Vehicle torque distribution methods, devices, processors, and electronic equipment

Abstract

This application discloses a method, apparatus, processor, and electronic device for torque distribution in a vehicle. The method includes: during vehicle operation, acquiring driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer, wherein the driving parameters represent the state of the main vehicle during operation; based on the driving parameters and the force, determining a first load borne by the drive unit of the main vehicle in the vertical direction and a second load borne by the drive unit of the trailer in the vertical direction; converting the first load to obtain a first axle load borne by the drive unit of the main vehicle in the vertical direction, and converting the second load to obtain a second axle load borne by the drive unit of the trailer in the vertical direction; and based on the first and second axle loads, distributing the required driving torque or braking torque of the vehicle to the main vehicle and the trailer to obtain a distribution result. This application solves the technical problem of low flexibility in vehicle torque distribution.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a torque distribution method, apparatus, processor, and electronic device for a vehicle. Background Technology

[0002] Currently, in the process of torque distribution in vehicles, the target drive torque of the trailer is often determined based on the initial drive torque of the tractor unit, the initial drive torque of the trailer, and the stability drive torque limit of the trailer. Similarly, the target braking torque of the trailer is determined based on the initial braking torque of the tractor unit, the initial braking torque of the trailer, and the stability braking torque limit of the trailer. Then, either the target drive torque or the target braking torque is distributed to the trailer.

[0003] However, the above-mentioned torque distribution method is limited by the stability drive torque limit of the trailer, which causes the torque distribution of the vehicle to be limited, resulting in the technical problem of low flexibility in the torque distribution of the vehicle.

[0004] There is currently no effective solution to the technical problem of low torque distribution flexibility in the aforementioned vehicles. Summary of the Invention

[0005] This application provides a method, apparatus, processor, and electronic device for torque distribution in a vehicle, to at least address the technical problem of low flexibility in torque distribution in vehicles.

[0006] According to one aspect of the embodiments of this application, a torque distribution method for a vehicle is provided. The method includes: during the driving process of the vehicle, acquiring driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer, wherein the driving parameters are used to represent the state of the main vehicle during driving; based on the driving parameters and the force, determining a first load borne by the drive device of the main vehicle in the vertical direction and a second load borne by the drive device of the trailer in the vertical direction; converting the first load to obtain a first axle load borne by the drive device of the main vehicle in the vertical direction, and converting the second load to obtain a second axle load borne by the drive device of the trailer in the vertical direction; and distributing the required driving torque or braking torque of the vehicle to the main vehicle and the trailer based on the first axle load and the second axle load to obtain a distribution result.

[0007] Optionally, the driving parameters include: the acceleration of the main vehicle and the output torque of the main vehicle. Determining the first load borne by the drive unit of the main vehicle in the vertical direction and the second load borne by the drive unit of the trailer in the vertical direction based on the driving parameters and the applied force includes: decoupling the acceleration of the main vehicle to obtain the acceleration of the trailer; determining the first load based on the acceleration of the main vehicle, the output torque of the main vehicle, and the applied force; and determining the second load based on the acceleration of the trailer, the output torque of the trailer, and the applied force.

[0008] Optionally, the acceleration of the main vehicle includes: a first acceleration of the main vehicle at a first moment and a second acceleration of the main vehicle at a second moment, wherein the first moment is earlier than the second moment; the output torque of the main vehicle includes: a first output torque of the main vehicle at a first moment and a second output torque of the main vehicle at a second moment; and the force includes: a first force exerted by the main vehicle on the trailer at a first moment and a second force exerted by the main vehicle on the trailer at a second moment. Determining the first load based on the acceleration, output torque, and force of the main vehicle includes: performing mass calculations on the first and second main vehicle output torques, the first and second forces, the first and second main vehicle accelerations to obtain the mass of the main vehicle; and performing load calculations on the mass, acceleration, forces, and characteristic parameters of the main vehicle to obtain the first load.

[0009] Optionally, the trailer's acceleration includes: a first trailer acceleration at a first moment and a second trailer acceleration at a second moment, with the first moment preceding the second moment; the trailer's output torque includes: a first trailer output torque at the first moment and a second trailer output torque at the second moment; and the force includes: a first force exerted by the tractor on the trailer at the first moment and a second force exerted by the tractor on the trailer at the second moment. Determining the second load based on the trailer's acceleration, output torque, and force includes: performing mass calculations on the first trailer output torque, second trailer output torque, first force, second force, first trailer acceleration, and second trailer acceleration to obtain the trailer's mass; and performing load calculations on the trailer's mass, acceleration, and characteristic parameters to obtain the second load.

[0010] Optionally, based on the first axle load and the second axle load, the required driving torque or braking torque of the vehicle is distributed to the tractor and trailer to obtain the distribution result, including: determining the first proportion of the first axle load in the first axle load and the second axle load, and the second proportion of the second axle load in the first axle load and the second axle load; when the vehicle is in a starting transient condition, the driving torque is further distributed to the tractor and trailer according to the first proportion and the second proportion to obtain the distribution result; when the vehicle is in a braking transient condition, the braking torque is distributed to the tractor and trailer according to the battery level of the trailer, the first proportion and the second proportion to obtain the distribution result.

[0011] Optionally, when the vehicle is in a starting transient condition, the drive torque is distributed to the tractor and trailer according to a first ratio and a second ratio to obtain a distribution result, including: when the vehicle is in a starting transient condition, the first drive torque under the first ratio is distributed to the tractor, and the second drive torque under the second ratio is distributed to the trailer to obtain a distribution result.

[0012] Optionally, when the vehicle is in a transient braking condition, the braking torque is distributed to the tractor and trailer according to the trailer's battery level, a first percentage, and a second percentage, to obtain a distribution result. This includes: when the vehicle is in a transient braking condition, in response to the battery level being greater than or equal to a battery level threshold, distributing the first braking torque at the first percentage to the tractor and distributing the second braking torque at the second percentage to the trailer, to obtain a distribution result; when the vehicle is in a transient braking condition, in response to the battery level being less than a battery level threshold, distributing the first braking torque at the first percentage and the second braking torque at the second percentage to the trailer, and stopping the distribution of the first and second braking torques to the tractor, to obtain a distribution result.

[0013] According to one aspect of the embodiments of this application, a torque distribution device for a vehicle is provided. The device may include: an acquisition unit, configured to acquire, during the driving of the vehicle, driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer, wherein the driving parameters are used to represent the state of the main vehicle during driving; a determination unit, configured to determine, based on the driving parameters and the force, a first load borne by the drive device of the main vehicle in the vertical direction and a second load borne by the drive device of the trailer in the vertical direction; a conversion unit, configured to convert the first load to obtain a first axle load borne by the drive device of the main vehicle in the vertical direction, and to convert the second load to obtain a second axle load borne by the drive device of the trailer in the vertical direction; and a distribution unit, configured to distribute the required driving torque or braking torque of the vehicle to the main vehicle and the trailer based on the first axle load and the second axle load, thereby obtaining a distribution result.

[0014] According to another aspect of the embodiments of this application, a processor is also provided. The processor is used to run a program, wherein the program is executed by the processor to perform the methods described in the embodiments of this application.

[0015] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of this application when it runs.

[0016] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided. This computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of the embodiments of this application.

[0017] According to another aspect of the embodiments of this application, a computer program product is also provided, the computer program product including a computer program, wherein the computer program implements the method in the embodiments of this application when executed by a processor.

[0018] According to another aspect of the embodiments of this application, a computer program product is also provided, including a non-volatile computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the method in the embodiments of this application.

[0019] According to another aspect of the embodiments of this application, a computer program is also provided, which, when executed by a processor, implements the methods described in the embodiments of this application.

[0020] In this embodiment, during vehicle operation, the driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer are acquired. Based on the driving parameters and the force, a first load borne by the drive unit of the main vehicle in the vertical direction and a second load borne by the drive unit of the trailer in the vertical direction are determined. The first load is converted to obtain a first axle load borne by the drive unit of the main vehicle in the vertical direction, and the second load is converted to obtain a second axle load borne by the drive unit of the trailer in the vertical direction. Based on the first and second axle loads, the required driving torque or braking torque of the vehicle is distributed to the main vehicle and the trailer to obtain the distribution result. In this embodiment of the application, when allocating the torque of a vehicle, after obtaining the driving parameters and the applied force, the first load borne by the driving device of the main vehicle in the vertical direction and the second load borne by the driving device of the trailer in the vertical direction can be determined by combining the driving parameters and the applied force. Then, the first load is converted to obtain the first axle load, and the second load is converted to obtain the second axle load. After combining the first axle load and the second axle load, the driving torque or braking torque can be allocated to the main vehicle and the trailer to obtain the allocation result. This achieves the purpose of reducing the limitations of torque allocation, thereby solving the technical problem of low flexibility in vehicle torque allocation, and thus achieving the technical effect of improving the flexibility of vehicle torque allocation. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a flowchart of a torque distribution method for a vehicle according to an embodiment of this application; Figure 2 This is a schematic diagram of the architecture of a traction vehicle based on distributed drive according to an embodiment of this application; Figure 3 This is a flowchart of a transient condition identification method according to an embodiment of this application; Figure 4(a) is a schematic diagram of a force analysis based on the dynamic axle load of the main vehicle according to an embodiment of this application; Figure 4(b) is a schematic diagram of a force analysis based on the dynamic axle load of a trailer according to an embodiment of this application; Figure 5 This is a flowchart of a distributed drive torque distribution method based on dynamic axle load ratio according to an embodiment of this application; Figure 6 This is a flowchart of a method for coordinated electric braking and energy recovery of a main trailer based on dynamic axle load, according to an embodiment of this application. Figure 7 This is a schematic diagram of a torque distribution device for a vehicle according to an embodiment of this application; Figure 8 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] According to an embodiment of this application, an embodiment of a torque distribution method for a vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] It should be noted that all information and data involved in this application (including but not limited to driving parameters and forces) are information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of such data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0026] According to an embodiment of this application, a torque distribution method for a vehicle is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than that shown here.

[0027] Figure 1 This is a flowchart of a torque distribution method for a vehicle according to an embodiment of this application, such as... Figure 1 As shown, the method may include the following steps.

[0028] Step S101: During the vehicle's operation, acquire the driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer.

[0029] In the technical solution provided by step S101 of this application, the aforementioned driving parameters can be used to represent the state of the main vehicle during driving. These driving parameters may include: the acceleration of the main vehicle and the output torque of the main vehicle.

[0030] In this embodiment, the state exhibited by the main vehicle during driving may include: the acceleration state and torque state exhibited by the main vehicle during driving.

[0031] In this embodiment, the aforementioned tractor unit can be connected to a trailer. For example, the tractor unit and trailer can be hinged to the towing seat via a towing pin, and the tractor unit can be an electric tractor unit, and the trailer can be an electric trailer. This is only an example and is not a specific limitation.

[0032] In this embodiment, during vehicle operation, the driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer are acquired. Optionally, this embodiment determines whether the transient window for collecting driving parameters is within a preset time interval. For example, the preset time interval can be the time window for the driving torque to rise from 0 to a value greater than the starting transient threshold, or the time window for the braking torque to rise from 0 to a value greater than the deceleration transient threshold. If it is determined that the transient window is within the preset time interval, the driving parameters are collected by the main vehicle's measurement unit, and the force exerted by the main vehicle on the trailer is collected by the sensing device between the main vehicle and the trailer. For example, the acceleration of the main vehicle is collected by the main vehicle's inertial measurement unit (IMU), and the longitudinal force exerted by the electric main vehicle on the electric trailer is collected by the force sensing coupling device, thereby achieving the purpose of acquiring driving parameters and forces.

[0033] Optionally, if it is determined that the transient window is outside the preset time interval, the change of the transient window continues to be monitored until the changed transient window is within the preset time interval. Then, the driving parameters are collected by the measurement unit of the main vehicle, and the force is collected by the sensing device between the main vehicle and the trailer.

[0034] Step S102: Based on driving parameters and forces, determine the first load borne by the drive unit of the tractor in the vertical direction and the second load borne by the drive unit of the trailer in the vertical direction.

[0035] In the technical solution provided in step S102 of this application, the drive unit of the main vehicle can be used to drive the main vehicle. For example, the drive unit of the main vehicle can be the rear axle of the main vehicle, that is, the drive axle of the main vehicle.

[0036] In this embodiment, the drive unit of the trailer can be used to drive the trailer. For example, the drive unit of the trailer can be a trailer axle, that is, the drive axle of the trailer.

[0037] In this embodiment, the aforementioned first load can be used to represent the load borne by the rear axle of the main vehicle in the vertical direction, that is, the dynamic vertical load of the rear axle of the main vehicle. For example, the aforementioned dynamic vertical load of the rear axle of the main vehicle can be... To express.

[0038] In this embodiment, the aforementioned second load can be used to represent the load borne by the trailer axle in the vertical direction, that is, the dynamic vertical load of the trailer axle. For example, the aforementioned dynamic vertical load of the trailer axle can be... To express.

[0039] In this embodiment, during vehicle operation, after acquiring the driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer, the first load borne by the main vehicle's drive unit in the vertical direction and the second load borne by the trailer's drive unit in the vertical direction are determined based on the driving parameters and the force. Optionally, this embodiment can determine the first load borne by the main vehicle's drive unit in the vertical direction by combining the main vehicle's acceleration, output torque, and force, and can determine the second load borne by the trailer's drive unit in the vertical direction by combining the trailer's acceleration, output torque, and force, thereby achieving the purpose of determining the first load and the second load.

[0040] Optionally, the mass of the tractor can be obtained by calculating the acceleration, output torque, and force of the tractor, and the mass of the trailer can be obtained by calculating the acceleration, output torque, and force of the trailer. A first load can be obtained by calculating the mass, acceleration, and force of the tractor, and a second load can be obtained by calculating the mass and acceleration of the trailer.

[0041] Step S103: Convert the first load to obtain the first axle load borne by the drive unit of the main vehicle in the vertical direction, and convert the second load to obtain the second axle load borne by the drive unit of the trailer in the vertical direction.

[0042] In the technical solution provided in step S103 of this application, the aforementioned first axle load can be used to represent the axle load borne by the rear axle of the main vehicle in the vertical direction, that is, the dynamic axle load of the rear axle of the main vehicle. For example, the aforementioned dynamic axle load of the rear axle of the main vehicle can be used as... To express.

[0043] In this embodiment, the aforementioned second axle load can be used to represent the axle load borne by the trailer axle in the vertical direction, that is, the trailer axle dynamic axle load. For example, the aforementioned trailer axle dynamic axle load can be... To express.

[0044] In this embodiment, after determining the first load borne by the drive unit of the main vehicle in the vertical direction and the second load borne by the drive unit of the trailer in the vertical direction based on driving parameters and forces, the first load is converted to obtain the first axle load borne by the drive unit of the main vehicle in the vertical direction, and the second load is converted to obtain the second axle load borne by the drive unit of the trailer in the vertical direction. Optionally, this embodiment, based on determining the first and second loads, uses gravitational acceleration... gThe first load is converted using the conversion parameters to obtain the first axle load, and the second load is converted using the conversion parameters to obtain the second axle load. This achieves the goal of obtaining the first and second axle loads through load conversion.

[0045] For example, the dynamic vertical load of the main vehicle's rear axle within a unit gravitational acceleration is determined as the dynamic axle load of the main vehicle's rear axle, and the dynamic vertical load of the trailer axle within a unit gravitational acceleration is determined as the dynamic axle load of the trailer axle.

[0046] Step S104: Based on the first axle load and the second axle load, the required driving torque or braking torque of the vehicle is distributed to the tractor and trailer to obtain the distribution result.

[0047] In the technical solution provided by step S104 of this application, the aforementioned driving torque can be the total driving torque required by the driver. For example, the aforementioned total driving torque can be used as... To express.

[0048] In this example, the aforementioned braking torque can be the total electric braking torque requested by the main trailer's auxiliary braking. For example, the aforementioned total electric braking torque can be used... To express.

[0049] In this embodiment, after converting the first load to obtain the first axle load borne by the drive unit of the tractor in the vertical direction, and converting the second load to obtain the second axle load borne by the drive unit of the trailer in the vertical direction, the required driving torque or braking torque of the vehicle is distributed to the tractor and trailer based on the first and second axle loads, resulting in a distribution result. Optionally, this embodiment determines a first proportion of the first axle load in the first and second axle loads, and a second proportion of the second axle load in the first and second axle loads. The driving torque is then distributed to the tractor and trailer according to the first and second proportions, resulting in a distribution result. Alternatively, the braking torque is distributed to the tractor and trailer according to the first and second proportions, resulting in a distribution result, thereby achieving the goal of reducing the limitations of torque distribution.

[0050] In steps S101 to S104 of this application, during the vehicle's operation, the driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer are acquired; based on the driving parameters and the force, the first load borne by the main vehicle's drive unit in the vertical direction and the second load borne by the trailer's drive unit in the vertical direction are determined; the first load is converted to obtain the first axle load borne by the main vehicle's drive unit in the vertical direction, and the second load is converted to obtain the second axle load borne by the trailer's drive unit in the vertical direction; based on the first axle load and the second axle load, the required driving torque or braking torque of the vehicle is distributed to the main vehicle and the trailer to obtain the distribution result. In this embodiment of the application, when allocating the torque of a vehicle, after obtaining the driving parameters and the applied force, the first load borne by the driving device of the main vehicle in the vertical direction and the second load borne by the driving device of the trailer in the vertical direction can be determined by combining the driving parameters and the applied force. Then, the first load is converted to obtain the first axle load, and the second load is converted to obtain the second axle load. After combining the first axle load and the second axle load, the driving torque or braking torque can be allocated to the main vehicle and the trailer to obtain the allocation result. This achieves the purpose of reducing the limitations of torque allocation, thereby solving the technical problem of low flexibility in vehicle torque allocation, and thus achieving the technical effect of improving the flexibility of vehicle torque allocation.

[0051] The method described in this embodiment will be further described below.

[0052] As an optional embodiment, step S103, based on driving parameters and forces, determines the first load borne by the drive unit of the tractor in the vertical direction and the second load borne by the drive unit of the trailer in the vertical direction, including: decoupling the acceleration of the tractor to obtain the acceleration of the trailer; determining the first load based on the acceleration of the tractor, the output torque of the tractor, and the forces; and determining the second load based on the acceleration of the trailer, the output torque of the trailer, and the forces.

[0053] In this embodiment, the aforementioned driving parameters may include: the acceleration of the main vehicle and the output torque of the main vehicle. For example, the acceleration of the main vehicle may be the longitudinal acceleration of the main vehicle, which can be expressed as... To indicate, the output torque of the aforementioned main vehicle can be considered as the external output torque of the main vehicle. To express.

[0054] In this example, the acceleration of the trailer can be the longitudinal acceleration of the trailer, which can be expressed as... To express.

[0055] In this example, the output torque of the aforementioned trailer can be the external output torque of the trailer, and the external output torque of the aforementioned trailer can be used as... To express.

[0056] In this embodiment, during the vehicle's operation, after acquiring the driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer, the acceleration of the main vehicle is decoupled to obtain the acceleration of the trailer. Optionally, the displacement difference between the displacement of the main vehicle and the displacement of the trailer is determined, as shown in equation (2). The second derivative of the displacement difference is obtained, as shown in equation (3). Using the second derivative result, the acceleration of the main vehicle is decoupled to obtain the acceleration of the trailer, as shown in equation (4).

[0057] (1) (2) (3) (4) Among them, spring stiffness can be used as k The deformation of a spring can be represented by Δx, and this deformation can be directly measured by a displacement sensor connected in series with an elastic element in the force sensing device. Since the spring connects the tractor and trailer, the displacement of the tractor... With trailer displacement The above equation (2) is satisfied. Taking the second derivative of equation (2) over time, we can obtain equation (3). Transforming equation (3), we can obtain equation (4). The acceleration of the trailer can be used... To express.

[0058] In this embodiment, after decoupling the acceleration of the tractor unit to obtain the acceleration of the trailer, a first load is determined based on the tractor unit's acceleration, output torque, and force, and a second load is determined based on the trailer's acceleration, output torque, and force. Optionally, mass calculations can be performed on the tractor unit's acceleration, output torque, and force to obtain the tractor unit's mass, and the same calculations can be performed on the trailer's acceleration, output torque, and force to obtain the trailer's mass. By performing load calculations on the tractor unit's mass, acceleration, and force, the first load can be obtained, and by performing load calculations on the trailer's mass and acceleration, the second load can be obtained. This achieves the goal of determining the first and second loads, thereby improving the accuracy of the first and second loads.

[0059] The steps for determining the first load based on the acceleration, output torque, and force of the main vehicle in this embodiment will be further described below.

[0060] As an optional embodiment, the first load is determined based on the acceleration, output torque, and force of the main vehicle, including: performing mass calculations on the first main vehicle output torque, the second main vehicle output torque, the first force, the second force, the first main vehicle acceleration, and the second main vehicle acceleration to obtain the mass of the main vehicle; and performing load calculations on the mass, acceleration, force, and characteristic parameters of the main vehicle to obtain the first load.

[0061] In this embodiment, the acceleration of the main vehicle can include: a first acceleration of the main vehicle at a first moment and a second acceleration of the main vehicle at a second moment, wherein the first moment is earlier than the second moment. For example, the first moment can be... t The number 1 indicates that the aforementioned first main vehicle acceleration can be considered as the main vehicle acceleration. The second moment mentioned above can be used t The number 2 indicates that the aforementioned second main vehicle acceleration can be considered as the main vehicle acceleration. .

[0062] In this embodiment, the output torque of the main vehicle may include: a first main vehicle output torque at a first moment and a second main vehicle output torque at a second moment. For example, the first main vehicle output torque may be the torque output by the main vehicle to external systems. The aforementioned second main vehicle output torque can be used to output torque from the main vehicle to the outside. .

[0063] In this embodiment, the aforementioned force may include: a first force exerted by the tractor on the trailer at a first moment and a second force exerted by the tractor on the trailer at a second moment. For example, the first force may be a longitudinal force between the tractor and trailer. The aforementioned second force can be the longitudinal force of the main hanging workshop. .

[0064] In this embodiment, the mass of the main vehicle is calculated by performing mass calculations on the first main vehicle output torque, the second main vehicle output torque, the first force, the second force, the first main vehicle acceleration, and the second main vehicle acceleration.

[0065] For example, within a time window, two different moments can be selected. and (For example, at 1 / 4 and 3 / 4 of the window), read respectively , and , Based on the longitudinal dynamic equilibrium equations of the tractor and trailer, force analysis is performed on the tractor and trailer respectively, resulting in the following formulas (5) and (6).

[0066] (5) (6) in, It can be used to indicate the mass of the main vehicle. It can be used to indicate the mass of a trailer. It can be used to represent the torque output by the main vehicle. It can be used to indicate the torque output of a trailer. It can be used to represent the resistance experienced by the main vehicle. It can be used to represent the resistance experienced by a trailer.

[0067] In this embodiment, since the calculation time slice interval is very short, the resistance can be approximated as constant. The following equations (7) and (8) are then substituted into... and The acceleration of the main vehicle at that moment and , and Trailer acceleration at any moment and Longitudinal forces in the main hanging workshop and Main vehicle output torque and The trailer outputs torque and The mass of the main vehicle can be calculated. and trailer quality The current valid value.

[0068] (7) (8) In this embodiment, the characteristic parameters of the main vehicle may include: the wheelbase of the main vehicle. Horizontal distance between the center of gravity of the main vehicle and the front axle Main vehicle center of gravity height and hinge point height .

[0069] In this embodiment, after calculating the mass of the main vehicle by performing mass calculations on the first main vehicle output torque, the second main vehicle output torque, the first force, the second force, the first main vehicle acceleration, and the second main vehicle acceleration, the load is calculated on the main vehicle mass, the main vehicle acceleration, the force, and the main vehicle characteristic parameters to obtain the first load.

[0070] For example, by performing a force analysis on the main vehicle, the torque balance equation of the main vehicle is obtained as shown in equation (10). By using the mass, acceleration, force, and characteristic parameters of the main vehicle, the torque balance equation of the main vehicle can be solved to obtain the dynamic vertical load of the rear axle of the main vehicle. This achieves the goal of calculating the first load, thereby improving the accuracy of the first load.

[0071] (9) (10) The steps for determining the second load based on the trailer's acceleration, output torque, and force in this embodiment will be further described below.

[0072] As an optional embodiment, determining the second load based on the trailer's acceleration, output torque, and force includes: performing mass calculations on the first trailer's output torque, second trailer's output torque, first force, second force, first trailer's acceleration, and second trailer's acceleration to obtain the trailer's mass; and performing load calculations on the trailer's mass, acceleration, and characteristic parameters to obtain the second load.

[0073] In this embodiment, the acceleration of the trailer can include: a first trailer acceleration at a first moment and a second trailer acceleration at a second moment, wherein the first moment is earlier than the second moment. For example, the first trailer acceleration can be the trailer acceleration... The aforementioned second trailer acceleration can be the trailer acceleration. .

[0074] In this embodiment, the output torque of the trailer may include: a first trailer output torque at a first moment and a second trailer output torque at a second moment. For example, the first trailer output torque may be the trailer's external output torque. The aforementioned second trailer output torque can be the trailer's external output torque. .

[0075] In this embodiment, the aforementioned force may include: a first force exerted by the tractor on the trailer at a first moment and a second force exerted by the tractor on the trailer at a second moment. For example, the first force may be a longitudinal force between the tractor and trailer. The aforementioned second force can be the longitudinal force of the main hanging workshop. .

[0076] In this embodiment, the mass of the trailer is calculated by performing mass calculations on the output torque of the first trailer, the output torque of the second trailer, the first force, the second force, the acceleration of the first trailer, and the acceleration of the second trailer.

[0077] For example, within a time window, two different moments can be selected. and (For example, at 1 / 4 and 3 / 4 of the window), read respectively , and , Based on the longitudinal dynamic equilibrium equations of the tractor and trailer, the forces acting on the trailer are analyzed separately, resulting in equation (6) above.

[0078] In this embodiment, according to the above formula (8), substituting and Trailer acceleration at any moment and Longitudinal forces in the main hanging workshop and The trailer outputs torque and The trailer weight can be calculated. The current valid value.

[0079] In this embodiment, the characteristic parameters of the trailer may include: trailer wheelbase. Trailer center of gravity height Horizontal distance between the trailer's center of gravity and the articulation point .

[0080] In this embodiment, after calculating the mass of the trailer by considering the output torque of the first trailer, the output torque of the second trailer, the first force, the second force, the acceleration of the first trailer, and the acceleration of the second trailer, the load is calculated by considering the mass of the trailer, the acceleration of the trailer, and the characteristic parameters of the trailer, to obtain the second load.

[0081] For example, by performing a force analysis on the trailer, the torque balance equation of the trailer is obtained as shown in equation (12). By using the mass, acceleration, and characteristic parameters of the trailer, the torque balance equation of the trailer can be solved to obtain the dynamic vertical load of the trailer axle. This achieves the goal of calculating the second load, thereby improving the accuracy of the second load.

[0082] (11) (12) in, θ It can be measured by an IMU. and The transient window quality calculation module can calculate the quality according to equations (7) and (8) above, respectively. It can be by And the second derivative of the spring deformation is obtained.

[0083] The following section further describes the steps of distributing the required driving torque or braking torque of the vehicle to the tractor and trailer based on the first axle load and the second axle load in this embodiment to obtain the distribution result.

[0084] As an optional embodiment, step S104, based on the first axle load and the second axle load, distributes the required driving torque or braking torque of the vehicle to the tractor and trailer to obtain the distribution result, including: determining a first proportion of the first axle load in the first axle load and the second axle load, and a second proportion of the second axle load in the first axle load and the second axle load; when the vehicle is in a starting transient condition, the driving torque is further distributed to the tractor and trailer according to the first proportion and the second proportion to obtain the distribution result; when the vehicle is in a braking transient condition, the braking torque is distributed to the tractor and trailer according to the battery level of the trailer, the first proportion, and the second proportion to obtain the distribution result.

[0085] In this embodiment, the aforementioned first proportion can be used To express.

[0086] In this embodiment, the aforementioned second proportion can be used To express.

[0087] In this embodiment, after converting the first axle load and the second axle load, a first proportion of the first axle load in the first axle load and the second axle load, and a second proportion of the second axle load in the first axle load and the second axle load are determined. For example, for the dynamic axle load of the rear axle of the main vehicle. and trailer axle dynamic axle load By calculating the proportions, we can obtain the first proportion and the second proportion, that is... and .

[0088] In this embodiment, after determining the first proportion of the first axle load in the first axle load and the second axle load, and the second proportion of the second axle load in the first axle load and the second axle load, when the vehicle is in a starting transient condition, according to and The total driving torque is then distributed to the electric tractor and the electric trailer to obtain the driving torque distribution result. This achieves the goal of reducing the limitations of torque distribution and thus realizes the technical effect of improving the flexibility of vehicle torque distribution.

[0089] In this embodiment, after determining the first proportion of the first axle load in the first axle load and the second axle load, and the second proportion of the second axle load in the first axle load and the second axle load, when the vehicle is under braking transient conditions, according to the trailer's battery power, braking torque, and By distributing braking torque to the electric tractor and the electric trailer, the resulting braking torque distribution reduces the limitations of torque distribution and improves the flexibility of vehicle torque distribution.

[0090] The following description further details the steps of distributing the driving torque to the tractor and trailer according to the first and second proportions in the instantaneous starting condition of the vehicle, to obtain the distribution result.

[0091] As an optional embodiment, when the vehicle is in a starting transient condition, the drive torque is distributed to the tractor and trailer according to a first ratio and a second ratio to obtain the distribution result. This includes: when the vehicle is in a starting transient condition, distributing the first drive torque at the first ratio to the tractor and distributing the second drive torque at the second ratio to the trailer to obtain the distribution result.

[0092] In this embodiment, the aforementioned first driving torque can be used To express.

[0093] In this embodiment, the aforementioned second driving torque can be used To express.

[0094] In this embodiment, the first driving torque under the first ratio can be determined by the following formulas (13) and (15), and the second driving torque under the second ratio can be determined by the following formulas (14) and (16).

[0095] (13) (14) (15) (16) In this embodiment, after determining the first drive torque and the second drive torque, the master vehicle controller distributes the determined first drive torque to the master vehicle, drives the master vehicle electric drive axle for drive control, and sends the second drive torque of the trailer to the trailer controller, which then drives the trailer electric drive axle for drive control. This achieves the goal of reducing the limitations of torque distribution and thus realizes the technical effect of improving the flexibility of torque distribution in the vehicle.

[0096] The following describes in more detail the steps of distributing braking torque to the tractor and trailer according to the trailer's battery level, a first proportion, and a second proportion, under the transient braking condition of the vehicle, to obtain the distribution result.

[0097] As an optional embodiment, when the vehicle is in a transient braking condition, the braking torque is distributed to the tractor and trailer according to the trailer's battery level, a first percentage, and a second percentage to obtain the distribution result. This includes: when the vehicle is in a transient braking condition, in response to the battery level being greater than or equal to a battery level threshold, distributing a first braking torque at the first percentage to the tractor and distributing a second braking torque at the second percentage to the trailer to obtain the distribution result; when the vehicle is in a transient braking condition, in response to the battery level being less than a battery level threshold, distributing the first braking torque at the first percentage and the second braking torque at the second percentage to the trailer, and stopping the distribution of the first and second braking torques to the tractor to obtain the distribution result.

[0098] In this embodiment, the aforementioned first braking torque can be used To express it. For example, the first braking torque mentioned above can also be called the electric braking torque of the main vehicle.

[0099] In this embodiment, the aforementioned second braking torque can be used To express it. For example, the second braking torque mentioned above can also be called the trailer's electric braking torque.

[0100] In this embodiment, the aforementioned electrical quantity can be used to represent the trailer's State of Charge (SOC).

[0101] In this embodiment, when the vehicle is in a braking transient condition, that is, when a gear request from the auxiliary brake controller is received, it is determined whether the trailer's SOC is less than the charge threshold. If the SOC is greater than or equal to the charge threshold, the first braking torque under the first ratio can be determined by the following formula (17), and the second braking torque under the second ratio can be determined by the following formula (18). Then, the master vehicle controller distributes the determined first braking torque to the master vehicle, and the master vehicle controller drives the master vehicle electric drive axle for drive control. The master vehicle controller also sends the second braking torque of the trailer to the trailer controller, and then the trailer controller drives the trailer electric drive axle for drive control. This achieves the goal of reducing the limitations of torque distribution, thereby realizing the technical effect of improving the flexibility of vehicle torque distribution.

[0102] (17) (18) In this embodiment, upon receiving a gear request from the auxiliary brake controller, it is determined whether the trailer's State of Charge (SOC) is less than the charge threshold. If the SOC is less than the charge threshold, it is then determined whether the braking torque is less than the braking torque threshold. If the braking torque is less than the braking torque threshold, the determined first and second braking torques are allocated to the trailer, and the allocation of the determined first and second braking torques to the tractor unit is stopped. That is, the tractor unit controller sends the total electric braking torque to the trailer controller, which then controls the trailer's electric drive axle to perform energy recovery. This achieves the goal of reducing the limitations of torque distribution, thereby improving the flexibility of vehicle torque distribution.

[0103] In this embodiment, upon receiving a gear request from the auxiliary brake controller, it is determined whether the trailer's SOC is less than the charge threshold. If the SOC is less than the charge threshold, it is determined whether the braking torque is less than the braking torque threshold. If the braking torque is greater than or equal to the braking torque threshold, the first braking torque under the first ratio can be determined using the above formula (17), and the second braking torque under the second ratio can be determined using the above formula (18). Subsequently, the master vehicle controller distributes the determined first braking torque to the master vehicle, drives the master vehicle electric drive axle for drive control, and sends the trailer's second braking torque to the trailer controller, which then drives the trailer electric drive axle for drive control. This achieves the goal of reducing the limitations of torque distribution, thereby realizing the technical effect of improving the flexibility of vehicle torque distribution.

[0104] In this embodiment, when allocating vehicle torque, after obtaining driving parameters and forces, the first load borne by the drive unit of the main vehicle in the vertical direction and the second load borne by the drive unit of the trailer in the vertical direction can be determined by combining the driving parameters and forces. Then, the first load is converted to obtain the first axle load, and the second load is converted to obtain the second axle load. After combining the first axle load and the second axle load, the driving torque or braking torque can be allocated to the main vehicle and the trailer to obtain the allocation result. This achieves the goal of reducing the limitations of torque allocation, thereby solving the technical problem of low flexibility in vehicle torque allocation, and thus achieving the technical effect of improving the flexibility of vehicle torque allocation.

[0105] The technical solutions of the embodiments of this application will be illustrated below with reference to preferred embodiments.

[0106] Currently, in the process of torque distribution in vehicles, the target drive torque of the trailer is often determined based on the initial drive torque of the tractor unit, the initial drive torque of the trailer, and the stability drive torque limit of the trailer. Similarly, the target braking torque of the trailer is determined based on the initial braking torque of the tractor unit, the initial braking torque of the trailer, and the stability braking torque limit of the trailer. Then, either the target drive torque or the target braking torque is distributed to the trailer.

[0107] However, the above-mentioned torque distribution method is limited by the stability drive torque limit of the trailer, which causes the torque distribution of the vehicle to be limited, resulting in the technical problem of low flexibility in the torque distribution of the vehicle.

[0108] To address the aforementioned technical problems, this application proposes a vehicle torque distribution method. When distributing vehicle torque, after acquiring driving parameters and applied forces, the method combines these parameters and forces to determine the first load borne by the drive unit of the tractor in the vertical direction and the second load borne by the drive unit of the trailer in the vertical direction. The first load is then converted to obtain a first axle load, and the second load is converted to obtain a second axle load. Combining the first and second axle loads, the driving torque or braking torque can be distributed to the tractor and trailer, resulting in a distribution outcome. This reduces the limitations of torque distribution, thus solving the technical problem of low flexibility in vehicle torque distribution and achieving the technical effect of improving the flexibility of vehicle torque distribution.

[0109] In this embodiment, the vehicle described above can be a traction vehicle based on distributed drive. For example, Figure 2 This is a schematic diagram of the architecture of a distributed drive-based traction vehicle according to an embodiment of this application, as shown below. Figure 2 As shown, the architecture may include: an electric tractor 201, an electric trailer 202, a force sensing coupling device 203, and an inertial measurement unit 204 of the tractor.

[0110] In this embodiment, the electric tractor unit 201 and the electric trailer 202 are hinged to the towing seat via a towing pin. Each of the electric tractor unit 201 and the electric trailer 202 is independently equipped with related peripheral equipment such as a battery system, electrification auxiliary equipment, a power distribution unit, and a cooling system. For example, the electric tractor unit is configured in a 6×4 configuration and equipped with an electric drive axle. The electric trailer has three axles, with the middle axle being an electric drive axle (also referred to as an electric drive axle or drive axle). Each drive axle includes one motor, one automatic transmission, and one electric drive axle controller. The motor converts electrical energy into mechanical energy to drive the vehicle. The automatic transmission automatically adjusts the gear ratio to optimize efficiency. The electric drive axle controller receives the required torque, outputs torque, and transmits the actual torque.

[0111] In this embodiment, the force-sensing coupling device 203 can be installed at the mechanical hinge point between the electric tractor 201 and the electric trailer 202, and is horizontally integrated between the base of the towing seat and the longitudinal beam of the frame. The force-sensing coupling device 203 can reflect and output the coupling signal of the longitudinal force between the tractor and trailer in real time. .

[0112] For example, the force-sensing coupling device described above can consist of a variable-stiffness helical spring, with both ends mechanically connected to the electric tractor and the electric trailer via standard towing seats. A linear displacement sensor is installed in parallel with the variable-stiffness helical spring to measure the real-time deformation of the spring. After the spring stiffness is calibrated, the controller linearly converts the deformation signal into a longitudinal force signal. Alternatively, a strain gauge pin sensor can be used instead of a linear displacement sensor to directly measure the tension at the hinge point.

[0113] In this embodiment, the inertial measurement unit 204 of the main vehicle can be fixedly installed on the electric main vehicle 201. The inertial measurement unit 204 of the main vehicle can provide the longitudinal acceleration of the main vehicle. and current road slope θ .

[0114] For example, the main vehicle controller (not shown in the figure) of the aforementioned electric tractor 201 can be used to execute the vehicle's torque distribution method and output torque commands to the tractor and trailer. The trailer controller (not shown in the figure) of the aforementioned electric trailer 202 can be used to receive and execute the trailer's torque commands. The main vehicle controller and the trailer controller can communicate via a central gateway.

[0115] In this embodiment, the acceleration of the main vehicle can be identified by executing the transient condition identification method. Main vehicle displacement and trailer displacement .For example, Figure 3 This is a flowchart of a transient condition identification method according to an embodiment of this application, such as... Figure 3 As shown, the method may include the following steps.

[0116] Step S301: Read the drive torque and the electric braking torque during auxiliary braking.

[0117] After reading the drive torque and the electric braking torque during auxiliary braking, step S302 is executed to determine whether the value of the drive torque rising from 0 is greater than the starting transient threshold, or whether the value of the braking torque rising from 0 is greater than the deceleration transient threshold.

[0118] If it is determined that the value of the driving torque rising from 0 is greater than the starting transient threshold, or if it is determined that the value of the braking torque rising from 0 is greater than the deceleration transient threshold, then steps S303 and S304 are executed to record the starting point of the transient window and start the timer.

[0119] In the technical solution provided in step S303 of this application, if the transient window is the moment when the driving torque rises from 0 to a value greater than the starting transient threshold, then a time window of 200 to 500 milliseconds after the moment when the driving torque rises from 0 to the aforementioned value is selected as the effective calculation interval. Alternatively, if the transient window is the moment when the braking torque rises from 0 to a value greater than the deceleration transient threshold, then a time window of 200 to 500 milliseconds after the moment when the braking torque rises from 0 to the aforementioned value is selected as the effective calculation interval.

[0120] If it is determined that the value of the driving torque rising from 0 is less than the starting transient threshold, or if it is determined that the value of the braking torque rising from 0 is less than the deceleration transient threshold, then return to step S301.

[0121] After starting the timer, step S305 is executed to determine whether the transient window is within 200 to 500 milliseconds.

[0122] If the transient window is determined to be within 200–500 milliseconds, then proceed to step S306 to collect the acceleration of the main vehicle. Main vehicle displacement and trailer displacement .

[0123] Acceleration of the main vehicle was collected. Main vehicle displacement and trailer displacement Next, step S307 is executed to measure the acceleration of the main vehicle. Main vehicle displacement and trailer displacement The output is sent to the main vehicle controller for mass estimation to obtain the main vehicle mass. and trailer quality .

[0124] If the transient window is determined to be outside the range of 200–500 milliseconds, then return to step S305.

[0125] In this embodiment, a force analysis is performed on the main vehicle as shown in Figure 4(a) to obtain the torque balance equation of the main vehicle. Figure 4(a) is a schematic diagram of a force analysis based on the dynamic axle load of the main vehicle according to an embodiment of this application. The contact point of the front wheel of the main vehicle is taken as the torque reference point (that is, the torque point in Figure 4(a)). The height of the center of gravity of the main vehicle can be used as... The horizontal distance between the vehicle's center of gravity and the front axle can be expressed as follows: The wheelbase of the main vehicle can be expressed as... The hinge point height can be represented by... To represent, the dynamic vertical load on the rear axle of the main vehicle can be expressed as... To represent. Combined with the main vehicle's weight. The dynamic vertical load on the rear axle of the main vehicle can be determined by the torque balance equation of the main vehicle. Dynamic vertical load on the rear axle of the main vehicle By performing the conversion, the dynamic axle load of the main vehicle's rear axle can be obtained. .

[0126] In this embodiment, a force analysis is performed on the trailer as shown in Figure 4(b) to obtain the torque balance equation of the trailer. Figure 4(b) is a schematic diagram of a force analysis based on the dynamic axle load of the trailer according to an embodiment of this application. The hinge point of the trailer is taken as the torque reference point (that is, the torque point in Figure 4(b)). The height of the trailer's center of gravity can be used as... The horizontal distance between the trailer's center of gravity and the articulation point can be expressed as follows: The trailer wheelbase can be expressed as... The hinge point height can be represented by... To represent, the dynamic vertical load of the trailer axle can be expressed as... To represent. Combined with trailer weight. The moment balance equations of the trailer and the trailer can be used to determine the dynamic vertical load on the trailer axle. Dynamic vertical load on trailer axle By performing the conversion, the dynamic axle load of the trailer axle can be obtained. .

[0127] In this embodiment, by implementing a distributed drive torque distribution method based on dynamic axle load ratio, the required drive torque of the vehicle can be distributed to the tractor and trailer. For example, Figure 5 This is a flowchart of a distributed drive torque distribution method based on dynamic axle load ratio according to an embodiment of this application, as shown below. Figure 5 As shown, the method may include the following steps.

[0128] Step S501: Collect the driver's accelerator pedal signal.

[0129] After acquiring the driver's accelerator pedal signal, step S502 is executed, where the main vehicle controller calculates the total drive request torque. .

[0130] After the main vehicle controller calculates the total drive request torque, step S503 is executed to determine the dynamic axle load of the main vehicle rear axle and the dynamic axle load of the trailer axle.

[0131] In the technical solution provided by step S503 of this application, the dynamic axle load of the main vehicle rear axle and the dynamic axle load of the trailer axle can be obtained by the following formula.

[0132] (1) (2) (3) (4) Among them, spring stiffness can be used as k The deformation of a spring can be represented by Δx, and this deformation can be directly measured by a displacement sensor connected in series with an elastic element in the force sensing device. Since the spring connects the tractor and trailer, the displacement of the tractor... With trailer displacement The above equation (2) is satisfied. Taking the second derivative of equation (2) over time, we can obtain equation (3). Transforming equation (3), we can obtain equation (4). The acceleration of the trailer can be used... To express.

[0133] In this embodiment, two different moments are taken within the time window. and (For example, at 1 / 4 and 3 / 4 of the window), read respectively , and , Based on the longitudinal dynamic equilibrium equations of the tractor and trailer, force analysis is performed on the tractor and trailer respectively, resulting in the following formulas (5) and (6).

[0134] (5) (6) in, It can be used to indicate the mass of the main vehicle. It can be used to indicate the weight of a trailer. It can be used to represent the torque output by the main vehicle. It can be used to indicate the torque output of a trailer. It can be used to represent the resistance experienced by the main vehicle. It can be used to represent the resistance experienced by a trailer.

[0135] In this embodiment, since the calculation time slice interval is very short, the resistance can be approximated as constant. The following equations (7) and (8) are then substituted into... and The acceleration of the main vehicle at that moment and , and Trailer acceleration at any moment and Longitudinal forces in the main hanging workshop and Main vehicle output torque and The trailer outputs torque and The mass of the main vehicle can be calculated. and trailer quality The current valid value.

[0136] (7) (8) It should be noted that the dynamic vertical axle load of the main vehicle's rear axle The unit is Newton (N), and its value is equal to the mass in kilograms that the rear axle bears multiplied by the acceleration due to gravity. g For ease of engineering understanding, the following text may be equivalently expressed as dynamic axle load mass (unit: kg), the value of which is equal to... Similarly, the dynamic vertical axle load of the rear axle of an electric trailer can be equivalently expressed as a dynamic axle load mass (unit: kg), the value of which is equal to... .

[0137] In this embodiment, a coordinate system is first defined according to Figures 4(a) and 4(b), with the vehicle's forward direction as the positive X-axis and the vertically upward direction as the positive Z-axis. A moment is taken in the XZ plane, with the counterclockwise direction as the positive direction of the moment. The longitudinal force exerted by the elastic coupling device on the main vehicle is positive when stretched (the electric trailer pulls the main vehicle backward); and Taking the forward direction as positive. Then, the force analysis of the main vehicle as shown in Figure 4(a) is performed to obtain the torque balance equation of the main vehicle as shown in Equation (10), and the force analysis of the trailer as shown in Figure 4(b) is performed to obtain the torque balance equation of the trailer as shown in Equation (12). Among them, Equation (10) is obtained by solving Equation (9), and Equation (12) is obtained by solving Equation (11).

[0138] (9) (10) (11) (12) in, θ It can be measured by an IMU. and The transient window quality calculation module can calculate the quality according to equations (7) and (8) above, respectively. It can be by And the second derivative of the spring deformation is obtained.

[0139] In this embodiment, the dynamic axle load of the main vehicle rear axle and the dynamic axle load of the trailer axle can be determined according to the following formulas (13) and (14), respectively.

[0140] (13) (14) After determining the dynamic axle load of the main vehicle's rear axle and the trailer axle, step S504 is executed to distribute the drive torque according to the axle load ratio.

[0141] In the technical solution provided by step S504 of this application, the driving torque of the main vehicle and the driving torque of the trailer can be calculated by the following formulas (15) and (16), respectively.

[0142] (15) (16) Among them, the total driving torque required by the driver can be used as... The driving torque of the main vehicle can be expressed as... The driving torque of a trailer can be expressed as... To express.

[0143] After distributing the drive torque according to the axle load ratio, step S505 is executed, in which the main vehicle controller drives the main vehicle electric drive axle for drive control.

[0144] After distributing the drive torque according to the axle load ratio, steps S506 and S507 are executed, in which the main vehicle controller sends the trailer's drive torque to the trailer controller, and then the trailer controller drives the trailer's electric drive axle for drive control.

[0145] In this embodiment, by implementing a dynamic axle load-based master-trailer electric braking coordination and energy recovery method, the braking torque required by the vehicle can be distributed to the master vehicle and the trailer. For example, Figure 6 This is a flowchart of a method for coordinated electric braking and energy recovery of a main trailer based on dynamic axle load, according to an embodiment of this application. Figure 6 As shown, the method may include the following steps.

[0146] Step S601: Collect the driver's gear request from the auxiliary brake controller.

[0147] After collecting the driver's gear request from the auxiliary brake controller, step S602 is executed, whereby the main vehicle controller calculates the total electric braking request torque. .

[0148] After the main vehicle controller calculates the total electric braking request torque, step S603 is executed to determine the dynamic axle load of the main vehicle's rear axle and the trailer axle. The determination method of step S603 is the same as that of step S503.

[0149] After determining the dynamic axle load of the tractor rear axle and the trailer axle, step S604 is executed to read the trailer's State of Charge (SOC).

[0150] After reading the trailer's SOC, step S605 is executed to determine whether the trailer's SOC is less than the charge threshold.

[0151] If the State of Charge (SOC) is determined to be greater than or equal to the charge threshold, step S606 is executed to allocate the electric braking torque according to the axle load ratio. After allocating the electric braking torque according to the axle load ratio, step S607 is executed, whereby the main vehicle controller controls the main vehicle's electric drive axle to perform energy recovery. After allocating the electric braking torque according to the axle load ratio, steps S608 and S609 are executed, whereby the main vehicle controller sends the trailer's braking torque to the trailer controller, and then the trailer controller controls the trailer's electric drive axle to perform energy recovery.

[0152] If it is determined that the SOC is less than the charge threshold, then step S610 is executed to determine whether the braking torque is less than the braking torque threshold.

[0153] If the braking torque is determined to be greater than or equal to the braking torque threshold, step S606 is executed to allocate the electric braking torque according to the axle load ratio. After allocating the electric braking torque according to the axle load ratio, step S607 is executed, whereby the main vehicle controller controls the main vehicle electric drive axle to perform energy recovery. After allocating the electric braking torque according to the axle load ratio, steps S608 and S609 are executed, whereby the main vehicle controller sends the trailer's electric braking torque to the trailer controller, and then the trailer controller controls the trailer electric drive axle to perform energy recovery.

[0154] In this embodiment, the electric braking torque of the main vehicle and the electric braking torque of the trailer can be calculated by formulas (17) and (18), respectively.

[0155] (17) (18) The total electric braking torque requested by the auxiliary braking of the main trailer can be used as follows: The electric braking torque of the main vehicle can be expressed as... The electric braking torque of a trailer can be expressed as... To express.

[0156] If it is determined that the braking torque is less than the braking torque threshold, then steps S611 and S612 are executed. The main vehicle controller sends the total electric braking torque to the trailer controller, and then the trailer controller controls the trailer electric drive axle to perform energy recovery.

[0157] In this embodiment, if the SOC of the trailer is lower than the charge threshold and the total electric braking torque is not high, the main vehicle controller allocates the electric braking torque according to formulas (19) and (20), and the trailer motor performs electric braking.

[0158] (19) (20) In this embodiment, when allocating vehicle torque, after obtaining driving parameters and forces, the first load borne by the drive unit of the main vehicle in the vertical direction and the second load borne by the drive unit of the trailer in the vertical direction can be determined by combining the driving parameters and forces. Then, the first load is converted to obtain the first axle load, and the second load is converted to obtain the second axle load. After combining the first axle load and the second axle load, the driving torque or braking torque can be allocated to the main vehicle and the trailer to obtain the allocation result. This achieves the goal of reducing the limitations of torque allocation, thereby solving the technical problem of low flexibility in vehicle torque allocation, and thus achieving the technical effect of improving the flexibility of vehicle torque allocation.

[0159] According to an embodiment of this application, a torque distribution device for a vehicle is also provided. It should be noted that this torque distribution device can be used to perform a torque distribution method for a vehicle as described in the embodiments.

[0160] Figure 7 This is a schematic diagram of a torque distribution device for a vehicle according to an embodiment of this application. Figure 7 As shown, the torque distribution device 700 of the vehicle may include: an acquisition unit 701, a determination unit 702, a conversion unit 703, and a distribution unit 704.

[0161] The acquisition unit 701 is used to acquire the driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer during the driving process of the vehicle. The driving parameters are used to represent the state of the main vehicle during the driving process.

[0162] The determining unit 702 is used to determine, based on driving parameters and forces, the first load borne by the drive unit of the tractor in the vertical direction of the vehicle and the second load borne by the drive unit of the trailer in the vertical direction.

[0163] The conversion unit 703 is used to convert the first load to obtain the first axle load borne by the drive unit of the main vehicle in the vertical direction, and to convert the second load to obtain the second axle load borne by the drive unit of the trailer in the vertical direction.

[0164] The distribution unit 704 is used to distribute the required driving torque or braking torque of the vehicle to the tractor and trailer based on the first axle load and the second axle load, and obtain the distribution result.

[0165] Optionally, the driving parameters include: the acceleration of the main vehicle and the output torque of the main vehicle. The determining unit 702 may include: a decoupling module for decoupling the acceleration of the main vehicle to obtain the acceleration of the trailer; and a first determining module for determining a first load based on the acceleration of the main vehicle, the output torque of the main vehicle, and the force, and determining a second load based on the acceleration of the trailer, the output torque of the trailer, and the force.

[0166] Optionally, the acceleration of the main vehicle includes: a first acceleration of the main vehicle at a first moment and a second acceleration of the main vehicle at a second moment, wherein the first moment is earlier than the second moment; the output torque of the main vehicle includes: a first output torque of the main vehicle at the first moment and a second output torque of the main vehicle at the second moment; and the force includes: a first force exerted by the main vehicle on the trailer at the first moment and a second force exerted by the main vehicle on the trailer at the second moment. The first determining module may include: a first mass calculation submodule, used to perform mass calculations on the first main vehicle output torque, the second main vehicle output torque, the first force, the second force, the first main vehicle acceleration, and the second main vehicle acceleration to obtain the mass of the main vehicle; and a first load calculation submodule, used to perform load calculations on the mass of the main vehicle, the acceleration of the main vehicle, the force, and the characteristic parameters of the main vehicle to obtain the first load.

[0167] Optionally, the trailer's acceleration includes: a first trailer acceleration at a first moment and a second trailer acceleration at a second moment, with the first moment preceding the second moment; the trailer's output torque includes: a first trailer output torque at the first moment and a second trailer output torque at the second moment; and the force includes: a first force exerted by the tractor on the trailer at the first moment and a second force exerted by the tractor on the trailer at the second moment. The first determining module may include: a second mass calculation submodule, used to calculate the mass of the trailer based on the first trailer output torque, the second trailer output torque, the first force, the second force, the first trailer acceleration, and the second trailer acceleration; and a second load calculation submodule, used to calculate the load based on the trailer's mass, the trailer's acceleration, and the trailer's characteristic parameters, to obtain a second load.

[0168] Optionally, the allocation unit 704 may include: a second determining module, configured to determine a first proportion of the first axle load in the first axle load and a second proportion of the second axle load in the first axle load and a second axle load; a first allocation module, configured to allocate the driving torque to the tractor and trailer according to the first proportion and the second proportion when the vehicle is in a starting transient condition, to obtain an allocation result; and a second allocation module, configured to allocate the braking torque to the tractor and trailer according to the trailer's battery level, the first proportion, and the second proportion when the vehicle is in a braking transient condition, to obtain an allocation result.

[0169] Optionally, the first allocation module may include: a first allocation submodule, used to allocate a first driving torque at a first ratio to the tractor when the vehicle is in a starting transient condition, and to allocate a second driving torque at a second ratio to the trailer, to obtain an allocation result.

[0170] Optionally, the second allocation module may include: a second allocation submodule, configured to, when the vehicle is in a braking transient condition, allocate a first braking torque at a first ratio to the tractor and allocate a second braking torque at a second ratio to the trailer in response to the battery level being greater than or equal to a battery level threshold, thereby obtaining an allocation result; and a third allocation submodule, configured to, when the vehicle is in a braking transient condition, allocate the first braking torque at a first ratio and the second braking torque at a second ratio to the trailer in response to the battery level being less than a battery level threshold, and to stop allocating the first and second braking torques to the tractor, thereby obtaining an allocation result.

[0171] In this embodiment, a torque distribution device for a vehicle is provided. The device may include: an acquisition unit for acquiring driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer during vehicle operation, wherein the driving parameters represent the state of the main vehicle during operation; a determination unit for determining a first load borne by the drive unit of the main vehicle in the vertical direction and a second load borne by the drive unit of the trailer in the vertical direction based on the driving parameters and the force; a conversion unit for converting the first load to obtain a first axle load borne by the drive unit of the main vehicle in the vertical direction, and converting the second load to obtain a second axle load borne by the drive unit of the trailer in the vertical direction; and a distribution unit for distributing the required driving torque or braking torque of the vehicle to the main vehicle and the trailer based on the first and second axle loads, thereby achieving a distribution result. This reduces the limitations of torque distribution, solves the technical problem of low flexibility in vehicle torque distribution, and ultimately improves the flexibility of vehicle torque distribution.

[0172] According to an embodiment of this application, a processor is also provided for running a program, wherein the program is executed by the processor to perform the methods described in the embodiment.

[0173] According to an embodiment of this application, an electronic device is also provided. Figure 8 This is a schematic diagram of an electronic device according to an embodiment of this application, such as... Figure 8 As shown, the electronic device 800 may include a memory 810 and a processor 820, wherein the memory 810 is used to store an executable program; and the processor 820 is used to run the program stored in the memory 810, wherein the program executes the methods in various embodiments of this application when it runs.

[0174] In this application, "multiple" refers to two or more.

[0175] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0176] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0177] In this application, the term "and / or" 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, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0178] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided. This computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method described in the embodiments.

[0179] Computer-readable storage media, also known as computer storage media, may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. These propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable storage media can transmit, propagate, or transfer programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0180] The program code contained in a computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, radio frequency, or any suitable combination thereof.

[0181] According to an embodiment of this application, a computer program product is also provided, which includes a computer program, wherein the computer program, when executed by a processor, implements the method in the embodiment.

[0182] According to an embodiment of this application, a computer program product is also provided, including a non-volatile computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the method described in the embodiment.

[0183] According to an embodiment of this application, a computer program is also provided, which, when executed by a processor, implements the method described in the embodiment.

[0184] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0185] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0186] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0187] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0188] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0189] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A torque distribution method for a vehicle, characterized in that, include: During the driving process of the vehicle, the driving parameters of the main vehicle and the force exerted by the main vehicle on the trailer of the vehicle are acquired, wherein the driving parameters are used to represent the state of the main vehicle during the driving process; Based on the driving parameters and the applied force, the first load borne by the drive unit of the main vehicle in the vertical direction of the vehicle and the second load borne by the drive unit of the trailer in the vertical direction are determined. The first load is converted to obtain the first axle load borne by the drive unit of the main vehicle in the vertical direction, and the second load is converted to obtain the second axle load borne by the drive unit of the trailer in the vertical direction. Based on the first axle load and the second axle load, the required driving torque or braking torque of the vehicle is distributed to the tractor and the trailer to obtain the distribution result.

2. The method according to claim 1, characterized in that, The driving parameters include: the acceleration of the main vehicle and the output torque of the main vehicle. Based on the driving parameters and the applied force, determining the first load borne by the drive unit of the main vehicle in the vertical direction and the second load borne by the drive unit of the trailer in the vertical direction includes: The acceleration of the main vehicle is decoupled to obtain the acceleration of the trailer; The first load is determined based on the acceleration of the main vehicle, the output torque of the main vehicle, and the applied force, and the second load is determined based on the acceleration of the trailer, the output torque of the trailer, and the applied force.

3. The method according to claim 2, characterized in that, The acceleration of the main vehicle includes: a first acceleration of the main vehicle at a first moment and a second acceleration of the main vehicle at a second moment, wherein the first moment is earlier than the second moment. The output torque of the main vehicle includes: a first output torque of the main vehicle at the first moment and a second output torque of the main vehicle at the second moment. The force includes: a first force exerted by the main vehicle on the trailer at the first moment and a second force exerted by the main vehicle on the trailer at the second moment. Determining the first load based on the acceleration of the main vehicle, the output torque of the main vehicle, and the force includes: The mass of the main vehicle is obtained by performing mass calculations on the first main vehicle output torque, the second main vehicle output torque, the first force, the second force, the first main vehicle acceleration, and the second main vehicle acceleration. The first load is obtained by calculating the load based on the mass of the main vehicle, the acceleration of the main vehicle, the applied force, and the characteristic parameters of the main vehicle.

4. The method according to claim 2, characterized in that, The trailer's acceleration includes: a first trailer acceleration at a first moment and a second trailer acceleration at a second moment, wherein the first moment is earlier than the second moment. The trailer's output torque includes: a first trailer output torque at the first moment and a second trailer output torque at the second moment. The force includes: a first force exerted by the tractor on the trailer at the first moment and a second force exerted by the tractor on the trailer at the second moment. Determining the second load based on the trailer's acceleration, output torque, and force includes: The mass of the trailer is obtained by calculating the mass of the first trailer output torque, the second trailer output torque, the first force, the second force, the first trailer acceleration, and the second trailer acceleration. The second load is obtained by calculating the load based on the mass, acceleration, and characteristic parameters of the trailer.

5. The method according to claim 1, characterized in that, Based on the first axle load and the second axle load, the required driving torque or braking torque of the vehicle is distributed to the tractor and the trailer to obtain the distribution result, including: Determine a first proportion of the first axle load in the first axle load and the second axle load, and a second proportion of the second axle load in the first axle load and the second axle load; When the vehicle is in a starting transient condition, the driving torque is distributed to the tractor and the trailer according to the first ratio and the second ratio to obtain the distribution result; When the vehicle is in a braking transient condition, the braking torque is distributed to the tractor and the trailer according to the battery level of the trailer, the first proportion, and the second proportion, to obtain the distribution result.

6. The method according to claim 5, characterized in that, When the vehicle is in a starting transient condition, the driving torque is redistributed to the tractor and the trailer according to the first ratio and the second ratio to obtain the distribution result, including: When the vehicle is in a starting transient condition, the first drive torque, which is the first proportion of the drive torque, is distributed to the tractor, and the second drive torque, which is the second proportion of the drive torque, is distributed to the trailer, to obtain the distribution result.

7. The method according to claim 5, characterized in that, When the vehicle is under transient braking conditions, the braking torque is distributed to the tractor and the trailer according to the trailer's battery level, the first proportion, and the second proportion, to obtain the distribution result, including: When the vehicle is in the braking transient condition, in response to the battery level being greater than or equal to the battery level threshold, the first braking torque at the first ratio is allocated to the main vehicle, and the second braking torque at the second ratio is allocated to the trailer, to obtain the allocation result; When the vehicle is in the braking transient condition, in response to the battery level being less than the battery threshold, the first braking torque at the first ratio and the second braking torque at the second ratio are distributed to the trailer, and the distribution of the first braking torque and the second braking torque to the tractor is stopped, thus obtaining the distribution result.

8. A torque distribution device for a vehicle, characterized in that, include: The acquisition unit is used to acquire the driving parameters of the main vehicle in the vehicle and the force exerted by the main vehicle on the trailer of the vehicle during the driving process, wherein the driving parameters are used to represent the state of the main vehicle during the driving process. The determining unit is used to determine, based on the driving parameters and the applied force, a first load borne by the drive unit of the main vehicle in the vertical direction of the vehicle and a second load borne by the drive unit of the trailer in the vertical direction. A conversion unit is used to convert the first load to obtain the first axle load borne by the drive unit of the main vehicle in the vertical direction, and to convert the second load to obtain the second axle load borne by the drive unit of the trailer in the vertical direction. The distribution unit is used to distribute the required driving torque or braking torque of the vehicle to the tractor and the trailer based on the first axle load and the second axle load, and obtain the distribution result.

9. A processor, characterized in that, The processor is used to run a program, wherein the program is executed by the processor to perform the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 7.

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