the system parameters are below the sliding surface, i.e., sgn = 1, it indicates that its trajectory is upward.

[0062] This embodiment establishes the power system switching function of the traction vehicle as shown below, thus obtaining...

[0063] Electromagnetic torque equation of permanent magnet synchronous motor dq axis

[0064] Equations of motion of the dq axis of a permanent magnet synchronous motor

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

[0066] In this embodiment, under dynamic engine operating conditions, the three parameters—engine speed n, throttle opening a, and torque T—satisfy the following: 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 constant, the instantaneous engine speed is determined by the driver's throttle opening a and the instantaneous acceleration a of the tractor. n The trailer drive torque T is calculated using the trailer's instantaneous acceleration. 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 situation where the accelerator is fully depressed;

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

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

[0071] In the next moment, the torque decreases, but the speed of the high-temperature, high-pressure gas is greater than the piston speed, so the rotational speed continues to increase until the speeds are equal. The rotational speed stabilizes, and the torque no longer decreases. The car moves at a constant speed. The power change curve is similar to line one.

[0072] Lines 3 and 4: The throttle position has a large limit. Although the engine's maximum intake efficiency is low, due to the high temperature and pressure of the gas and its low velocity, the engine hasn't reached the maximum intake efficiency limited by this throttle position. The gas velocity is already the same as the piston velocity, meaning the maximum torque speed at this position cannot be reached. In other words, the maximum torque speed at this position is when the gas velocity is the same as the piston velocity; power gradually increases until the speed remains constant.

[0073] The engine output torque is not linearly related to the accelerator pedal opening and engine speed. In the comparison of traditional engine torque output and electric drive torque output, a combination of torque pre-distribution and sliding film control algorithms is used. Electric drive power output uses acceleration deviation compensation. The switching function is sgn()=ksgn(i q )-Tpre; where Tpre is the electrical torque pre-distribution, ksgn(i q To calculate the torque value in real time, and then adjust the pre-distribution value of the electric torque in real time according to the switching function, so as to achieve a precise dynamic adjustment effect.

[0074] like Figure 5 As shown, the parallel hybrid power system dynamic control algorithm in this embodiment includes two aspects: pre-allocation of target torque between the engine and the electric motor, and dynamic compensation control based on the slip ratio. In the compensation control algorithm, the dynamic output torque is first located based on the engine torque MAP, and the compensation torque for the electric motor is calculated. Then, based on the difference in acceleration values ​​between the tractor and trailer, the electric drive torque output value and rate of change are adjusted in real time, thereby reducing rigid connection collisions between vehicles, improving system robustness, and enhancing driver comfort. The parallel hybrid power system dynamic control algorithm can be summarized as "torque pre-allocation + electric motor torque compensation control based on slip ratio difference estimation." Since engine speed regulation control only occurs under special conditions such as getting out of trouble and climbing hills, a method is used... Figure 6 The dynamic control algorithm shown is "torque pre-distribution + motor torque compensation control based on slip ratio difference estimation".

[0075] This embodiment is rigidly connected to existing single-engine driven vehicles and electric-driven vehicles, and outputs torque independently. The electric-driven vehicle has a fast response. During the start-up, acceleration or braking process, the tractor and electric-driven trailer may repeatedly collide at the connection point or the following vehicle may become stuck. The electric-driven trailer assists the tractor's power output. Based on the slip ratio and vehicle speed acceleration of both, the trailer's power and speed are kept in real time to ensure that the tractor's working state is followed by the tractor. During the start-up phase, the electric-driven trailer's speed is used as the basis, and during normal driving, acceleration or braking, the tractor's speed is used as the basis for calculating the electric-driven trailer's driving force output.

[0076] Example 2

[0077] Embodiment 2 of the present invention introduces a vehicle matching system that takes into account both heavy-duty traction and electric drive.

[0078] like Figure 7 The vehicle matching system shown includes a dual power system considering heavy-duty traction and electric drive, comprising:

[0079] The acquisition module is configured to acquire driving status information of the towing vehicle;

[0080] The calculation module is configured to obtain the power variable parameters of the electric drive trailer, as well as the speed and slip ratio of the towing vehicle, based on the acquired driving state information; calculate the speed of the electric drive trailer based on the acquired speed of the towing vehicle and driving state information; and calculate the slip ratio of the electric drive trailer based on the acquired speed of the towing vehicle and the speed of the electric drive trailer.

[0081] The matching module is configured to compare the obtained slip ratio of the tractor vehicle and the slip ratio of the electric drive trailer, perform torque slip dynamic compensation coordination control of the tractor vehicle and the electric drive trailer, and complete vehicle matching that takes into account both heavy-duty tractor and electric drive power.

[0082] The detailed steps are the same as those provided in Example 1 for a vehicle matching method that considers both heavy-duty traction and electric drive, and will not be repeated here.

[0083] Example 3

[0084] Embodiment 3 of the present invention provides a computer-readable storage medium.

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

[0086] The detailed steps are the same as those provided in Example 1 for a vehicle matching method that considers both heavy-duty traction and electric drive, and will not be repeated here.

[0087] Example 4

[0088] Embodiment 4 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, wherein the processor executes the program to implement the steps in a vehicle matching method considering both heavy-duty traction and electric drive as described in Embodiment 1 of the present invention.

[0090] The detailed steps are the same as those provided in Example 1 for a vehicle matching method that considers both heavy-duty traction and electric drive, and will not be repeated here.

[0091] Example 5

[0092] Embodiment 5 of the present invention provides a computer program product.

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

[0094] The detailed steps are the same as those provided in Example 1 for a vehicle matching method that considers both heavy-duty traction and electric drive, and will not be repeated here.

[0095] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can 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 can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0096] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0097] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0098] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0099] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0100] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0101] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A vehicle matching method considering both heavy-duty traction and electric drive, characterized in that, include: Obtain driving status information of the towing vehicle; Based on the acquired driving status information, the power variable parameters of the electric drive trailer, as well as the speed and slip ratio of the towing vehicle, are obtained. Based on the obtained speed and driving status information of the tractor vehicle, the speed of the electric drive trailer is calculated; Calculate the slip ratio of the electric trailer based on the obtained speed of the tractor vehicle and the speed of the electric trailer. By comparing the obtained slip ratios of the tractor vehicle and the electric drive trailer, dynamic compensation and coordinated control of torque slip film of the tractor vehicle and the electric drive trailer are carried out to complete the vehicle matching considering both heavy-duty tractor and electric drive power. 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 based on the engine speed of the traction vehicle and the gearbox ratio, thus yielding the slip ratio of the traction vehicle. ,in, For the speed of the driving wheel of the traction vehicle, The speed at which the vehicle is towed; The electric trailer obtains its motor speed through motor resolver feedback, and then calculates the trailer speed using a weighted average method. Combined with the towing vehicle speed, the slip ratio of the electric trailer is thus determined. ,in, For the speed of the electric trailer, The speed at which the vehicle is towed; The torque slip dynamic compensation coordination control of the tractor and the electric trailer includes the pre-allocation of target torque of the engine and motor and the calculation of torque slip dynamic compensation control based on slip ratio. In the compensation control algorithm, the dynamic output torque is first found according to the engine torque MAP, and the torque to be compensated by the motor is calculated. Then, the electric drive torque output value and rate of change are adjusted in real time according to the difference in acceleration values ​​between the tractor and the trailer.

2. The vehicle matching method considering both heavy-duty traction and electric drive as described in claim 1, characterized in that, When the obtained slip ratio of the tractor vehicle is greater than that of the electric trailer, the tractor vehicle is in a state of wheel slippage, and the wheels of the electric trailer are in a process of stalling or slow rotation; when the obtained slip ratio of the tractor vehicle is less than that of the electric trailer, the wheels of the tractor vehicle are in a process of stalling or slow rotation.

3. The vehicle matching method considering both heavy-duty traction and electric drive as described in claim 1, characterized in that, The driving status information of the tractor vehicle includes at least pedal opening, gear position, and engine speed.

4. A vehicle matching system considering both heavy-duty traction and electric drive, characterized in that, The vehicle matching method, which considers both heavy-duty traction and electric drive, as described in any one of claims 1-3, includes: The acquisition module is configured to acquire driving status information of the towing vehicle; The calculation module is configured to obtain the power variable parameters of the electric drive trailer, as well as the speed and slip ratio of the towing vehicle, based on the acquired driving state information; calculate the speed of the electric drive trailer based on the acquired speed of the towing vehicle and driving state information; and calculate the slip ratio of the electric drive trailer based on the acquired speed of the towing vehicle and the speed of the electric drive trailer. The matching module is configured to compare the obtained slip ratio of the tractor vehicle and the slip ratio of the electric drive trailer, perform torque slip dynamic compensation coordination control of the tractor vehicle and the electric drive trailer, and complete vehicle matching that takes into account both heavy-duty tractor and electric drive power.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of a vehicle matching method considering both heavy-duty traction and electric drive as described in any one of claims 1-3.

6. 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, it implements the steps of a vehicle matching method considering both heavy-duty traction and electric drive as described in any one of claims 1-3.

7. A computer program product, comprising software code, characterized in that, The program in the software code performs the steps of a vehicle matching method considering both heavy-duty traction and electric drive as described in any one of claims 1-3.

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