Auxiliary drive control method and device of electric drive trailer, medium and electronic equipment

Abstract

The invention discloses an auxiliary driving control method and device for an electric drive trailer, a medium and electronic equipment, and the method comprises the steps: determining an expected initial driving force provided by the trailer if it is detected that a target electric drive trailer is in an acceleration state; determining an actual traction force and an expected traction force acting on a connecting pin in the target electrically-driven trailer; wherein the connecting pin is used for connecting a tractor and a trailer in the target electrically-driven trailer; the comprehensive resistance of the trailer is determined based on the trailer mass of the target electrically-driven trailer, the current acceleration, the actual traction force and the initial driving force, and the comprehensive resistance is corrected by adopting a safety coefficient to obtain corrected resistance; and determining an expected actual driving force provided by the trailer based on the expected traction force and the corrected resistance, and controlling an electric driving system of the trailer to output the actual driving force. According to the technical scheme, the driving safety and the driving economy of the target electrically-driven trailer can be improved.

Description

Technical Field

[0001] This application relates to the field of active safety technologies for commercial vehicles, and particularly to an auxiliary drive control method, device, medium, and electronic device for an electric-drive trailer. Background Art

[0002] An electric-drive trailer consists of a tractor and a trailer, and the tractor and the trailer are connected by a hitch pin. The electric-drive trailer is equipped with an additional electric drive system on the trailer to assist the tractor in driving and braking energy recovery, thereby increasing the driving range and solving the range anxiety of commercial vehicles.

[0003] Controlling the auxiliary drive of the electric-drive trailer is of great significance for improving the driving safety and economy of the electric-drive trailer. Summary of the Invention

[0004] This application provides an auxiliary drive control method, device, medium, and electronic device for an electric-drive trailer, which can achieve the purpose of improving the driving safety and economy of the electric-drive trailer.

[0005] According to the first aspect of this application, there is provided an auxiliary drive control method for an electric-drive trailer, the method including:

[0006] If it is detected that the target electric-drive trailer is in an accelerating state, determine the initial driving force expected to be provided by the trailer;

[0007] Determine the actual traction force and the expected traction force acting on the hitch pin in the target electric-drive trailer; wherein, the hitch pin is used to connect the tractor and the trailer in the target electric-drive trailer;

[0008] Based on the trailer mass, current acceleration, the actual traction force, and the initial driving force of the target electric-drive trailer, determine the comprehensive resistance of the trailer, and correct the comprehensive resistance with a safety factor to obtain the corrected resistance;

[0009] Based on the expected traction force and the corrected resistance, determine the actual driving force expected to be provided by the trailer, and control the electric drive system of the trailer to output the actual driving force.

[0010] According to the second aspect of this application, there is provided an auxiliary drive control device for an electric-drive trailer, the device including:

[0011] An initial driving force determination module, configured to determine the initial driving force expected to be provided by the trailer if it is detected that the target electric-drive trailer is in an accelerating state;

[0012] A traction force determination module, configured to determine the actual traction force and the expected traction force acting on a hitch pin in the target electric-drive trailer; wherein the hitch pin is used to connect a tractor and a trailer in the target electric-drive trailer.

[0013] A resistance correction module, configured to determine a comprehensive resistance of the trailer based on the trailer mass, the current acceleration, the actual traction force, and the initial driving force of the target electric-drive trailer, and correct the comprehensive resistance by using a safety factor to obtain a corrected resistance.

[0014] An actual driving force determination module, configured to determine an actual driving force expected to be provided by the trailer based on the expected traction force and the corrected resistance, and control the electric drive system of the trailer to output the actual driving force.

[0015] According to a third aspect of the present invention, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the auxiliary drive control method of the electric-drive trailer as described in the embodiments of the present application.

[0016] According to a fourth aspect of the present invention, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the auxiliary drive control method of the electric-drive trailer as described in the embodiments of the present application.

[0017] According to a fifth aspect of the present application, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the auxiliary drive control method of the electric-drive trailer as described in the embodiments of the present application.

[0018] The technical solution of the present application provides an auxiliary drive control method for an electric-drive trailer during the acceleration stage of the target electric-drive trailer. By calculating and determining the comprehensive resistance considered when determining the initial driving force according to the actual traction force acting on the hitch pin in the target electric-drive trailer and the initial driving force expected to be provided by the trailer. Then, the comprehensive resistance is corrected by using a safety factor to obtain a corrected resistance. Further, the expected traction force is introduced, and the expected traction force and the corrected resistance are used to determine the actual driving force expected to be provided by the trailer. This solves the problem that inaccurate estimation of the comprehensive resistance causes an axial forward thrust or an axial backward pull on the tractor at the hitch pin, affecting the driving safety or economy of the target electric-drive trailer, and is beneficial to improving the driving safety and economy of the target electric-drive trailer.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 is a schematic structural diagram of an electric drive trailer provided according to an embodiment of the present application;

[0022] Figure 2 is a flowchart of an auxiliary drive control method for an electric drive trailer provided according to Embodiment 1;

[0023] Figure 3 is a flowchart of an auxiliary drive control method for an electric drive trailer provided according to Embodiment 2;

[0024] Figure 4 is a schematic structural diagram of an auxiliary drive control device for an electric drive trailer provided in Embodiment 3 of the present application;

[0025] Figure 5 is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0027] It should be noted that the terms "first", "second", "target", and "candidate" in the specification, claims, and drawings of the present application are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0028] Embodiment 1

[0029] Figure 1 It is a schematic diagram of an electric drive trailer structure provided according to an embodiment of the present application. Figure 1 In the target electric drive trailer, the towing structure is a semi-trailer, Figure 1 which is only used for example and does not limit the towing structure and other structures of the target electric drive trailer in the present application.

[0030] See Figure 1 , 101 refers to the tractor of the target electric drive trailer, 102 refers to the power battery of the tractor, 103 refers to the engine of the tractor, 104 refers to the drive motor of the tractor; 105 refers to the trailer of the target electric drive trailer, 106 refers to the power battery of the trailer, 107 refers to the drive motor of the trailer; 108 refers to the connecting pin used to connect the tractor and the trailer in the target electric drive trailer. Among them, the power battery and the drive motor belong to the electric drive system of the trailer, and the electric drive system also includes an electronic control module.

[0031] In an optional embodiment, the power type of the tractor in the target electric drive trailer is fuel power, electric power or hybrid power; the towing structure of the trailer in the target electric drive vehicle is semi-trailer or full-trailer. The above technical solutions are applicable to electric drive trailers with various mainstream power types and towing structures in the market, expanding the applicable vehicle models of the auxiliary drive control method.

[0032] Figure 2 It is a flowchart of the auxiliary drive control method for the electric drive trailer provided according to Embodiment 1. This embodiment is applicable to the scenario of controlling the auxiliary drive of the electric drive trailer when the electric drive trailer is in the acceleration stage. This method can be executed by the auxiliary drive control device of the electric drive trailer. The auxiliary drive control device of the electric drive trailer is implemented in the form of hardware and / or software and can be integrated into an electronic device.

[0033] As Figure 2 shown, the method includes:

[0034] S210. If it is detected that the target electric drive trailer is in an accelerating state, determine the initial driving force expected to be provided by the trailer.

[0035] S220. Determine the actual traction force and the expected traction force acting on the connecting pin in the target electric drive trailer; wherein, the connecting pin is used to connect the tractor and the trailer in the target electric drive trailer.

[0036] S230. Determine the comprehensive resistance of the trailer based on the trailer mass, the current acceleration, the actual traction force and the initial driving force of the target electric drive trailer, and correct the comprehensive resistance with a safety factor to obtain the corrected resistance.

[0037] S240. Determine the actual driving force expected to be provided by the trailer based on the expected traction force and the corrected resistance, and control the electric drive system of the trailer to output the actual driving force.

[0038] Whether the target electric drive trailer is in an accelerating state can be determined by the opening degree of the target accelerator pedal, the engine speed change rate, or the throttle opening degree. Among them, the target electric drive trailer includes a trailer and a tractor. The trailer is equipped with an electric drive system for auxiliary driving and braking energy recovery. Optionally, the electric drive system includes a power battery, a drive motor, and an electronic control module. When the target drive trailer is in an accelerating state, it is necessary to distribute the driving force between the tractor and the trailer to achieve the purpose of auxiliary driving and braking energy recovery.

[0039] Among them, the initial driving force refers to the driving force expected to be provided by the trailer during the acceleration process of the target electric drive trailer. The initial driving force is related to the opening degree of the accelerator pedal of the target electric drive trailer, determined by the ECU (Electronic Control Unit) of the tractor, and transmitted to the electric drive system of the trailer, which is controlled by the electric drive system of the trailer to output. The power battery in the electric drive system provides the energy source, the drive motor provides the power source, and the electronic control module is responsible for signal processing and control instruction output.

[0040] Among them, the actual traction force refers to the force actually acting on the kingpin of the target electric drive trailer. Optionally, the actual traction force is determined based on the road gradient of the road on which the target electric drive trailer is currently traveling, the trailer mass of the target electric drive trailer, and the turning angle.

[0041] While the actual traction force and the expected traction force balance the comprehensive resistance borne by the trailer, it is also necessary to keep the trailer moving at a certain speed. The magnitude of the initial driving force will affect the direction of the actual traction force acting on the kingpin. The accuracy of the initial driving force is related to the accuracy of the comprehensive resistance. Among them, the comprehensive resistance includes at least two of air resistance, rolling resistance, gradient resistance, and acceleration resistance.

[0042] If the estimated comprehensive resistance is too small when determining the initial driving force, it may cause an axial forward thrust to act on the tractor on the kingpin while the initial driving force balances the comprehensive resistance borne by the trailer and keeps the trailer moving at a certain speed, which will affect the driving safety of the target electric drive trailer.

[0043] If the comprehensive resistance estimated when determining the initial driving force is too large, the initial driving force will not be able to balance the comprehensive resistance borne by the trailer, making it difficult to keep the trailer moving at a certain speed. In this case, an axial backward pulling force will be generated on the connecting pin and act on the tractor. Although this will not affect the driving safety of the target electric-drive trailer, it will affect the driving economy of the target electric-drive trailer. This is because the electric drive system of the trailer does not play an auxiliary driving role, and the electrical energy stored in the power battery in the electric drive system is not effectively released, resulting in the inability to effectively recover braking energy.

[0044] The comprehensive resistance considered when determining the initial driving force can be determined based on the vehicle dynamics model of the target electric-drive trailer under the condition that the actual traction force and the initial driving force are determined.

[0045] In an alternative embodiment, determining the comprehensive resistance of the trailer based on the trailer mass, current acceleration, the actual traction force, and the initial driving force of the target electric-drive trailer, and correcting the comprehensive resistance with a safety factor to obtain the corrected resistance, includes: based on determining the comprehensive resistance of the trailer; where F 阻 refers to the comprehensive resistance, F 牵引 refers to the actual traction force, refers to the initial driving force expected to be provided by the trailer, T is the initial torque expected to be output by the trailer, r is the tire radius of the trailer, M represents the trailer mass, and a represents the current acceleration; based on F 修正 = f × F 阻 correcting the comprehensive resistance; where f represents the safety factor, and the safety factor is a positive number; F 修正 refers to the corrected resistance.

[0046] Among them, is the vehicle dynamics model of the target electric-drive trailer. Among them, Ma is used to keep the trailer moving at a certain speed. Among them, the current acceleration can be calculated based on the current vehicle speed. The trailer mass of the target electric-drive trailer can be determined by using the least squares method based on the current vehicle speed, current acceleration, and current driving force. The current vehicle speed is the driving speed of the target electric-drive trailer at the current moment. It can be collected by a speed sensor configured on the target electric-drive trailer. Among them, the current driving force is used to balance the comprehensive resistance borne by the entire target electric-drive trailer and keep the entire target electric-drive trailer moving at the current speed.

[0047] It can be seen that the comprehensive resistance of the target electric-drive trailer is not only related to the actual traction force and the initial traction force, but also related to the trailer mass and the current acceleration, and both the trailer mass and the current acceleration are obtained by estimation. Affected by the estimation accuracy of the trailer mass and the current acceleration, the comprehensive resistance may not be accurate. To avoid the comprehensive resistance estimation being too small, resulting in an axial forward thrust on the connecting pin of the initial driving force acting on the tractor, which affects the driving safety of the target electric-drive trailer.

[0048] The estimated comprehensive resistance is corrected using a safety factor. Among them, the safety factor is the calibration data of the target electric-drive trailer and can be determined through a large number of experiments. The safety factor is not limited here. Exemplarily, the safety factor can be a positive number less than 2.

[0049] Among them, the corrected resistance is obtained by correcting the estimated comprehensive resistance using the safety factor. The corrected resistance is used to determine the actual driving force expected to be provided by the trailer. The actual driving force can balance the comprehensive resistance borne by the trailer, enable the trailer to continue to travel at a certain speed, and will not generate an axial forward thrust on the connecting pin acting on the tractor.

[0050] The above technical solution provides a practical comprehensive resistance determination solution, providing a data basis and technical support for subsequent correction of the comprehensive resistance and further determination of the actual driving force expected to be provided by the trailer.

[0051] Among them, the expected traction force refers to the force expected to act on the connecting pin in the target electric-drive trailer. The expected traction force needs to ensure that no axial forward thrust is generated on the connecting pin acting on the tractor.

[0052] In an alternative embodiment, the expected traction force is zero. That is to say, the actual driving force expected to be provided by the trailer needs to keep the trailer continuing to travel at a certain speed and cannot generate an axial forward thrust acting on the tractor on the connecting pin. By doing so, while ensuring the driving safety of the target electric-drive trailer, the driving economy of the target electric-drive trailer can also be improved.

[0053] Optionally, based on to determine the actual driving force expected to be provided by the trailer. Among them, refers to the actual driving force, T 限 is the actual torque expected to be output by the trailer, r is the tire radius of the trailer, F 修正 refers to the corrected resistance, F 预期 refers to the expected traction force, M represents the trailer mass, and a represents the current acceleration. Ma is used to keep the trailer continuing to travel at a certain speed. When the trailer mass, current acceleration, corrected resistance, and tire radius of the trailer are all determined, The actual torque for determining the desired trailer output can be calculated. Based on the actual torque and the tire radius of the trailer, the initial driving force provided by the desired trailer can be further determined.

[0054] The technical solution of this application acts on the acceleration stage of the target electric drive trailer. During the deceleration stage, the EBS (Electronic Brake Systems) is used for braking force distribution to ensure the driving safety and economy of the target electric drive trailer during the deceleration stage. The deceleration stage is not the focus of the research of this application's technical solution and will not be elaborated here.

[0055] The technical solution of this application provides an auxiliary drive control method for an electric drive trailer during the acceleration stage of the target electric drive trailer. By calculating the comprehensive resistance considered when determining the initial driving force based on the actual traction force acting on the hitch pin in the target electric drive trailer and the initial driving force provided by the desired trailer. Then, the safety factor is used to correct the comprehensive resistance to obtain the corrected resistance. Next, the expected traction force is introduced, and the expected traction force and the corrected resistance are used to determine the actual driving force provided by the desired trailer. This solves the problem that inaccurate estimation of the comprehensive resistance causes an axial forward thrust or axial backward pull on the hitch pin by the initial driving force, affecting the driving safety or economy of the target electric drive trailer, and is beneficial to improving the driving safety and economy of the target electric drive trailer.

[0056] In an optional embodiment, the determining the initial driving force provided by the desired trailer includes: querying a pre-stored torque mapping table based on the accelerator pedal opening of the target electric drive trailer to obtain the desired driving force of the target electric drive trailer; determining the initial torque output by the desired trailer based on the desired driving force, the economic parameters, and the efficiency parameters of the electric drive system; and determining the initial driving force provided by the desired trailer based on the initial torque and the tire radius of the trailer.

[0057] Among them, the accelerator pedal opening is the data reference for the ECU in the target electric drive trailer to control the driving force during the acceleration stage. The pre-stored torque mapping table records the mapping relationship between the driving force and the accelerator pedal opening. When the accelerator pedal opening is determined, the desired driving force of the target electric drive trailer can be determined by querying the pre-stored torque mapping table. Here, the desired driving force is for the entire target electric drive trailer and is used to balance the comprehensive resistance borne by the entire target electric drive trailer to keep the entire target electric drive trailer continue to travel at a certain speed. The ECU in the target electric drive trailer distributes the driving force to the tractor and the trailer based on the desired driving force.

[0058] For a trailer, based on the economic parameters and efficiency parameters of the electric drive system, the driving force is allocated to determine the initial torque expected to be output by the trailer. Among them, the economic parameters include: fuel saving rate, energy recovery efficiency, battery capacity and cost, system integration degree, etc. The efficiency parameters include: comprehensive efficiency of the electric drive axle, motor performance, thermal management efficiency, etc.

[0059] When the tire radius and the initial torque of the trailer are determined, the quotient of the initial torque and the tire radius is used as the initial driving force provided by the expected trailer.

[0060] The above technical solution provides a solution for allocating the driving force during the acceleration stage, which is used to determine the initial driving force provided by the expected trailer. It provides a data basis and technical support for using the initial driving force to determine the comprehensive resistance of the trailer.

[0061] Embodiment 2

[0062] Figure 3 It is a flowchart of the auxiliary drive control method for an electric drive trailer provided according to Embodiment 2. This embodiment is further optimized on the basis of the above embodiment.

[0063] As Figure 3 shown, the method includes:

[0064] S310. If it is detected that the target electric drive trailer is in an acceleration state, determine the initial driving force expected to be provided by the trailer.

[0065] S320. Obtain the current vehicle speed and the current driving force of the target electric drive trailer, and determine the current acceleration of the target electric drive trailer based on the current vehicle speed.

[0066] Among them, the current vehicle speed is the driving speed of the target electric drive trailer at the current moment, which can be collected by a speed sensor configured on the target electric drive trailer. Among them, the current driving force is used to balance the comprehensive resistance borne by the whole vehicle of the target electric drive trailer, so that the whole vehicle of the target electric drive trailer can continue to travel at the current speed.

[0067] Among them, the current acceleration of the target electric drive trailer refers to the rate of change of the current vehicle speed with time under the combined action of the current driving force provided by the target electric drive trailer and the comprehensive resistance at a certain instantaneous moment.

[0068] S330. Based on the current vehicle speed, the current acceleration and the current driving force, determine the trailer mass of the target electric drive trailer and the road slope of the road on which the target electric drive trailer is currently traveling.

[0069] Optionally, during the research and development of commercial vehicles for freight use, in order to save sensor costs, mass sensors and slope sensors are generally not installed. In engineering, based on the current vehicle speed, current acceleration, and current driving force, the least squares method and extended Kalman filter can be used to estimate the trailer mass of the target electric-drive trailer and the road slope of the road on which the target electric-drive trailer is currently traveling.

[0070] S340. Determine the turning angle between the tractor and the trailer based on the current coordinates of the tractor and the trailer.

[0071] Among them, the turning angle refers to the horizontal angle between the longitudinal axis of the tractor and the longitudinal axis of the trailer. The turning angle is determined based on the current coordinates of the tractor and the trailer.

[0072] S350. Determine the actual traction force acting on the kingpin in the target electric-drive trailer based on the trailer mass, the road slope, and the turning angle; where the kingpin is used to connect the tractor and the trailer in the target electric-drive trailer.

[0073] The actual traction force acting on the kingpin in the target electric-drive trailer is synthesized by the slope resistance, the current driving force, the turning centrifugal force component, and the rolling resistance. Among them, the slope resistance and the rolling resistance are related to the road slope and the trailer mass. The turning centrifugal force component is related to the turning angle and the trailer mass.

[0074] Based on the trailer mass, the road slope, and the turning angle, the actual traction force acting on the kingpin in the target electric-drive trailer can be determined.

[0075] S360. Determine the expected traction force acting on the kingpin in the target electric-drive trailer.

[0076] Among them, the expected traction force refers to the force expected to act on the kingpin in the target electric-drive trailer. The expected traction force is related to the actual business requirements. The expected traction force needs to ensure that no axial forward thrust is generated on the tractor at the kingpin, and it is an important parameter to ensure the driving safety of the target electric-drive trailer.

[0077] S370. Determine the comprehensive resistance of the trailer based on the trailer mass, the current acceleration, the actual traction force, and the initial driving force of the target electric-drive trailer, and correct the comprehensive resistance using a safety factor to obtain the corrected resistance.

[0078] S380. Determine the actual driving force expected to be provided by the trailer based on the expected traction force and the corrected resistance, and control the electric drive system of the trailer to output the actual driving force.

[0079] The technical solution of this application provides a practical solution for determining the actual driving force. By obtaining the current vehicle speed and current driving force of the target electric-drive trailer, and determining the current acceleration of the target electric-drive trailer based on the current vehicle speed. Based on the current vehicle speed, current acceleration, and current driving force, determine the trailer mass of the target electric-drive trailer and the road slope of the road on which the target electric-drive trailer is currently traveling; based on the current coordinates of the tractor and the trailer, determine the turning angle between the tractor and the trailer. Based on the trailer mass, road slope, and turning angle, determine the actual traction force acting on the hitch pin in the target electric-drive trailer. It provides data reference and technical support for subsequently using the actual traction force to determine the comprehensive resistance of the trailer.

[0080] In an optional embodiment, the determining the trailer mass of the target electric-drive trailer and the road slope of the road on which the target electric-drive trailer is currently traveling based on the current vehicle speed, the current acceleration, and the current driving force includes: using the least squares method to determine the trailer mass of the target electric-drive trailer based on the current vehicle speed, the current acceleration, and the current driving force; using the Kalman filter to determine the road slope of the road on which the target electric-drive trailer is currently traveling based on the trailer mass, the current vehicle speed, the current acceleration, and the current driving force.

[0081] Among them, the least squares method is used to estimate the trailer mass. Based on the vehicle dynamics principle, the least squares method analyzes the balance relationship between the driving force and the driving resistance, inputs multiple sets of real-time data into the optimization algorithm, and searches for the mass estimate value that best matches the current driving state. Since the least squares method can effectively handle measurement noise and random interference, an accurate trailer mass can be obtained.

[0082] After the trailer mass is determined, the road slope is further calculated in combination with the Kalman filter. The Kalman filter establishes a state space model including the slope angle, takes the trailer mass as a known parameter, and at the same time fuses the current acceleration and the current driving force. Through the "prediction-correction" iterative process, the dynamic change of the slope can be quickly tracked. The collaborative work of the two algorithms forms a complete closed-loop of parameter estimation. The mass estimation provides basic parameters for the slope calculation, and the slope information in turn optimizes the accuracy of the mass estimation. The least squares method and the Kalman filter jointly estimate the trailer mass of the target electric-drive trailer and the road slope of the road on which the target electric-drive trailer is currently traveling.

[0083] The above technical solution provides a practical solution for determining the road slope and trailer mass. By jointly estimating the trailer mass of the target electric-drive trailer and the road slope of the road on which the target electric-drive trailer is currently traveling using the least squares method and the Kalman filter, the accuracy of determining the trailer mass and the road slope is ensured, providing data support for using the trailer mass and the road slope to determine the actual traction force acting on the hitch pin in the target electric-drive trailer.

[0084] Embodiment III

[0085] Figure 4 FIG. 6 is a schematic structural diagram of an auxiliary drive control device for an electric drive trailer provided in Embodiment III of the present application. This embodiment is applicable to the scenario of controlling the auxiliary drive of an electric drive trailer when the electric drive trailer is in an acceleration stage. The device can be implemented by software and / or hardware and can be integrated into electronic devices such as intelligent terminals.

[0086] As Figure 4 shown, the device may include:

[0087] An initial driving force determination module 410, configured to determine an initial driving force expected to be provided by the trailer if it is detected that the target electric drive trailer is in an acceleration state;

[0088] A traction force determination module 420, configured to determine an actual traction force and an expected traction force acting on a hitch pin in the target electric drive trailer; wherein, the hitch pin is used to connect a tractor and a trailer in the target electric drive trailer;

[0089] A resistance correction module 430, configured to determine a comprehensive resistance of the trailer based on the trailer mass, current acceleration, the actual traction force, and the initial driving force of the target electric drive trailer, and correct the comprehensive resistance using a safety factor to obtain a corrected resistance;

[0090] An actual driving force determination module 440, configured to determine an actual driving force expected to be provided by the trailer based on the expected traction force and the corrected resistance, and control the electric drive system of the trailer to output the actual driving force.

[0091] The technical solution of the present application provides an auxiliary drive control method for an electric drive trailer for the acceleration stage of a target electric drive trailer. By calculating and determining a comprehensive resistance considered when determining the initial driving force according to the actual traction force acting on the hitch pin in the target electric drive trailer and the initial driving force expected to be provided by the trailer. Then, the comprehensive resistance is corrected using a safety factor to obtain a corrected resistance. Further, by introducing the expected traction force, the expected traction force and the corrected resistance are used to determine the actual driving force expected to be provided by the trailer. This solves the problem that inaccurate estimation of the comprehensive resistance causes an axial forward thrust or axial backward pull on the tractor at the hitch pin for the initial driving force, affecting the driving safety or economy of the target electric drive trailer, and is beneficial to improving the driving safety and economy of the target electric drive trailer.

[0092] Optionally, the traction force determination module 420 includes: an acceleration determination sub-module, configured to obtain the current vehicle speed and the current driving force of the target electric towed vehicle, and determine the current acceleration of the target electric towed vehicle based on the current vehicle speed; a mass and slope determination sub-module, configured to determine the trailer mass of the target electric towed vehicle and the road slope of the road on which the target electric towed vehicle is currently traveling based on the current vehicle speed, the current acceleration, and the current driving force; a turning angle determination sub-module, configured to determine the turning angle between the tractor and the trailer based on the current coordinates of the tractor and the trailer; and a traction force determination sub-module, configured to determine the actual traction force acting on the hitch pin of the target electric towed vehicle based on the trailer mass, the road slope, and the turning angle.

[0093] Optionally, the mass and slope determination sub-module includes: a mass determination unit, configured to determine the trailer mass of the target electric towed vehicle by using the least squares method based on the current vehicle speed, the current acceleration, and the current driving force; and a slope determination unit, configured to determine the road slope of the road on which the target electric towed vehicle is currently traveling by using the Kalman filter based on the trailer mass, the current vehicle speed, the current acceleration, and the current driving force.

[0094] Optionally, the initial driving force determination module 410 includes: an initial driving force determination sub-module, configured to query a pre-stored torque mapping table based on the accelerator pedal opening of the target electric towed vehicle to obtain the desired driving force of the target electric towed vehicle; an initial torque determination sub-module, configured to determine the initial torque desired for the trailer to output based on the desired driving force and the economic parameters and efficiency parameters of the electric drive system; and an initial driving force determination sub-module, configured to determine the initial driving force desired for the trailer to provide based on the initial torque and the tire radius of the trailer.

[0095] Optionally, the resistance correction module 430 includes: a resistance determination sub-module, configured to determine the comprehensive resistance of the trailer; where F 阻 refers to the comprehensive resistance, F 牵引 refers to the actual traction force, refers to the initial driving force desired for the trailer to provide, T is the initial torque desired for the trailer to output, r is the tire radius of the trailer, M represents the trailer mass, and a represents the current acceleration; a resistance correction sub-module, configured to correct the comprehensive resistance based on F 修正 = f × F 阻 ; where f represents the safety factor, and the safety factor is a positive number; F 修正 refers to the corrected resistance.

[0096] Optionally, the expected traction force is zero.

[0097] Optionally, the power type of the tractor in the target electric-drive trailer is fuel power, electric power, or hybrid fuel-electric power; the towing structure of the trailer in the target electric-drive vehicle is semi-trailer or full-trailer.

[0098] The auxiliary drive control device of the electric-drive trailer provided by the invention embodiments can execute the auxiliary drive control method of the electric-drive trailer provided by any embodiment of the present application, and has the corresponding performance modules and beneficial effects for executing the auxiliary drive control method of the electric-drive trailer.

[0099] Embodiment IV

[0100] Figure 5 FIG. shows a schematic structural diagram of an electronic device 510 that can be used to implement the embodiments. The electronic device 510 includes at least one processor 511, and a memory communicatively connected to the at least one processor 511, such as a read-only memory (ROM) 512, a random access memory (RAM) 513, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 511 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 512 or the computer program loaded from the storage unit 518 into the random access memory (RAM) 513. In the RAM 513, various programs and data required for the operation of the electronic device 510 can also be stored. The processor 511, the ROM 512, and the RAM 513 are connected to each other through a bus 514. The input / output (I / O) interface 515 is also connected to the bus 514.

[0101] Multiple components in the electronic device 510 are connected to the I / O interface 515, including: an input unit 516, such as a keyboard, a mouse, etc.; an output unit 517, such as various types of displays, speakers, etc.; a storage unit 518, such as a magnetic disk, an optical disc, etc.; and a communication unit 519, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 519 allows the electronic device 510 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0102] The processor 511 can be various general-purpose and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 511 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 511 executes the various methods and processes described above, such as the auxiliary drive control method of the electric-drive trailer.

[0103] In some embodiments, the auxiliary drive control method of the electric drive trailer can be implemented as a computer program, which is tangibly embodied in a computer-readable storage medium, such as storage unit 518. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 510 via the ROM 512 and / or the communication unit 519. When the computer program is loaded into the RAM 513 and executed by the processor 511, one or more steps of the auxiliary drive control method of the electric drive trailer described above can be executed. Alternatively, in other embodiments, the processor 511 can be configured to execute the auxiliary drive control method of the electric drive trailer in any other suitable manner (e.g., by means of firmware).

[0104] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems-on-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0105] The computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to the processors of a general-purpose computer, a dedicated computer, or other programmable auxiliary drive control devices of electric drive trailers, such that when the computer programs are executed by the processors, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0106] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0107] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0108] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., an auxiliary drive control server for an electric tow truck), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or in a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0109] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0110] It should be understood that various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved, and no limitation is imposed herein.

[0111] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. An auxiliary drive control method for an electrically driven trailer, characterized in that, The method includes: If it is detected that the target electric drive trailer is in an accelerating state, determine the initial driving force expected to be provided by the trailer; Determine the actual traction force and the expected traction force acting on the hitch pin in the target electric drive trailer; wherein, the hitch pin is used to connect the tractor and the trailer in the target electric drive trailer; Based on the trailer mass, the current acceleration, the actual traction force and the initial driving force of the target electric drive trailer, determine the comprehensive resistance of the trailer, and correct the comprehensive resistance with a safety factor to obtain the corrected resistance; Based on the expected traction force and the corrected resistance, determine the actual driving force expected to be provided by the trailer, and control the electric drive system of the trailer to output the actual driving force.

2. The method according to claim 1, wherein The determining the actual traction force acting on the hitch pin in the target electric drive trailer includes: Obtain the current vehicle speed and the current driving force of the target electric drive trailer, and determine the current acceleration of the target electric drive trailer based on the current vehicle speed; Based on the current vehicle speed, the current acceleration and the current driving force, determine the trailer mass of the target electric drive trailer and the road slope of the road on which the target electric drive trailer is currently traveling; Based on the current coordinates of the tractor and the trailer, determine the turning angle between the tractor and the trailer; Based on the trailer mass, the road slope and the turning angle, determine the actual traction force acting on the hitch pin in the target electric drive trailer.

3. The method according to claim 2, wherein The determining the trailer mass of the target electric drive trailer and the road slope of the road on which the target electric drive trailer is currently traveling based on the current vehicle speed, the current acceleration and the current driving force includes: Use the least squares method to determine the trailer mass of the target electric drive trailer based on the current vehicle speed, the current acceleration and the current driving force; Use the Kalman filter to determine the road slope of the road on which the target electric drive trailer is currently traveling based on the trailer mass, the current vehicle speed, the current acceleration and the current driving force.

4. The method according to claim 1, wherein The determining the initial driving force expected to be provided by the trailer includes: Based on the accelerator pedal opening of the target electric drive trailer, query the pre-stored torque map to obtain the expected driving force of the target electric drive trailer; Based on the expected driving force and the economic parameters and efficiency parameters of the electric drive system, determine the initial torque expected to be output by the trailer; Based on the initial torque and the tire radius of the trailer, determine the initial driving force expected to be provided by the trailer.

5. The method according to claim 2, wherein The determining the comprehensive resistance of the trailer based on the trailer mass, the current acceleration, the actual traction force and the initial driving force of the target electric drive trailer, and correcting the comprehensive resistance with a safety factor to obtain the corrected resistance includes: Based on determine the comprehensive resistance of the trailer; wherein, F 阻 refers to the comprehensive resistance, F 牵引 refers to the actual traction force, refers to the initial driving force expected to be provided by the trailer, T is the initial torque expected to be output by the trailer, r is the tire radius of the trailer, M represents the mass of the trailer, and a represents the current acceleration; Based on F 修正 = f × F 阻 correct the comprehensive resistance; where f represents the safety factor; F 修正 refers to the corrected resistance.

6. The method according to claim 1, wherein The expected traction force is zero.

7. The method according to any one of claims 1-5, characterized in that, The power type of the tractor in the target electric drive trailer is fuel power, electric power or hybrid power; the towing structure of the trailer in the target electric drive vehicle is semi-trailer or full-trailer.

8. An auxiliary drive control device for an electric drive trailer, characterized in that, The device includes: An initial driving force determination module, configured to determine the initial driving force expected to be provided by the trailer if it is detected that the target electric drive trailer is in an accelerating state; A traction force determination module, configured to determine the actual traction force and the expected traction force acting on the hitch pin in the target electric-drive trailer; wherein the hitch pin is used to connect the tractor and the trailer in the target electric-drive trailer. A resistance correction module, configured to determine the comprehensive resistance of the trailer based on the trailer mass, the current acceleration, the actual traction force, and the initial driving force of the target electric-drive trailer, and correct the comprehensive resistance with a safety factor to obtain the corrected resistance. An actual driving force determination module, configured to determine the actual driving force expected to be provided by the trailer based on the expected traction force and the corrected resistance, and control the electric drive system of the trailer to output the actual driving force.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the auxiliary drive control method for an electric-drive trailer according to any one of claims 1-7.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the auxiliary drive control method for an electric-drive trailer according to any one of claims 1-7.

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