Energy recovery torque distribution method, device, equipment, medium and product

Abstract

The invention discloses an energy recovery torque distribution method, device and equipment, a medium and a program product, and relates to the field of torque distribution. Comprising the steps that the empty load weight, the full load weight and the actual weight of the semitrailer, the preset first axle load proportion between a main vehicle and the trailer in the empty load state, the preset second axle load proportion between the main vehicle and the trailer in the full load state, the total torque required by energy recovery, the SOC level of a main vehicle battery and the SOC level of a trailer battery are obtained; determining an initial axle load proportion according to the empty load weight, the full load weight, the actual weight, the first axle load proportion and the second axle load proportion; and according to the initial axle load proportion, the total torque required for energy recovery, the SOC level of the main vehicle battery and the SOC level of the trailer battery, the main vehicle energy recovery torque and the trailer energy recovery torque are determined, energy can be fully recovered, and the energy recovery rate of the semitrailer is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of torque distribution, and in particular to an energy recovery torque distribution method, device, equipment, medium and program product. BACKGROUND

[0002] Brake energy recovery is one of the important technologies and features of modern electric vehicles and hybrid vehicles. On a general internal combustion engine vehicle, when the vehicle is decelerating and braking, the kinetic energy of the vehicle is converted into heat energy through the braking system and released into the atmosphere. However, on an electric vehicle or a hybrid vehicle, the kinetic energy that is wasted can be converted into electrical energy through brake energy recovery technology and stored in the battery.

[0003] At present, when the electric semi-trailer is performing energy recovery, the energy recovery is performed by the host vehicle where the driver is located, that is, the host vehicle is allocated all the energy recovery torque, which has the defect of low energy recovery rate. SUMMARY

[0004] The present application provides an energy recovery torque distribution method, device, equipment, medium and program product to improve the energy recovery efficiency of the semi-trailer.

[0005] In a first aspect, an embodiment of the present application provides an energy recovery torque distribution method, comprising:

[0006] obtaining the empty weight, the full load weight, the actual weight, the first axle load ratio between the host vehicle and the trailer in the preset empty state, the second axle load ratio between the host vehicle and the trailer in the preset full load state, the total energy recovery demand torque, the host vehicle battery SOC level and the trailer battery SOC level of the semi-trailer;

[0007] determining an initial axle load ratio according to the empty weight, the full load weight, the actual weight, the first axle load ratio and the second axle load ratio;

[0008] determining the host vehicle energy recovery torque and the trailer energy recovery torque according to the initial axle load ratio, the total energy recovery demand torque, the host vehicle battery SOC level and the trailer battery SOC level.

[0009] In a second aspect, an embodiment of the present application further provides an energy recovery torque distribution device, comprising:

[0010] an obtaining module configured to obtain the empty weight, the full load weight, the actual weight, the first axle load ratio between the host vehicle and the trailer in the preset empty state, the second axle load ratio between the host vehicle and the trailer in the preset full load state, the total energy recovery demand torque, the host vehicle battery SOC level and the trailer battery SOC level of the semi-trailer;

[0011] The first determining module is configured to determine an initial axle load ratio according to the empty weight, the full load weight, the actual weight, the first axle load ratio and the second axle load ratio.

[0012] The second determining module is configured to determine a tractor energy recovery torque and a trailer energy recovery torque according to the initial axle load ratio, the total energy recovery demand torque, the tractor battery SOC level and the trailer battery SOC level.

[0013] In a third aspect, an electronic device is provided, and the electronic device comprises:

[0014] at least one processor; and

[0015] a memory in communication with the at least one processor; wherein

[0016] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the energy recovery torque distribution method provided by any of the embodiments of the present application.

[0017] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the energy recovery torque distribution method of any of the embodiments of the present application when the processor executes the computer instructions.

[0018] In a fifth aspect, a computer program product is provided, and the computer program product comprises a computer program, and the computer program is used to implement the energy recovery torque distribution method of any of the embodiments of the present application when the computer program is executed by a processor.

[0019] The embodiments of the present application obtain the empty weight, the full load weight, the actual weight, the first axle load ratio between the tractor and the trailer in the preset empty state, the second axle load ratio between the tractor and the trailer in the preset full load state, the total energy recovery demand torque, the tractor battery SOC level and the trailer battery SOC level of the semitrailer; determine an initial axle load ratio according to the empty weight, the full load weight, the actual weight, the first axle load ratio and the second axle load ratio; determine a tractor energy recovery torque and a trailer energy recovery torque according to the initial axle load ratio, the total energy recovery demand torque, the tractor battery SOC level and the trailer battery SOC level, fully recover the braking energy of the electric trailer through energy management of the electric trailer, improve the energy recovery rate, the power saving rate and the economy of the whole vehicle, and prevent the folding effect caused by the inconsistent braking intensity of the tractor and the trailer.

[0020] It is to be understood that the details set forth herein do not limit the scope of the embodiments of the application to the specific embodiments described. Rather, the scope of the embodiments of the application is to be defined by the appended claims. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to make the technical solutions in the embodiments of the present application clearer, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0022] Figure 1A is a flow chart of a method for distributing energy recovery torque according to the first embodiment of the present application;

[0023] Figure 1B is a schematic diagram of a whole vehicle system of a host vehicle with a trailer according to the first embodiment of the present application;

[0024] Figure 2 is a flow chart of a method for distributing energy recovery torque according to the second embodiment of the present application;

[0025] Figure 3 is a structural schematic diagram of a device for distributing energy recovery torque according to the third embodiment of the present application;

[0026] Figure 4 is a structural diagram of an electronic device for implementing a method for distributing energy recovery torque according to the embodiments of the present application. DETAILED DESCRIPTION

[0027] In order to make the technical solutions in the embodiments of the present application clearer, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0028] It should be noted that the terms "first", "second", and the like in the description and claims of the application and the above drawings are used to distinguish between similar objects, and are not necessarily used to describe a particular sequential or chronological order. It should be understood that the data thus used can be interchanged, where appropriate, so that the embodiments of the application described herein can be carried out in other than the order shown or described herein. Furthermore, the terms "comprise" and "have", and any variations thereof, are intended to cover non-exclusive inclusion, for example, processes, methods, systems, products, or devices that include a series of steps or units not necessarily limited to those clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0029] In the technical solutions of the embodiments of the application, the acquisition, storage and application of the empty weight, full load weight, actual weight and the like are in line with the relevant legal regulations and do not violate public order and good customs.

[0030] Embodiment one

[0031] Figure 1A A flowchart of an energy recovery torque distribution method provided by the first embodiment of the application, the embodiment can be applicable to the case of determining the energy recovery torque of the host vehicle and the energy recovery torque of the trailer of the semitrailer, and the method can be executed by an energy recovery torque distribution device which can be realized in the form of hardware and / or software and specifically configured in an electronic device.

[0032] Referring to Figure 1A The energy recovery torque distribution method shown in the figure comprises:

[0033] S101, acquiring the empty weight, full load weight, actual weight of the semitrailer, the first axle load ratio between the host vehicle and the trailer in the preset empty state, the second axle load ratio between the host vehicle and the trailer in the preset full load state, the total energy recovery demand torque, the SOC level of the host vehicle battery and the SOC level of the trailer battery.

[0034] S102, determining the initial axle load ratio according to the empty weight, the full load weight, the actual weight, the first axle load ratio and the second axle load ratio.

[0035] S103, determining the energy recovery torque of the host vehicle and the energy recovery torque of the trailer according to the initial axle load ratio, the total energy recovery demand torque, the SOC level of the host vehicle battery and the SOC level of the trailer battery.

[0036] In the embodiment, the empty weight can be the weight of the semitrailer when no goods are loaded, the full load weight can be the weight of the semitrailer when loaded with goods, the actual weight can be the actual weight of the semitrailer when the energy recovery torque distribution method provided by the embodiment is executed. The first axle load ratio is the axle load ratio between the tractor and the trailer in the empty state, the second axle load ratio is the axle load ratio between the tractor and the trailer in the full load state, and the axle load ratio can be used to represent the proportion between the energy recovery torque distributed to the tractor and the total energy recovery torque required. The total energy recovery torque required can be the total energy recovery torque required by the driver, which can be determined according to the auxiliary brake gear selected by the driver. The SOC level of the tractor battery can be the SOC level of the battery of the tractor during the driving of the semitrailer, and the SOC level of the trailer battery can be the SOC level of the battery of the trailer during the driving of the semitrailer. The energy recovery torque of the tractor can be the energy recovery torque to be executed by the tractor. The energy recovery torque of the trailer can be the energy recovery torque to be executed by the trailer.

[0037] Specifically, the empty weight, the full load weight, the first axle load ratio between the tractor and the trailer in the empty state, and the second axle load ratio between the tractor and the trailer in the full load state of the semitrailer are obtained in advance, and the total energy recovery torque required by the driver during driving and the SOC levels of the tractor battery and the trailer battery during driving are obtained. According to the empty weight, the full load weight, the actual weight, the first axle load ratio and the second axle load ratio, the initial axle load ratio is determined. According to the initial axle load ratio, the total energy recovery torque required, the SOC level of the tractor battery and the SOC level of the trailer battery, the energy recovery torque of the tractor and the energy recovery torque of the trailer are determined.

[0038] Optionally, the initial axle load ratio is determined according to the empty weight, the full load weight, the actual weight, the first axle load ratio and the second axle load ratio, which comprises: calculating a first difference value between the actual weight and the empty weight, and calculating a second difference value between the full load weight and the empty weight; calculating a first ratio between the first difference value and the second difference value; calculating a third difference value between the first axle load ratio and the second axle load ratio; determining the initial axle load ratio according to the first axle load ratio, the third difference value and the first ratio.

[0039] Exemplarily, the initial axle load ratio can be determined by the following formula:

[0040] ;

[0041] Wherein, represents the initial axle load ratio; represents the first axle load ratio; represents a second axle load ratio; represents an actual weight; represents an empty weight; represents a full load weight.

[0042] It can be understood that, by using the above technical scheme, the first difference value between the actual weight and the empty weight is calculated, and the second difference value between the full load weight and the empty weight is calculated; the first ratio between the first difference value and the second difference value is calculated; the third difference value between the first axle load ratio and the second axle load ratio is calculated; and the initial axle load ratio is determined according to the first axle load ratio, the third difference value and the first ratio, thereby improving the accuracy of the initial axle load ratio.

[0043] Optionally, Figure 1B is a schematic diagram of a whole vehicle system of a main vehicle with a trailer. As shown in the figure, the whole vehicle system is matched with an electric main vehicle 1 and an electric trailer 2, and the front and rear vehicles are connected through a traction pin and a traction seat. Figure 1B The front and rear vehicles are each independently provided with related battery systems, electrified auxiliary equipment, power distribution units and cooling systems and other peripheral electrical equipment.

[0044] The electric main vehicle of the present application takes a 6x4 configuration as an example, and the middle axle and the rear axle are provided with two electric drive axles, i.e., an electric drive axle 3 and an electric drive axle 4; the electric trailer has three axles, and the middle axle is an electric drive axle 5, but it should be noted that the present application is not limited to this configuration. Specifically, in each drive axle, there is one motor, which functions to convert electrical energy into mechanical energy to drive the vehicle to travel, and one automatic gearbox, which functions to automatically adjust the transmission ratio to optimize work efficiency, and one electric drive axle controller, which functions to receive the required torque, execute torque output, and send the actual torque.

[0045] In addition, the electric main vehicle includes a main vehicle control system, which functions to coordinate the controllers of the main vehicle and control the torque output of the motor of the main vehicle, and the electric trailer includes a trailer control system, which functions to coordinate the controllers of the trailer and control the torque output of the motor of the trailer.

[0046] The embodiment of the present application acquires the empty weight, full load weight, actual weight, first axle load ratio between the tractor and the trailer in the preset empty state, second axle load ratio between the tractor and the trailer in the preset full load state, total energy recovery demand torque, SOC level of the tractor battery and SOC level of the trailer battery; determines the initial axle load ratio according to the empty weight, full load weight, actual weight, first axle load ratio and second axle load ratio; determines the tractor energy recovery torque and the trailer energy recovery torque according to the initial axle load ratio, total energy recovery demand torque, SOC level of the tractor battery and SOC level of the trailer battery, fully recovers the braking energy of the electric trailer through the energy management of the electric trailer, improves the energy recovery rate, power saving rate and economy of the whole vehicle, and prevents the folding effect caused by the inconsistent braking intensity of the tractor and the trailer.

[0047] Embodiment two

[0048] Figure 2 The flow chart of the energy recovery torque distribution method provided by the second embodiment of the present application, the embodiment of the present application optimizes and improves the determination operation of the tractor energy recovery torque and the trailer energy recovery torque on the basis of the technical solutions of the above-mentioned embodiments.

[0049] Further, the "determining the initial axle load ratio according to the empty weight, full load weight, actual weight, first axle load ratio and second axle load ratio" is refined as "if the SOC level of the tractor battery meets a first condition and the SOC level of the trailer battery meets the first condition, determining the first torque of the tractor and the first torque of the trailer according to the initial axle load ratio and the total energy recovery demand torque; the first condition is that the SOC level of the battery is greater than or equal to a first SOC threshold value; determining the conversion braking torque of the tractor according to the first torque of the tractor, the SOC level of the tractor battery and the first SOC level threshold value; determining the conversion braking torque of the trailer according to the first torque of the trailer, the SOC level of the trailer battery and the first SOC level threshold value; determining the energy recovery torque of the tractor as the difference between the first torque of the tractor and the conversion braking torque of the tractor; determining the energy recovery torque of the trailer as the difference between the first torque of the trailer and the conversion braking torque of the trailer", so as to perfect the determination operation of the tractor energy recovery torque and the trailer energy recovery torque.

[0050] It should be noted that the parts not described in detail in the embodiments of the present application can refer to the descriptions of the foregoing embodiments.

[0051] Referring to Figure 2 The energy recovery torque distribution method shown in the figure comprises:

[0052] S201, obtain the empty weight, the full load weight, the actual weight, the first axle load ratio between the tractor and the trailer in the preset empty state, the second axle load ratio between the tractor and the trailer in the preset full load state, the total torque required for energy recovery, the SOC level of the tractor battery and the SOC level of the trailer battery of the semi-trailer.

[0053] S202, determine the initial axle load ratio according to the empty weight, the full load weight, the actual weight, the first axle load ratio and the second axle load ratio.

[0054] S203, if the SOC level of the tractor battery meets a first condition and the SOC level of the trailer battery meets the first condition, then determine the first torque of the tractor and the first torque of the trailer according to the initial axle load ratio and the total torque required for energy recovery; the first condition is that the SOC level of the battery is greater than or equal to a first SOC threshold.

[0055] S204, determine the conversion braking torque of the tractor according to the first torque of the tractor, the SOC level of the tractor battery and the first SOC level threshold.

[0056] S205, determine the conversion braking torque of the trailer according to the first torque of the trailer, the SOC level of the trailer battery and the first SOC level threshold.

[0057] S206, determine the energy recovery torque of the tractor as the difference between the first torque of the tractor and the conversion braking torque of the tractor.

[0058] S207, determine the energy recovery torque of the trailer as the difference between the first torque of the trailer and the conversion braking torque of the trailer.

[0059] In this embodiment, the conversion braking torque of the tractor can be the amount of torque in the first torque of the tractor that is converted into mechanical braking torque to ensure the safety of the tractor battery. The conversion braking torque of the trailer can be the amount of torque in the first torque of the trailer that is converted into mechanical braking torque to ensure the safety of the trailer battery. The braking torque includes mechanical braking torque and energy recovery torque, the mechanical braking torque is used to consume energy during vehicle braking, and the energy recovery torque can be used for energy recovery during vehicle braking.

[0060] Specifically, the first torque of the tractor is determined according to the initial axle load ratio and the total torque required for energy recovery; for example, the first torque of the tractor can be determined by the following formula:

[0061] ;

[0062] wherein, the first torque of the tractor is represented by T1; represents the total torque demand for energy recovery;

[0063] According to the initial axle load ratio and the total torque demand for energy recovery, a trailer first torque is determined; for example, the trailer first torque can be determined by the following formula:

[0064] ;

[0065] wherein, represents the trailer first torque.

[0066] According to the host vehicle first torque, the host vehicle battery SOC level, and the first SOC level threshold, a host vehicle converted brake torque is determined; for example, the host vehicle converted brake torque can be determined by the following formula:

[0067] ;

[0068] wherein, represents the host vehicle converted brake torque; represents the host vehicle battery SOC level; represents the first SOC level threshold;

[0069] According to the trailer first torque, the trailer battery SOC level, and the first SOC level threshold, a trailer converted brake torque is determined; for example, the trailer converted brake torque can be determined by the following formula:

[0070] ;

[0071] wherein, represents the trailer converted brake torque; represents the trailer battery SOC level.

[0072] A difference between the host vehicle first torque and the host vehicle converted brake torque is determined as a host vehicle energy recovery torque; for example, the host vehicle energy recovery torque can be determined by the following formula:

[0073] ;

[0074] wherein, represents the host vehicle energy recovery torque.

[0075] A difference between the trailer first torque and the trailer converted brake torque is determined as a trailer energy recovery torque; for example, the trailer energy recovery torque can be determined by the following formula:

[0076] ;

[0077] wherein, The trailer energy recovery torque is represented.

[0078] Optionally, the determining the tractor energy recovery torque and the trailer energy recovery torque according to the initial axle load ratio, the total energy recovery required torque, the SOC level of the battery of the tractor and the SOC level of the battery of the trailer comprises:

[0079] If the SOC level of the battery of the tractor meets the first condition and the SOC level of the battery of the trailer meets a second condition, the difference between the first torque of the tractor and the converted braking torque of the tractor is determined as the tractor energy recovery torque, and the sum of the first torque of the trailer and the converted braking torque of the tractor is determined as the trailer energy recovery torque; the second condition is that the SOC level of the battery is less than the first SOC threshold value and greater than a second SOC level threshold value; the second SOC level threshold value is less than the first SOC level threshold value.

[0080] Exemplarily, the tractor energy recovery torque can be determined by the following formula:

[0081] ;

[0082] Exemplarily, the trailer energy recovery torque can be determined by the following formula:

[0083] ;

[0084] It can be understood that, by using the above technical solution, the converted braking torque of the tractor can be allocated to the trailer for energy recovery, so as to focus on faster increasing the SOC level of the battery of the trailer, and avoid the situation that energy is wasted due to that the SOC level of the battery of the tractor reaches the upper limit too fast and energy cannot be continuously recovered, thereby improving the energy recovery rate.

[0085] Optionally, the determining the tractor energy recovery torque and the trailer energy recovery torque according to the initial axle load ratio, the total energy recovery required torque, the SOC level of the battery of the tractor and the SOC level of the battery of the trailer comprises: if the SOC level of the battery of the tractor meets the first condition and the SOC level of the battery of the trailer meets a third condition, the tractor energy recovery torque is determined as zero torque, and the total energy recovery required torque is determined as the trailer energy recovery torque; the third condition is that the SOC level of the battery is less than the second SOC level threshold value; otherwise, the first torque of the tractor is determined as the tractor energy recovery torque, and the first torque of the trailer is determined as the trailer energy recovery torque.

[0086] If the tractor battery SOC level meets the first condition and the trailer battery SOC level meets the third condition, the tractor energy recovery torque is determined as zero torque, and the total energy recovery demand torque is determined as the trailer energy recovery torque. Exemplarily, the tractor energy recovery torque can be determined by the following formula:

[0087] ;

[0088] Exemplarily, the trailer energy recovery torque can be determined by the following formula:

[0089] ;

[0090] If the tractor battery SOC level meets the second condition or the third condition, the tractor first torque is determined as the tractor energy recovery torque, and the trailer first torque is determined as the trailer energy recovery torque.

[0091] It can be understood that, by using the above technical solution, if the tractor battery SOC level meets the first condition and the trailer battery SOC level meets the third condition, the tractor energy recovery torque is determined as zero torque, and the total energy recovery demand torque is determined as the trailer energy recovery torque, so that energy recovery is only performed by the trailer, energy waste is avoided, and the energy recovery rate is improved.

[0092] Optionally, the method further includes: if the tractor battery SOC level meets the second condition or the third condition and the trailer battery SOC level meets the first condition, the initial axle load ratio is continuously updated according to a preset increasing rate, so as to update the tractor energy recovery torque and the trailer energy recovery torque; the change amplitude and the change rate of the articulation angle are continuously monitored; if the change amplitude of the articulation angle is greater than or equal to a preset amplitude threshold or the change rate of the articulation angle is greater than or equal to a preset change rate threshold, the updating of the initial axle load ratio is stopped, so as to stop the updating of the tractor energy recovery torque and the trailer energy recovery torque.

[0093] The hinged angle can be an included angle between a main vehicle orientation axis of the semitrailer and a trailer orientation axis. Specifically, if the main vehicle battery SOC level meets the second condition or the third condition, and the trailer battery SOC level meets the first condition, the initial axle load ratio is continuously updated according to the preset increasing rate, so as to update the main vehicle energy recovery torque and the trailer energy recovery torque in real time; the change amplitude and the change rate of the hinged angle are continuously monitored; if the change amplitude of the hinged angle is greater than or equal to a preset amplitude threshold, or the change rate of the hinged angle is greater than or equal to a preset change rate threshold, the updating of the initial axle load ratio is stopped, so as to stop updating the main vehicle energy recovery torque and the trailer energy recovery torque, thereby maintaining the main vehicle energy recovery torque and the trailer energy recovery torque at the time when the updating is stopped to perform energy recovery.

[0094] It can be understood that, by using the above technical solution, the main vehicle energy recovery torque can be continuously increased by continuously increasing the initial axle load ratio, so as to increase the battery SOC level of the main vehicle as soon as possible; during the continuous increasing process, the change amplitude and the change rate of the hinged angle are monitored, if the change amplitude of the hinged angle is greater than or equal to a preset amplitude threshold, or the change rate of the hinged angle is greater than or equal to a preset change rate threshold, the updating of the initial axle load ratio is stopped, so as to stop updating the main vehicle energy recovery torque and the trailer energy recovery torque, thereby maintaining the main vehicle energy recovery torque and the trailer energy recovery torque at the time when the updating is stopped to perform energy recovery, thereby avoiding that the trailer pushes the main vehicle, and improving the safety during the braking process of the semitrailer.

[0095] In the embodiment of the application, if the main vehicle battery SOC level meets the first condition, and the trailer battery SOC level meets the first condition, the main vehicle first torque and the trailer first torque are determined according to the initial axle load ratio and the total energy recovery demand torque; the first condition is that the battery SOC level is greater than or equal to a first SOC threshold; the main vehicle converted braking torque is determined according to the main vehicle first torque, the main vehicle battery SOC level and the first SOC level threshold; the trailer converted braking torque is determined according to the trailer first torque, the trailer battery SOC level and the first SOC level threshold; the difference between the main vehicle first torque and the main vehicle converted braking torque is determined as the main vehicle energy recovery torque; and the difference between the trailer first torque and the trailer converted braking torque is determined as the trailer energy recovery torque, so that part of the energy recovery torque can be converted into braking torque under the condition that the battery SOC levels of the main vehicle and the trailer are both high, thereby reducing the energy recovery torque and improving the safety of the battery.

[0096] Embodiment three

[0097] Figure 3This is a schematic diagram of an energy recovery torque distribution device provided in Embodiment 3 of the present invention. This embodiment of the invention is applicable to situations where the energy recovery torque of the main vehicle and the trailer of a semi-trailer are determined. The device can execute an energy recovery torque distribution method and can be implemented in hardware and / or software. The device can be configured in an electronic device.

[0098] like Figure 3 The energy recovery torque distribution device shown includes: an acquisition module 301, a first determining module 302, and a second determining module 303. Wherein,

[0099] The acquisition module 301 is used to acquire the semi-trailer's unloaded weight, fully loaded weight, actual weight, preset first axle load ratio between the main vehicle and the trailer under unloaded conditions, preset second axle load ratio between the main vehicle and the trailer under fully loaded conditions, total torque required for energy recovery, main vehicle battery SOC level and trailer battery SOC level.

[0100] The first determining module 302 is used to determine the initial axle load ratio based on the unloaded weight, the fully loaded weight, the actual weight, the first axle load ratio, and the second axle load ratio.

[0101] The second determining module 303 is used to determine the energy recovery torque of the main vehicle and the energy recovery torque of the trailer based on the initial axle load ratio, the total torque required for energy recovery, the SOC level of the main vehicle battery and the SOC level of the trailer battery.

[0102] This invention employs an acquisition module to acquire the semi-trailer's unloaded weight, fully loaded weight, actual weight, a preset first axle load ratio between the tractor and trailer under unloaded conditions, a preset second axle load ratio between the tractor and trailer under fully loaded conditions, total torque required for energy recovery, tractor battery SOC level, and trailer battery SOC level. A first determination module determines an initial axle load ratio based on the unloaded weight, fully loaded weight, actual weight, first axle load ratio, and second axle load ratio. A second determination module determines the tractor energy recovery torque and trailer energy recovery torque based on the initial axle load ratio, total torque required for energy recovery, tractor battery SOC level, and trailer battery SOC level. Through energy management of the electric trailer, the braking energy of the electric trailer is fully recovered, improving the overall vehicle's energy recovery rate, energy saving rate, and economy, and preventing the folding effect caused by inconsistent braking intensity between the tractor and trailer.

[0103] Optionally, the second determining module 303 includes:

[0104] The first determining unit is configured to determine a first torque of the host vehicle and a first torque of the trailer according to the initial axle load ratio and the total energy recovery demand torque if the battery SOC level of the host vehicle meets a first condition and the battery SOC level of the trailer meets the first condition, wherein the first condition is that the battery SOC level is greater than or equal to a first SOC threshold value.

[0105] The second determining unit is configured to determine a converted brake torque of the host vehicle according to the first torque of the host vehicle, the battery SOC level of the host vehicle and the first SOC level threshold value.

[0106] The third determining unit is configured to determine a converted brake torque of the trailer according to the first torque of the trailer, the battery SOC level of the trailer and the first SOC level threshold value.

[0107] The fourth determining unit is configured to determine a difference between the first torque of the host vehicle and the converted brake torque of the host vehicle as an energy recovery torque of the host vehicle.

[0108] The fifth determining unit is configured to determine a sum of the first torque of the trailer and the converted brake torque of the trailer as an energy recovery torque of the trailer.

[0109] Optionally, the second determining module 303 comprises:

[0110] The sixth determining unit is configured to determine a difference between the first torque of the host vehicle and the converted brake torque of the host vehicle as an energy recovery torque of the host vehicle and determine a sum of the first torque of the trailer and the converted brake torque of the host vehicle as an energy recovery torque of the trailer if the battery SOC level of the host vehicle meets a first condition and the battery SOC level of the trailer meets a second condition, wherein the second condition is that the battery SOC level is less than the first SOC threshold value and greater than a second SOC level threshold value, and the second SOC level threshold value is less than the first SOC level threshold value.

[0111] Optionally, the second determining module 303 comprises:

[0112] The seventh determining unit is configured to determine the energy recovery torque of the host vehicle as zero torque and determine the total energy recovery demand torque as the energy recovery torque of the trailer if the battery SOC level of the host vehicle meets the first condition and the battery SOC level of the trailer meets a third condition, wherein the third condition is that the battery SOC level is less than the second SOC level threshold value.

[0113] The eighth determining unit is configured to determine the first torque of the host vehicle as the energy recovery torque of the host vehicle and determine the first torque of the trailer as the energy recovery torque of the trailer if not.

[0114] Optionally, the device further comprises:

[0115] The update module is used to continuously update the initial axle load ratio according to a preset increase rate if the SOC level of the main vehicle battery meets the second or third condition and the SOC level of the trailer battery meets the first condition, so as to update the energy recovery torque of the main vehicle and the energy recovery torque of the trailer.

[0116] The monitoring module is used to continuously monitor the magnitude and rate of change of the hinge angle;

[0117] The pause module is used to stop updating the initial axle load ratio if the change amplitude of the hinge angle is greater than or equal to a preset amplitude threshold, or the change rate of the hinge angle is greater than or equal to a preset change rate threshold, so as to stop updating the energy recovery torque of the main vehicle and the energy recovery torque of the trailer.

[0118] Optionally, the first determining module 302 is specifically used for:

[0119] Calculate a first difference between the actual weight and the unloaded weight, and calculate a second difference between the fully loaded weight and the unloaded weight;

[0120] Calculate the first ratio between the first difference and the second difference;

[0121] Calculate the third difference between the first axle load ratio and the second axle load ratio;

[0122] The initial axle load ratio is determined based on the first axle load ratio, the third difference, and the first ratio.

[0123] The energy recovery torque distribution device provided in this embodiment of the invention can execute the energy recovery torque distribution method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the energy recovery torque distribution method.

[0124] Example 4

[0125] Figure 4 A schematic diagram of an energy recovery torque distribution device 410, which can be used to implement embodiments of the present invention, is shown. The energy recovery torque distribution device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The energy recovery torque distribution device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0126] like Figure 4 As shown, the energy recovery torque distribution device 410 includes at least one processor 411 and a memory, such as a read-only memory (ROM) 412 or a random access memory (RAM) 413, communicatively connected to the at least one processor 411. The memory stores computer programs executable by the at least one processor. The processor 411 can perform various appropriate actions and processes based on the computer program stored in the ROM 412 or loaded from storage unit 418 into the RAM 413. The RAM 413 may also store various programs and data required for the operation of the energy recovery torque distribution device 410. The processor 411, ROM 412, and RAM 413 are interconnected via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0127] Multiple components in the energy recovery torque distribution device 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, optical disk, etc.; and a communication unit 419, such as a network card, modem, wireless transceiver, etc. The communication unit 419 allows the energy recovery torque distribution device 410 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0128] Processor 411 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 411 performs the various methods and processes described above, such as the energy recovery torque distribution method.

[0129] In some embodiments, the energy recovery torque allocation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program may be loaded into and / or installed onto the energy recovery torque allocation device 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the energy recovery torque allocation method described above may be performed. Alternatively, in other embodiments, processor 411 may be configured to perform the energy recovery torque allocation method by any other suitable means (e.g., by means of firmware).

[0130] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0131] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable energy recovery torque distribution device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0132] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0133] To provide user interaction, the systems and techniques described herein can be implemented on an energy recovery torque distribution device, which includes: 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the energy recovery torque distribution device. Other types of devices can also be used to provide user interaction; 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 sound input, voice input, or tactile input).

[0134] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0135] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability.

[0136] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0137] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. 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 invention should be included within the scope of protection of this invention.

Claims

1. A method for distributing energy recovery torque, characterized in that, The method includes: The system acquires the semi-trailer's unloaded weight, fully loaded weight, actual weight, preset first axle load ratio between the main vehicle and trailer under unloaded conditions, preset second axle load ratio between the main vehicle and trailer under fully loaded conditions, total torque required for energy recovery, main vehicle battery SOC (State of Charge) level, and trailer battery SOC level. The initial axle load ratio is determined based on the unloaded weight, the fully loaded weight, the actual weight, the first axle load ratio, and the second axle load ratio. The energy recovery torque of the main vehicle and the energy recovery torque of the trailer are determined based on the initial axle load ratio, the total torque required for energy recovery, the SOC level of the main vehicle battery, and the SOC level of the trailer battery.

2. The method according to claim 1, characterized in that, The process of determining the main vehicle energy recovery torque and trailer energy recovery torque based on the initial axle load ratio, the total torque required for energy recovery, the main vehicle battery SOC level, and the trailer battery SOC level includes: If the SOC level of the main vehicle battery meets the first condition and the SOC level of the trailer battery meets the first condition, then the first torque of the main vehicle and the first torque of the trailer are determined according to the initial axle load ratio and the total torque required for energy recovery; the first condition is that the battery SOC level is greater than or equal to the first SOC threshold. The main vehicle conversion braking torque is determined based on the main vehicle's first torque, the main vehicle's battery SOC level, and the first SOC level threshold. The trailer conversion braking torque is determined based on the trailer's first torque, the trailer battery's SOC level, and the first SOC level threshold. The difference between the first torque of the main vehicle and the conversion braking torque of the main vehicle is determined as the energy recovery torque of the main vehicle. The difference between the trailer's first torque and the trailer's conversion braking torque is determined as the trailer's energy recovery torque.

3. The method according to claim 2, characterized in that, The process of determining the main vehicle energy recovery torque and trailer energy recovery torque based on the initial axle load ratio, the total torque required for energy recovery, the main vehicle battery SOC level, and the trailer battery SOC level includes: If the SOC level of the main vehicle battery meets the first condition and the SOC level of the trailer battery meets the second condition, then the difference between the first torque of the main vehicle and the conversion braking torque of the main vehicle is determined as the energy recovery torque of the main vehicle, and the sum of the first torque of the trailer and the conversion braking torque of the main vehicle is determined as the energy recovery torque of the trailer; the second condition is that the battery SOC level is less than the first SOC threshold and greater than the second SOC level threshold; the second SOC level threshold is less than the first SOC level threshold.

4. The method according to claim 3, characterized in that, The process of determining the main vehicle energy recovery torque and trailer energy recovery torque based on the initial axle load ratio, the total torque required for energy recovery, the main vehicle battery SOC level, and the trailer battery SOC level includes: If the SOC level of the main vehicle battery meets the first condition and the SOC level of the trailer battery meets the third condition, then the energy recovery torque of the main vehicle is determined to be zero torque, and the total energy recovery demand torque is determined to be the energy recovery torque of the trailer; the third condition is that the battery SOC level is less than the second SOC level threshold. Otherwise, the first torque of the main vehicle is determined as the energy recovery torque of the main vehicle, and the first torque of the trailer is determined as the energy recovery torque of the trailer.

5. The method according to claim 4, characterized in that, The method further includes: If the SOC level of the main vehicle battery meets the second or third condition, and the SOC level of the trailer battery meets the first condition, the initial axle load ratio is continuously updated according to the preset increase rate to update the energy recovery torque of the main vehicle and the energy recovery torque of the trailer. Continuously monitor the magnitude and rate of change of the hinge angle; If the change range of the hinge angle is greater than or equal to a preset range threshold, or the change rate of the hinge angle is greater than or equal to a preset change rate threshold, then the initial axle load ratio will be stopped from being updated, thereby stopping the updating of the main vehicle energy recovery torque and the trailer energy recovery torque.

6. The method according to claim 1, characterized in that, The step of determining the initial axle load ratio based on the unloaded weight, the fully loaded weight, the actual weight, the first axle load ratio, and the second axle load ratio includes: Calculate a first difference between the actual weight and the unloaded weight, and calculate a second difference between the fully loaded weight and the unloaded weight; Calculate the first ratio between the first difference and the second difference; Calculate the third difference between the first axle load ratio and the second axle load ratio; The initial axle load ratio is determined based on the first axle load ratio, the third difference, and the first ratio.

7. A device for distributing energy recovery torque, characterized in that, The device includes: The acquisition module is used to acquire the semi-trailer's unloaded weight, fully loaded weight, actual weight, preset first axle load ratio between the main vehicle and the trailer under unloaded conditions, preset second axle load ratio between the main vehicle and the trailer under fully loaded conditions, total torque required for energy recovery, main vehicle battery SOC level, and trailer battery SOC level. The first determining module is used to determine the initial axle load ratio based on the unloaded weight, the fully loaded weight, the actual weight, the first axle load ratio, and the second axle load ratio. The second determining module is used to determine the energy recovery torque of the main vehicle and the energy recovery torque of the trailer based on the initial axle load ratio, the total torque required for energy recovery, the SOC level of the main vehicle battery, and the SOC level of the trailer battery.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform an energy recovery torque distribution method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for allocating energy recovery torque according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method for distributing the energy recovery torque as described in any one of claims 1-6.

Images