Electric drive trailer cooperative control method and system, electronic equipment and storage medium

Abstract

The invention discloses an electric drive trailer cooperative control method and system, electronic equipment and a storage medium, and relates to the technical field of vehicles, and the method comprises the following steps: collecting main vehicle driving operation data, vehicle driving state data, trailer power part operation parameters and trailer solar energy system discharge power data; according to a preset distribution principle, distribution of driving, braking and auxiliary braking negative torque between the main vehicle and the electrically-driven trailer is carried out, and a torque distribution result is obtained; generating various torque requests by combining available charging and discharging power of a trailer power battery and available positive / negative torque of an electric drive axle, and generating a solar charging power request by combining solar discharging power and available charging power of the battery; data interaction is completed through a main trailer interaction CAN network and an independent CAN network in the trailer; according to various requests, driving, braking, auxiliary braking, energy recovery and solar charging control of the electrically-driven trailer are executed. According to the invention, efficient coordination of main suspension is realized, and the energy utilization rate and driving safety are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to an electric drive trailer cooperative control method, an electric drive trailer cooperative control system, electronic equipment, and storage medium. Background Technology

[0002] Electric trailers are an important technological direction for promoting the decarbonization of truck trains and have become the mainstream development trend for energy conservation and carbon reduction in commercial vehicles worldwide. Europe has made early progress in the field of integrated electric trailer-driven energy-saving truck trains, and key technologies such as electric trailers and train cooperative control are becoming increasingly mature, forming two typical technical routes: pure electric traction + electric trailer and fuel traction + electric trailer.

[0003] Existing technologies include Mercedes-Benz's eActros LongHaul all-electric tractor paired with the Krone electric trailer, and DAF's fuel-powered tractor paired with the ZF electric trailer system. These technologies, through independent electric drive for the trailer and reverse-draft braking energy recovery, can significantly improve the vehicle's driving range, meet the power supply needs of the superstructure, reduce energy consumption and operating costs, and enhance operational economics. This aligns with the development direction of low-carbon and zero-carbon industries, and has enormous market potential.

[0004] Currently, relevant policy and regulatory restrictions remain the main obstacle to its large-scale promotion.

[0005] Extensive research has been conducted in China on electric trailers, with existing technologies primarily focusing on optimizing specific control functions.

[0006] For example, the Chinese patent, titled "A Trailer Device and Control Method Based on New Energy Electric Drive Technology", application number CN119160303A, discloses the basic structure of the electric drive trailer and the cooperative control concept of the main trailer. It collects train acceleration and gradient information through acceleration sensors, gyroscopes, etc., to achieve closed-loop control of trailer driving and braking.

[0007] For example, the Chinese patent, titled "A Coordinated Control Method for AMT Shifting in Electric Trailer Vehicle Trains," patent number CN120096575A, optimizes the gear coordination control strategy for fuel-powered main vehicles and electric trailer trains, better responds to driving intentions, and improves the overall vehicle power performance.

[0008] In summary, existing patents and technical solutions have only realized some control functions of electric semi-trailers, and have not yet fully revealed the integrated control architecture and systematic control method of the main and trailer vehicles. There is still room for further innovation and improvement. Summary of the Invention

[0009] In view of this, the purpose of the present invention is to provide an electric drive trailer cooperative control method, an electric drive trailer cooperative control system, electronic equipment and storage medium, which aim to respond to driving intentions and improve vehicle power performance through a master-trailer integrated cooperative control architecture.

[0010] This invention provides the following solution:

[0011] According to one aspect of this application, a method for coordinated control of an electrically driven trailer is provided, comprising the following steps:

[0012] Collect driver operation data of the main vehicle, vehicle driving status data, operating parameters of trailer power components, and discharge power data of trailer solar system;

[0013] Based on the preset allocation principle, the driving torque, braking torque and auxiliary braking negative torque are allocated between the main vehicle and the electric drive trailer to obtain the torque allocation result;

[0014] By combining the available charging and discharging power of the trailer's power battery management system and the available positive / negative torque of the trailer's electric drive axle controller, the torque distribution results are calculated to generate trailer drive positive torque request, braking negative torque request and auxiliary braking negative torque request. At the same time, by combining the discharge power of the trailer's solar system and the available charging power of the power battery management system, the solar charging power request is calculated.

[0015] Based on the main vehicle-trailer interactive CAN network and the trailer's independent internal CAN network, the entire process of data interaction and transmission between the main vehicle and the trailer, and between various components of the trailer, is completed;

[0016] Based on the positive torque request for driving, the negative torque request for braking, the negative torque request for auxiliary braking, and the solar charging power request, the drive control, braking control, auxiliary braking control, energy recovery control, and solar charging control of the electric drive trailer are executed respectively.

[0017] Furthermore, the main vehicle driving operation signals include: the main vehicle accelerator pedal opening signal, the brake pedal opening signal, and the auxiliary brake switch trigger signal;

[0018] Vehicle driving status signals include: vehicle speed signal, road gradient signal, and vehicle gear signal;

[0019] The operating parameters of the trailer's power components include: the available charging and discharging power of the trailer's power battery, the available positive / negative torque output capability of the trailer's electric drive axle, and the real-time temperature signals of the trailer's core components.

[0020] Furthermore, based on preset allocation principles, the driving torque, braking torque, and auxiliary braking negative torque are allocated between the tractor and the electric trailer, resulting in the following torque allocation results:

[0021] According to the preset objective function and constraints, the corresponding torques are allocated under the driving condition, the cooperative EBS braking condition, and the main and trailer cooperative auxiliary braking condition, respectively.

[0022] Among them, the driving mode aims to optimize the overall energy consumption of the main and trailer vehicles, the coordinated EBS braking mode uses the consistent tire slip ratio of each axle as the allocation constraint, and the main and trailer coordinated auxiliary braking mode aims to maximize the recovery of braking energy under safety constraints.

[0023] Furthermore, including:

[0024] When calculating the torque distribution results, the generated torque requests are matched with the charging and discharging capacity of the trailer's power battery and the torque output capacity of the trailer's electric drive axle.

[0025] When calculating the power request for solar charging, the power request should be matched with the discharge capacity of the solar system and the charging needs of the power battery.

[0026] Furthermore, including:

[0027] The specific processes for implementing drive control, braking control, auxiliary braking control, energy recovery control, and solar charging control of an electric trailer are as follows:

[0028] In response to a positive drive torque request, the trailer electric drive axle is controlled to output the corresponding positive torque.

[0029] In response to a braking negative torque request, the trailer electric drive axle is controlled to output a corresponding negative torque.

[0030] If the negative torque output by the electric drive axle is less than the braking torque required, the trailer air brake system will be activated to supplement the braking torque.

[0031] In response to the auxiliary braking negative torque request, the trailer electric drive axle is controlled to output the corresponding negative torque;

[0032] During braking control and auxiliary braking control, the mechanical energy generated by braking is converted into electrical energy and stored in the trailer's power battery;

[0033] In response to a solar charging power request, the trailer's solar system is controlled to output electrical energy of the corresponding power to the power battery.

[0034] Furthermore, it also includes temperature control steps for the core components of the trailer: collecting real-time temperature signals of the trailer's power battery and electric drive axle, comparing them with preset temperature thresholds, and automatically starting or stopping the cooling or heating equipment based on the comparison results.

[0035] Furthermore, the preset temperature threshold is calibrated and adjusted online according to the actual working conditions.

[0036] According to two aspects of this application, an electric drive trailer cooperative control system is provided, comprising:

[0037] The system includes a data acquisition module, a torque distribution module, a torque calculation module, a data interaction module, and an execution control module.

[0038] The data acquisition module is used to collect data on the driving operation of the main vehicle, the vehicle's driving status, the operation of the trailer's power components, and the solar power generation.

[0039] The torque distribution module is used to distribute the driving torque, braking torque and auxiliary braking negative torque between the main and auxiliary vehicles according to preset principles.

[0040] The torque calculation module is used to calculate and generate trailer drive positive torque, braking and auxiliary braking negative torque requests by integrating the available charging and discharging power of the trailer power battery management system and the available positive / negative torque of the trailer electric drive axle controller.

[0041] It is also used to combine the discharge power of the trailer solar controller with the available charging power of the power battery management system to comprehensively calculate the power request for solar charging.

[0042] The data interaction module enables data transmission between the main vehicle and the trailer, as well as between various components of the trailer, based on the main vehicle-trailer interactive CAN network and the trailer's independent internal CAN network.

[0043] The execution control module is used to perform closed-loop control of trailer driving, braking, energy recovery, and solar charging based on the torque distribution results, torque calculation module's torque and power request results. Furthermore, the data acquisition module includes: a main vehicle acquisition unit and a trailer acquisition unit;

[0044] The main vehicle data acquisition unit is used to collect vehicle operation data and driving status data;

[0045] Vehicle operation data includes: operation data of the main vehicle accelerator pedal, brake pedal, and auxiliary brake switch;

[0046] Driving status data includes: vehicle speed, gradient, and gear position.

[0047] The trailer data acquisition unit is used to collect data on the available charge and discharge power of the trailer's power battery, the positive / negative torque output capacity of the electric drive axle, the temperature data of the trailer's core components, and the discharge power data of the solar system.

[0048] According to three aspects of this application, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0049] The memory stores a computer program, which, when executed by a processor, causes the processor to perform the steps of an electrically driven trailer cooperative control method.

[0050] According to four aspects of this application, a computer-readable storage medium is provided that stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of an electric drive trailer cooperative control method.

[0051] Compared with the prior art, the present invention has the following advantages:

[0052] This application, through its master-trailer collaborative control architecture and method, can support the transmission of information flow in multiple scenarios, including master-trailer collaborative drive, braking control, and solar cell power replenishment for electric trailers. This lays a solid foundation for the further design of fully functional electric trailers and has high practicality. Attached Figure Description

[0053] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0054] Figure 1 This is a flowchart of an electrically driven trailer cooperative control method provided by one or more embodiments of the present invention.

[0055] Figure 2 This is a framework diagram of an electric drive trailer cooperative control system provided by one or more embodiments of the present invention.

[0056] Figure 3 This is a flowchart of a method for coordinated control of an electrically driven trailer provided in a specific embodiment of the present invention.

[0057] Figure 4 This is an electronic device structural block diagram of an electric drive trailer cooperative control method provided by one or more embodiments of the present invention.

[0058] in, Figure 31-Electric drive trailer controller, 2-Main vehicle gateway, 3-Main vehicle controller, 4-Main vehicle EBS controller, 5-Electric drive trailer EBS controller, 6-Trailer water-cooled unit, 7-Trailer power battery management system, 8-Trailer electric drive axle controller, 9-Trailer multi-function controller, 10-Trailer DC-DC converter, 11-Trailer cooling water pump, 12-Trailer low-voltage lithium battery controller, 13-Trailer solar system controller, 14-Main vehicle accelerator pedal, 15-Main vehicle auxiliary brake switch, 16-Main vehicle brake pedal.

[0059] ①-Main trailer CANFD, ②-Main trailer EBS private CAN, ③-Electric drive trailer chassis CAN, ④-Electric drive trailer power CAN, ⑤-Electric drive trailer comfort CAN. Detailed Implementation

[0060] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0062] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0063] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0064] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0065] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0066] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0067] Figure 1 This is a flowchart of an electrically driven trailer cooperative control method provided by one or more embodiments of the present invention.

[0068] like Figure 1 As shown, it includes the following steps:

[0069] Step S1: Collect the main vehicle driving operation data, vehicle driving status data, trailer power component operating parameters, and trailer solar system discharge power data;

[0070] Specifically, the main vehicle driving operation signals include: the main vehicle accelerator pedal opening signal, the brake pedal opening signal, and the auxiliary brake switch trigger signal;

[0071] Vehicle driving status signals include: vehicle speed signal, road gradient signal, and vehicle gear signal;

[0072] The operating parameters of the trailer's power components include: the available charging and discharging power of the trailer's power battery, the available positive / negative torque output capability of the trailer's electric drive axle, and the real-time temperature signals of the trailer's core components.

[0073] By collecting real-time data from multiple dimensions, such as the driver's operation, driving status, trailer power components, and solar discharge power, the system achieves full-condition perception of the coordinated control of the driver and trailer.

[0074] Accurately acquiring throttle, brake, vehicle speed, gradient, gear, battery power, electric drive torque capacity, and component temperature provides reliable input for subsequent torque distribution, energy management, and thermal management, improving control precision and safety.

[0075] Step S2: According to the preset allocation principle, the driving torque, braking torque and auxiliary braking negative torque between the main vehicle and the electric drive trailer are allocated to obtain the torque allocation result.

[0076] Specifically, based on preset allocation principles, the driving torque, braking torque, and auxiliary braking negative torque are allocated between the tractor and the electric trailer, resulting in the following torque allocation results:

[0077] According to the preset objective function and constraints, the corresponding torques are allocated under the driving condition, the cooperative EBS braking condition, and the main and trailer cooperative auxiliary braking condition, respectively.

[0078] Among them, the driving mode aims to optimize the overall energy consumption of the main and trailer vehicles, the coordinated EBS braking mode uses the consistent tire slip ratio of each axle as the allocation constraint, and the main and trailer coordinated auxiliary braking mode aims to maximize the recovery of braking energy under safety constraints.

[0079] By differentiating between driving conditions, EBS braking conditions, and main-trailer coordinated auxiliary braking conditions, torque distribution is executed separately to achieve refined control in multiple scenarios.

[0080] When driving conditions aim to optimize the overall energy consumption of the main and trailer vehicles, the vehicle's electricity and fuel consumption should be reduced.

[0081] When EBS braking is coordinated with the constraint of consistent tire slip ratio on each axle, it improves braking stability, prevents fishtailing and skidding, and enhances driving safety.

[0082] When the main and trailer brakes work together to maximize braking energy recovery under safety constraints, energy utilization is improved and driving range is extended.

[0083] Step S3: Combine the available charging and discharging power of the trailer power battery management system and the available positive / negative torque of the trailer electric drive axle controller to calculate the torque distribution result and generate trailer drive positive torque request, braking negative torque request and auxiliary braking negative torque request. At the same time, combine the discharge power of the trailer solar system and the available charging power of the power battery management system to calculate the solar charging power request.

[0084] Specifically, in one embodiment, when calculating the torque distribution results, the generated torque requests are matched with the charging and discharging capacity of the trailer's power battery and the torque output capacity of the trailer's electric drive axle.

[0085] When calculating the power request for solar charging, the power request should be matched with the discharge capacity of the solar system and the charging needs of the power battery.

[0086] By combining the available charging and discharging power of the battery and the available torque of the electric drive axle, the distribution result is limited and corrected to match the torque request with the actual capacity of the components, thereby avoiding overcurrent, overvoltage, and overload, and protecting the power battery and electric drive system.

[0087] By combining the solar discharge power with the available battery charging power to generate a solar charging power request, the solar energy and the power battery can be charged in tandem, maximizing the use of clean energy and further reducing energy consumption.

[0088] Step S4: Based on the main vehicle-trailer interactive CAN network and the trailer's independent CAN network, complete the entire process of data interaction and transmission between the main vehicle and the trailer, and between various components of the trailer;

[0089] By adopting a dual-network architecture of main vehicle-trailer interactive CAN + independent CAN inside the trailer, real-time, reliable, and non-interfering communication between the main vehicle and the trailer, as well as between the internal components of the trailer, is ensured.

[0090] It meets the requirements of high real-time performance and high reliability of master-slave collaborative control, and avoids control anomalies caused by signal delay or conflict.

[0091] Step S5: Based on the positive torque request for driving, the negative torque request for braking, the negative torque request for auxiliary braking, and the solar charging power request, execute the drive control, braking control, auxiliary braking control, energy recovery control, and solar charging control of the electric drive trailer respectively.

[0092] By unifying the execution of drive, braking, auxiliary braking, energy recovery, and solar charging, integrated intelligent control of electric drive trailers is achieved.

[0093] When the electric braking is insufficient, the air braking will be automatically activated to supplement it, ensuring sufficient braking capacity while taking into account both braking efficiency and energy recovery.

[0094] The combination of regenerative braking and solar charging significantly improves energy efficiency and driving range.

[0095] Specifically, the process of executing drive control, braking control, auxiliary braking control, energy recovery control, and solar charging control for an electric trailer is as follows:

[0096] In response to a positive drive torque request, the trailer electric drive axle is controlled to output the corresponding positive torque.

[0097] In response to a braking negative torque request, the trailer electric drive axle is controlled to output a corresponding negative torque.

[0098] If the negative torque output by the electric drive axle is less than the braking torque required, the trailer air brake system will be activated to supplement the braking torque.

[0099] In response to the auxiliary braking negative torque request, the trailer electric drive axle is controlled to output the corresponding negative torque;

[0100] During braking control and auxiliary braking control, the mechanical energy generated by braking is converted into electrical energy and stored in the trailer's power battery;

[0101] In response to a solar charging power request, the trailer's solar system is controlled to output electrical energy of the corresponding power to the power battery.

[0102] In one embodiment, the method also includes a temperature control step for the core components of the trailer: collecting real-time temperature signals of the trailer's power battery and electric drive axle, comparing them with a preset temperature threshold, and automatically starting or stopping the cooling or heating equipment based on the comparison result.

[0103] Furthermore, the preset temperature threshold is calibrated and adjusted online according to the actual working conditions.

[0104] Specifically, through multi-source information perception, intelligent torque distribution under different working conditions, request generation under component capability constraints, reliable communication via dual CAN, integrated execution control, and thermal management of key components, the efficient, safe, and coordinated operation of the main vehicle and the electric drive trailer is achieved.

[0105] While ensuring braking safety and driving stability, it significantly improves energy utilization and driving range, while extending the service life of the power system, and is suitable for collaborative control scenarios of various electric drive trailers.

[0106] Figure 2 This is a framework diagram of an electric drive trailer cooperative control system provided by one or more embodiments of the present invention.

[0107] like Figure 2 As shown, it includes:

[0108] The system includes a data acquisition module, a torque distribution module, a torque calculation module, a data interaction module, and an execution control module.

[0109] The data acquisition module is used to collect data on the driving operation of the main vehicle, the vehicle's driving status, the operation of the trailer's power components, and the solar power generation.

[0110] The torque distribution module is used to distribute the driving torque, braking torque and auxiliary braking negative torque between the main and auxiliary vehicles according to preset principles.

[0111] The torque calculation module is used to calculate and generate trailer drive positive torque, braking and auxiliary braking negative torque requests by integrating the available charging and discharging power of the trailer power battery management system and the available positive / negative torque of the trailer electric drive axle controller.

[0112] It is also used to combine the discharge power of the trailer solar controller with the available charging power of the power battery management system to comprehensively calculate the power request for solar charging.

[0113] The data interaction module enables data transmission between the main vehicle and the trailer, as well as between various components of the trailer, based on the main vehicle-trailer interactive CAN network and the trailer's independent internal CAN network.

[0114] The execution control module is used to perform closed-loop control of trailer driving, braking, energy recovery, and solar charging based on the torque distribution results, the torque and power request results from the torque calculation module, and other relevant data. In one embodiment, the data acquisition module includes a main vehicle acquisition unit and a trailer acquisition unit.

[0115] The main vehicle data acquisition unit is used to collect vehicle operation data and driving status data;

[0116] Vehicle operation data includes: operation data of the main vehicle accelerator pedal, brake pedal, and auxiliary brake switch;

[0117] Driving status data includes: vehicle speed, gradient, and gear position.

[0118] The trailer data acquisition unit is used to collect data on the available charge and discharge power of the trailer's power battery, the positive / negative torque output capacity of the electric drive axle, the temperature data of the trailer's core components, and the discharge power data of the solar system.

[0119] Figure 3 This is a network topology diagram of electrically driven trailer cooperative control components provided in a specific embodiment of the present invention.

[0120] like Figure 3 As shown, the electric trailer and the main vehicle interact with each other via ①. When the main-trailer communication protocol is locked, the main vehicle can be a fuel / hybrid / pure electric vehicle, etc. The main-trailer EBS controller interacts with each other via ②, following the ISO11992 protocol. ③, ④, and ⑤ are the internal CAN of the electric trailer, which can operate independently for debugging, software upgrades, etc., and are decoupled from the main vehicle. Controllers 6 to 13 have data that needs to be exchanged with the main vehicle, and connect to the main vehicle via the 1-electric trailer controller.

[0121] In the implementation of master-slave collaborative driving:

[0122] The main vehicle controller 3 collects the accelerator pedal 14 opening signal of the main vehicle, and combines it with the current vehicle speed and gradient signals to distribute the torque between the main and trailer based on the principle of optimal energy consumption. The trailer drive torque request is transmitted to the trailer controller 1 through 3-2-1. The trailer controller 1 comprehensively considers the current available discharge power of the trailer power battery management system 7 and the current available positive torque of the trailer electric drive axle controller 8, and sends a positive torque request. The trailer water-cooled unit 6 and the low-pressure cooling water pump 11 monitor the temperature of each component of the trailer in real time, and turn on / off the cooling / heating function according to the predetermined threshold.

[0123] In an embodiment of primary-substitute coordinated EBS braking:

[0124] The main vehicle EBS controller 4 collects the opening signal of the main vehicle brake pedal 16, and combines it with signals such as the current vehicle speed and gradient to distribute the braking torque between the main vehicle and the trailer based on the principle of ensuring that the tire slip ratio of each axle is the same. The trailer braking torque request is transmitted to the trailer controller 1 through 4-5-1. The trailer controller 1 takes into account the current available charging power of the trailer power battery management system 7 and the current available negative torque of the trailer electric drive axle controller 8, and initiates a negative torque request to realize the recovery of braking energy of the electric drive trailer. If the negative torque of the trailer electric drive axle is less than the required trailer braking torque, the trailer TEBS controller 5 controls the air brake of each axle to make up for it.

[0125] In an embodiment of primary-substitute cooperative auxiliary braking:

[0126] The main vehicle controller 3 collects the signal from the main vehicle auxiliary brake switch 15, and combines it with signals such as current vehicle speed, slope and gear to distribute the negative torque between the main vehicle and trailer under the principle of maximizing braking energy recovery while ensuring safety. The negative torque request of the trailer is transmitted to the trailer controller 1 through 3-2-1. The trailer controller 1 comprehensively considers the current available charging power of the trailer power battery management system 7 and the current available negative torque of the trailer electric drive axle controller 8, and sends a negative torque request.

[0127] In an example of solar charging:

[0128] The trailer controller 1 collects the current discharge power signal of the trailer solar controller 13 and the current available charging power signal of the trailer power battery management system 7, and calculates the power request to the solar controller 13 to realize solar charging of the power battery.

[0129] Figure 4 This is an electronic device structural block diagram of an electric drive trailer cooperative control method provided by one or more embodiments of the present invention.

[0130] like Figure 4As shown, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0131] The memory stores a computer program that, when executed by a processor, causes the processor to perform the steps of an electric drive trailer cooperative control method.

[0132] This application also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of an electric drive trailer cooperative control method.

[0133] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0134] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for coordinated control of an electric-driven trailer, characterized in that, Includes the following steps: Collect driver operation data of the main vehicle, vehicle driving status data, operating parameters of trailer power components, and discharge power data of trailer solar system; Based on the preset allocation principle, the driving torque, braking torque and auxiliary braking negative torque are allocated between the main vehicle and the electric drive trailer to obtain the torque allocation result; By combining the available charging and discharging power of the trailer's power battery management system and the available positive / negative torque of the trailer's electric drive axle controller, the torque distribution results are calculated to generate trailer drive positive torque request, braking negative torque request, and auxiliary braking negative torque request. At the same time, by combining the discharge power of the trailer's solar system and the available charging power of the power battery management system, the solar charging power request is calculated. Based on the main vehicle-trailer interactive CAN network and the trailer's independent internal CAN network, the entire process of data interaction and transmission between the main vehicle and the trailer, and between various components of the trailer, is completed; Based on the positive drive torque request, negative brake torque request, negative auxiliary brake torque request, and solar charging power request, drive control, braking control, auxiliary braking control, energy recovery control, and solar charging control of the electric drive trailer are executed respectively.

2. The method for coordinated control of an electric-driven trailer according to claim 1, characterized in that, The main vehicle driving operation signals include: the main vehicle accelerator pedal opening signal, the brake pedal opening signal, and the auxiliary brake switch trigger signal; The vehicle driving status signals include: vehicle speed signal, road gradient signal, and vehicle gear signal; The operating parameters of the trailer power components include: the available charging and discharging power of the trailer power battery, the available positive / negative torque output capability of the trailer electric drive axle, and the real-time temperature signal of the trailer core components.

3. The method for coordinated control of an electric-driven trailer according to claim 1, characterized in that, The process involves allocating the driving torque, braking torque, and auxiliary braking negative torque between the tractor and the electric trailer according to a preset allocation principle, resulting in the following torque allocation results: According to the preset objective function and constraints, the corresponding torques are allocated under the driving condition, the cooperative EBS braking condition, and the main and trailer cooperative auxiliary braking condition, respectively. Among them, the driving mode is allocated with the goal of optimizing the overall energy consumption of the main engine and the trailer; The coordinated EBS braking condition uses the consistent tire slip ratio of each axle as the distribution constraint; The main and trailer coordinated auxiliary braking operation aims to maximize braking energy recovery under safety constraints.

4. The method for coordinated control of an electric-driven trailer according to claim 1, characterized in that, When calculating the torque distribution results, the generated torque requests are matched with the charging and discharging capacity of the trailer's power battery and the torque output capacity of the trailer's electric drive axle. When calculating the solar charging power request, the power request is matched with the discharge capacity of the solar system and the charging requirements of the power battery.

5. The electric drive trailer cooperative control method according to claim 1, characterized in that, The specific processes for executing drive control, braking control, auxiliary braking control, energy recovery control, and solar charging control of the electric trailer are as follows: In response to the drive positive torque request, the trailer electric drive axle is controlled to output the corresponding positive torque; In response to the braking negative torque request, the trailer electric drive axle is controlled to output the corresponding negative torque; If the negative torque output by the electric drive axle is less than the braking torque required, the trailer air brake system will be activated to supplement the braking torque. In response to the auxiliary braking negative torque request, the trailer electric drive axle is controlled to output the corresponding negative torque; During braking control and auxiliary braking control, the mechanical energy generated by braking is converted into electrical energy and stored in the trailer's power battery; In response to the solar charging power request, the trailer's solar system is controlled to output electrical energy of corresponding power to the power battery.

6. The electric drive trailer cooperative control method according to claim 5, characterized in that, It also includes temperature control steps for the core components of the trailer: collecting real-time temperature signals of the trailer's power battery and electric drive axle, comparing them with preset temperature thresholds, and automatically starting or stopping the cooling or heating equipment based on the comparison results; Furthermore, the preset temperature threshold is calibrated and adjusted online according to the actual working conditions.

7. A cooperative control system for an electric-driven trailer, characterized in that, include: The system includes a data acquisition module, a torque distribution module, a torque calculation module, a data interaction module, and an execution control module. The data acquisition module is used to collect the main vehicle driving operation data, vehicle driving status data, trailer power component operation data, and solar power generation data. The torque distribution module is used to distribute the driving torque, braking torque and auxiliary braking negative torque between the main and auxiliary components according to preset principles. The torque calculation module is used to calculate and generate trailer drive positive torque, braking and auxiliary braking negative torque requests by comprehensively considering the available charging and discharging power of the trailer power battery management system and the available positive / negative torque of the trailer electric drive axle controller. Used to combine the discharge power of the trailer solar controller with the available charging power of the power battery management system to comprehensively calculate the power request for solar charging; The data interaction module realizes data transmission between the master vehicle and the trailer, and between various components of the trailer, based on the master-trailer interactive CAN network and the independent CAN network inside the trailer; The execution control module is used to perform closed-loop control of trailer driving, braking, energy recovery and solar charging based on the torque distribution result, the torque and power request result of the torque calculation module.

8. The electric drive trailer cooperative control system according to claim 7, characterized in that, The data acquisition module includes: a main vehicle acquisition unit and a trailer acquisition unit; The main vehicle acquisition unit is used to collect vehicle operation data and driving status data; The vehicle operation data includes: operation data of the main vehicle accelerator pedal, brake pedal, and auxiliary brake switch; The driving status data includes: vehicle speed, gradient, and gear position. The trailer data acquisition unit is used to collect data on the available charge and discharge power of the trailer's power battery, the positive / negative torque output capability of the electric drive axle, the temperature data of the trailer's core components, and the discharge power data of the solar energy system.

9. An electronic device, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. The memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the electric drive trailer cooperative control method according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, It stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the electric drive trailer cooperative control method according to any one of claims 1-6.

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