Method and device for determining power of electric semi-trailer, electronic equipment and storage medium

Abstract

The application discloses a power determination method and device of an electric semi-trailer, electronic equipment and a storage medium, and relates to the technical field of vehicle power. The method comprises the following steps: acquiring slope information of a road ahead of a vehicle, trailer load information and electric drive axle load information during driving of the vehicle; determining a trailer load grade of the electric semi-trailer on the vehicle based on the trailer load information, and determining an electric drive axle load distribution state of the electric semi-trailer based on the trailer load information and the electric drive axle load information; determining an auxiliary power target value of auxiliary power provided by the electric semi-trailer to the vehicle based on an actual slope type, the trailer load grade and the electric drive axle load distribution state, so that the electric semi-trailer outputs an auxiliary power instruction to the electric drive axle based on the auxiliary power target value. The application can distinguish the auxiliary power target value output by the electric semi-trailer under different trailer load grades, improve the adaptability of load distribution, and enhance the safety of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle power technology, and in particular to a method, device, electronic device and storage medium for determining the power of an electric semi-trailer. Background Technology

[0002] Currently, with the development of commercial vehicle electrification, electric semi-trailers are gradually becoming a promising technological approach. Unlike traditional unpowered semi-trailers, electric semi-trailers, through the configuration of electrical components such as power batteries, motors, motor controllers, and electric drive axles, can output auxiliary driving force during the uphill, starting, and acceleration of the entire vehicle train, thereby reducing the power burden on the tractor and improving the overall vehicle train's performance. However, the power system of an electric semi-trailer is fundamentally different from that of the tractor. The tractor is the primary power source for the entire vehicle train, and its power output directly responds to the driver's driving intentions; while the trailer's electric drive axle is an auxiliary power source, its function being to supplement the insufficient power of the tractor according to specific working conditions, rather than continuously replacing the tractor in outputting primary driving force.

[0003] However, traditional electric semi-trailers do not differentiate between road conditions when providing auxiliary power to assist the tractor. Regardless of the road conditions, traditional electric semi-trailers will provide assistance while the tractor is moving, resulting in a waste of vehicle power resources. Furthermore, in the current electric semi-trailer power assist control, the electric semi-trailer only determines the output of assistance based on the simple accelerator pedal opening. This may lead to energy waste on light loads and small slopes, and insufficient assistance on heavy loads and large slopes, resulting in poor load distribution adaptability and, in severe cases, poor vehicle safety. Summary of the Invention

[0004] This application provides a method, device, electronic device, and storage medium for determining the power of an electric semi-trailer. The embodiments provided in this application solve the technical problems of wasting vehicle power resources in the prior art, which may result in energy waste on light loads and small slopes, and insufficient assistance on heavy loads and large slopes, leading to poor load distribution adaptability and, in severe cases, poor vehicle safety. The embodiments provided in this application reduce the waste of vehicle power resources and can distinguish the auxiliary power target value output by the electric semi-trailer under different trailer load levels, thereby improving the poor load distribution adaptability and enhancing vehicle safety.

[0005] In a first aspect, this application provides a method for determining the power of an electric semi-trailer, the method comprising: The system acquires information on the slope of the road ahead, trailer load, and electric drive axle load during vehicle operation. The slope information includes the actual slope conditions and the actual slope type. The vehicles include electric semi-trailers and tractors. When the actual slope condition of the vehicle is uphill, the trailer load rating of the electric semi-trailer on the vehicle is determined based on the trailer load information. Based on trailer load information and electric drive axle load information, the electric drive axle load distribution state of the electric semi-trailer is determined, wherein the electric drive axle load distribution state is used to characterize the upper limit of the output auxiliary power. Based on the actual slope type, trailer load level, and electric drive axle load distribution status, the target value of auxiliary power for the electric semi-trailer to provide auxiliary power to the vehicle is determined, so that the electric semi-trailer outputs auxiliary power commands to the electric drive axle based on the target value of auxiliary power.

[0006] In one feasible implementation, acquiring vehicle gradient information, trailer load information, and electric drive axle load information includes: Based on the target driver's power demand signal for the vehicle, determine the target driver's power demand value for the vehicle. If the power demand value is greater than the preset demand threshold, the gradient information of the road ahead, trailer load information, and electric drive axle load information of the vehicle during driving are obtained.

[0007] In one feasible implementation, the actual slope conditions in the vehicle's slope information are obtained through the following method: Based on the vehicle slope data output by the inertial measurement unit inside the vehicle, the main slope condition corresponding to the vehicle is determined. Based on the load change data output by the longitudinal load sensor inside the vehicle, the first auxiliary slope condition corresponding to the vehicle is determined. Based on the vehicle's navigation data, determine the corresponding second auxiliary slope condition for the vehicle; The actual slope condition of the vehicle is determined based on the main slope condition, the first auxiliary slope condition, and the second auxiliary slope condition.

[0008] In one feasible implementation, determining the trailer load rating of the electric semi-trailer on the vehicle based on trailer load information includes: Obtain the vertical force of the traction pin at the traction pin of the tractor on the vehicle; Based on the vertical force of the traction pin and the axle load information of the electric drive axle, determine the estimated value of the current load of the trailer in the trailer load information; Determine the first difference between the trailer's current load estimate and the unloaded calibrated load, and the second difference between the fully loaded calibrated load and the unloaded calibrated load; The load ratio is determined based on the first and second differences; Based on the load ratio and a preset ratio threshold, the trailer load level of the electric semi-trailer on the vehicle is determined.

[0009] In one feasible implementation, the load distribution status of the electric drive axle of the electric semi-trailer is determined based on trailer load information and electric drive axle load information, including: The proportion of electric drive axle load is determined based on the ratio between trailer load information and electric drive axle load information. Based on the axle load ratio of the electric drive axle, the load distribution status of the electric drive axle of the electric semi-trailer is determined. Among them, the load distribution status of the electric drive axle is used to characterize the upper limit of the auxiliary power output of the electric semi-trailer. The upper limit of the auxiliary power output increases with the increase of the axle load ratio of the electric drive axle, and the upper limit of the auxiliary power output is not greater than the product of the axle load ratio of the electric drive axle and the total driving force requirement of the vehicle.

[0010] In one feasible implementation, based on the actual slope type, trailer load level, and electric drive axle load distribution status, the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is determined, including: When the trailer load rating is light and the actual slope type is low, the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is determined to be zero. When the trailer load rating is medium and the actual slope type is medium or steep, the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is determined from the first power preset range. When the trailer load rating is heavy and the actual slope type is a steep slope, the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle is determined from the second power preset range, wherein the lower limit of the second power preset range is not less than the upper limit of the first power preset range.

[0011] In one feasible implementation, the method further includes: When the trailer load rating is not light load, the information on the towing pin articulation angle on the tractor inside the vehicle is obtained, and the auxiliary power target value is corrected based on the towing pin articulation angle information to determine the corrected auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle.

[0012] In a second aspect, this application provides a power determination device for an electric semi-trailer, the power determination device for the electric semi-trailer comprising: The acquisition module is used to acquire information on the slope of the road ahead, trailer load, and electric drive axle load during the vehicle's operation. The slope information includes the actual slope conditions and the actual slope type. The vehicles include electric semi-trailers and tractors. The first determining module is used to determine the trailer load level of the electric semi-trailer on the vehicle based on the trailer load information when the actual slope condition of the vehicle is uphill. The second determining module is used to determine the electric drive axle load distribution state of the electric semi-trailer based on the trailer load information and the electric drive axle load information, wherein the electric drive axle load distribution state is used to characterize the upper limit of the output auxiliary power. The third determining module is used to determine the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle based on the actual slope type, trailer load level and electric drive axle load distribution status, so that the electric semi-trailer outputs auxiliary power command to the electric drive axle based on the auxiliary power target value.

[0013] In a third aspect of this application, an electronic device is provided, including a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the power determination method for an electric semi-trailer as described above.

[0014] In a fourth aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, performs the steps of the power determination method for an electric semi-trailer as described above.

[0015] Compared with the prior art, the electric semi-trailer power determination method, device, electronic equipment, and storage medium provided in this application obtain information on the slope of the road ahead, trailer load information, and electric drive axle load information during vehicle operation. When the actual slope condition of the vehicle is uphill, the application determines the trailer load level of the electric semi-trailer based on the trailer load information. Then, based on the trailer load information and the electric drive axle load information, the application determines the electric drive axle load distribution state of the electric semi-trailer. Next, based on the actual slope type, trailer load level, and electric drive axle load distribution state, the application determines the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle. This allows the electric semi-trailer to output auxiliary power commands to the electric drive axle based on the auxiliary power target value. This application can reduce the waste of vehicle power resources and can distinguish the auxiliary power target value output by the electric semi-trailer under different trailer load levels, improving the adaptability of load distribution and enhancing vehicle safety. Attached Figure Description

[0016] Figure 1 A flowchart illustrating a method for determining the power of an electric semi-trailer according to an embodiment of this application is shown. Figure 2 This paper shows a structural block diagram of a power determination device for an electric semi-trailer provided in an embodiment of this application; Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0017] Figure 2 and Figure 3 The correspondence between the figure labels and figure titles in the accompanying drawings is as follows: 200 Power determination device for electric semi-trailer; 210 Acquisition module; 220 First determination module; 230 Second determination module; 240 Third determination module; 250 Correction module; 300 Electronic device; 310 Processor; 320 Memory; 330 Bus. Detailed Implementation

[0018] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0019] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0020] First, the applicable application scenarios of this application are introduced. The embodiments provided in this application are applicable to the field of vehicle power technology, especially to the field of auxiliary power output control of electric semi-trailers, and particularly to a power determination method, device, electronic device and storage medium for electric semi-trailers.

[0021] Currently, traditional electric semi-trailers do not differentiate between road conditions when providing auxiliary power to assist the tractor. Regardless of the road conditions, traditional electric semi-trailers will provide assistance while the tractor is moving, resulting in a waste of vehicle power resources. Furthermore, in the existing electric semi-trailer power assist control, the electric semi-trailer only determines the output of assistance based on the simple accelerator pedal opening. This may lead to energy waste on light loads and small slopes, and insufficient assistance on heavy loads and large slopes, resulting in poor load distribution adaptability and, in severe cases, poor vehicle safety.

[0022] Based on this, this application provides a method, device, electronic device, and storage medium for determining the power of an electric semi-trailer. This application solves the technical problem of wasted vehicle power resources in the prior art, which may result in energy waste on light loads and small slopes, and insufficient assistance on heavy loads and large slopes, leading to poor load distribution adaptability and, in severe cases, poor vehicle safety. This application can reduce the waste of vehicle power resources and can distinguish the auxiliary power target value output by the electric semi-trailer under different trailer load levels, thereby improving the poor load distribution adaptability and enhancing vehicle safety.

[0023] Figure 1 A flowchart illustrating a method for determining the power of an electric semi-trailer according to an embodiment of this application is shown. Figure 1 As shown, the method for determining the power of an electric semi-trailer includes the following steps: S101. Obtain information on the slope of the road ahead, trailer load, and electric drive axle load during vehicle operation. The slope information includes the actual slope conditions and the actual slope type. The vehicles include electric semi-trailers and tractors.

[0024] In this step, in the embodiments provided in this application, if it is necessary to determine whether the vehicle needs to be assisted, it is first necessary to obtain the slope information of the road ahead during the vehicle's driving process, to determine whether the vehicle is in an uphill, downhill, or flat slope stage, and after determining the slope information of the road ahead, it is necessary to simultaneously obtain the trailer load information and the electric drive axle load information, which are used to subsequently assist in determining whether the electric semi-trailer in the vehicle can output auxiliary power and how much auxiliary power to output.

[0025] It is understood that in the embodiments provided in this application, the actual slope conditions and actual slope types can be customized and used according to different application scenarios and usage conditions. In the embodiments provided in this application, the actual slope conditions can be specifically set as: uphill, flat slope and downhill; in the embodiments provided in this application, the actual slope types can be specifically set as: low slope, medium slope and high slope, and the determination of low slope, medium slope and high slope is based on the slope threshold group.

[0026] It should be noted that the specific method for determining low, medium, and high slopes based on slope threshold groups is as follows: If the actual slope of the road ahead is less than or equal to the first slope threshold during the vehicle's journey, the road ahead is determined to be a low slope; if the actual slope of the road ahead is greater than the first slope threshold and less than or equal to the second slope threshold during the vehicle's journey, the road ahead is determined to be a medium slope; if the actual slope of the road ahead is greater than the second slope threshold during the vehicle's journey, the road ahead is determined to be a high slope.

[0027] In this embodiment, the electric semi-trailer is controlled to perform the vehicle assistance method only when the vehicle is on an uphill slope. Under flat road conditions, the power output of the electric semi-trailer does not perform this strategy.

[0028] S102. When the actual slope condition of the vehicle is uphill, determine the trailer load rating of the electric semi-trailer on the vehicle based on the trailer load information.

[0029] In this step, in the embodiments provided in this application, if it is determined that the vehicle is in an uphill condition under actual slope conditions, it is necessary to determine the estimated value of the trailer's current load based on the trailer load information obtained by the force sensor at the towing pin on the tractor and the force sensor on the axle of the electric semi-trailer. The estimated value of the trailer's current load is then compared with the unloaded calibration load and the pre-calibrated fully loaded calibration load to determine the trailer load level of the electric semi-trailer on the vehicle.

[0030] It is understood that the trailer load rating in the embodiments provided in this application can be customized and used according to different application scenarios and usage conditions. In the embodiments provided in this application, the trailer load rating can be specifically set but is not limited to: light load, medium load and heavy load.

[0031] It should be noted that the no-load calibration load in the embodiments provided in this application is... To indicate; full load rated load is used To characterize.

[0032] S103. Based on the trailer load information and the electric drive axle load information, determine the electric drive axle load distribution state of the electric semi-trailer, wherein the electric drive axle load distribution state is used to characterize the upper limit of the output auxiliary power.

[0033] In this step, in the embodiments provided in this application, the load distribution status of the electric drive axle includes the electric drive axle load ratio. After determining the trailer load information of the vehicle, this application will determine the ability of the electric semi-trailer in the above-mentioned vehicle to output auxiliary power based on the electric drive axle load ratio of the electric semi-trailer, the estimated current load of the trailer, and the trailer load information.

[0034] Understandably, the formula for determining the axle load percentage of the electric drive axle is as follows: ; in, Used to characterize the axle load percentage of the electric drive bridge; Used to characterize the axle load information of the electric drive bridge; Used to characterize the estimated current load of the trailer.

[0035] S104. Based on the actual slope type, trailer load level, and electric drive axle load distribution status, determine the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle, so that the electric semi-trailer outputs auxiliary power commands to the electric drive axle based on the auxiliary power target value.

[0036] In this step, in the embodiments provided in this application, the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle is comprehensively determined by judging the actual slope type of the vehicle, the trailer load level, and the load distribution status of the electric drive axle, so that the electric semi-trailer outputs auxiliary power commands to the electric drive axle based on the auxiliary power target value.

[0037] It is understood that this application specifically determines the target value of auxiliary power that the electric semi-trailer provides to the vehicle by considering power requirements, trailer load rating, and the proportion of electric drive axle load.

[0038] It should be noted that the specific formula for determining the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is as follows: ; Among them, F() is a preset mapping function, which is specifically used to characterize the segmented control rules or lookup table relationships; Used to characterize power demand; Used to characterize the actual slope type; Used to characterize trailer load rating; Used to characterize the axle load percentage of electric drive bridges.

[0039] Compared with the prior art, the power determination method for electric semi-trailers provided in this application obtains information on the slope of the road ahead, trailer load, and electric drive axle load during vehicle operation. When the actual slope condition of the vehicle is uphill, the method determines the trailer load level of the electric semi-trailer based on the trailer load information. Then, based on the trailer load information and the electric drive axle load information, the method determines the electric drive axle load distribution state of the electric semi-trailer. Next, based on the actual slope type, trailer load level, and electric drive axle load distribution state, the method determines the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle. This allows the electric semi-trailer to output auxiliary power commands to the electric drive axle based on the auxiliary power target value. This application reduces the occurrence of over-assistance under light loads and under-assistance under heavy loads, while reducing the waste of vehicle power resources or energy. It can also distinguish the auxiliary power target value output by the electric semi-trailer under different trailer load levels, improving the adaptability of load distribution and enhancing vehicle safety.

[0040] For example, acquiring information such as the slope of the road ahead, trailer load, and electric drive axle load during vehicle operation includes: Based on the target driver's power demand signal for the vehicle, the target driver's power demand value for the vehicle is determined; if the power demand value is greater than the preset demand threshold, the slope information of the road ahead, trailer load information, and electric drive axle load information of the vehicle during driving are obtained.

[0041] In the embodiments provided in this application, before determining whether the auxiliary power target value of the electric semi-trailer needs to be output to the tractor, the embodiments provided in this application will first determine whether the target driver (i.e., the driver) driving the vehicle has relevant power requirements. If so, the power requirement value of the target driver is determined based on the power requirement signal of the target driver. Only when the power requirement value is determined to be greater than the preset requirement threshold, that is, when the auxiliary power assist tractor needs to be activated, will the relevant information on the slope of the road ahead, trailer load information, and electric drive axle load information of the vehicle during driving be obtained.

[0042] It is understood that the type of power demand signal in the embodiments provided in this application can be customized and used according to different application scenarios and usage conditions. In the embodiments provided in this application, the type of power demand signal can be specifically, but not limited to, one or more of the following: accelerator pedal opening, accelerator pedal change rate, tractor power request signal, tractor output torque or output power, tractor speed, and brake pedal state.

[0043] The power demand signal of this application can be specifically used as... To represent, that is: ; in, Used to characterize power demand signals; Used to characterize the opening of the accelerator pedal; Used to characterize the rate of change of the accelerator pedal; Used to characterize the power request signal of the tractor; f() is used to characterize the current output power or power load of the tractor; f() is used to characterize the preset mapping function, lookup table relationship or weighted calculation relationship.

[0044] Here, when the driver is not pressing the accelerator or is braking, Take the lowest value or set it to zero; when the accelerator pedal opening is large, the throttle change rate is large, or the tractor's power demand is high. Take the higher value.

[0045] In this application, It serves only as a basic metric for determining the auxiliary power output of an electric semi-trailer, used to confirm whether a power demand exists. However, the final target value of the auxiliary power for the electric semi-trailer is not determined by... It is not determined individually, but rather by a combination of factors including the actual slope type, trailer load rating, electric drive axle load distribution status, and the capabilities of the electric drive system.

[0046] For example, the actual slope conditions in the vehicle's slope information can be obtained in the following way: Based on the vehicle slope data output by the in-vehicle inertial measurement unit, the main slope condition corresponding to the vehicle is determined; based on the load change data output by the longitudinal load sensor in the vehicle, the first auxiliary slope condition corresponding to the vehicle is determined; based on the vehicle's navigation data, the second auxiliary slope condition corresponding to the vehicle is determined; based on the main slope condition, the first auxiliary slope condition, and the second auxiliary slope condition, the actual slope condition of the vehicle is determined.

[0047] In the embodiments provided in this application, determining the actual slope condition of the vehicle, i.e., whether the vehicle is uphill, downhill, or flat, cannot be based solely on the data output by the inertial measurement unit (IMU) inside the vehicle. Multiple factors must be combined to accurately determine the actual slope condition in the vehicle's slope information. For example, in the embodiments provided in this application, the main slope condition is determined by the IMU, and the first auxiliary slope condition corresponding to the vehicle is determined based on the load change data output by the longitudinal load sensor inside the vehicle. The second auxiliary slope condition corresponding to the vehicle is determined by the vehicle's navigation data. The main slope condition, the first auxiliary slope condition, and the second auxiliary slope condition are combined to determine the actual slope condition of the vehicle.

[0048] It is understood that the method of acquiring vehicle navigation data in the embodiments provided in this application can be customized and used according to different application scenarios and usage conditions. In the embodiments provided in this application, the vehicle navigation data is specifically determined through map navigation, in-vehicle navigation or Global Positioning System (GPS).

[0049] It should be noted that, in the embodiments provided in this application, the load change data output by the longitudinal load sensor is used to assist in judging the longitudinal force change of the vehicle; the vehicle navigation data output by the map is used to assist in confirming the road slope trend.

[0050] In this application, multi-dimensional detection equipment is used to confirm the actual slope conditions of the vehicle, thereby improving the accuracy of the confirmation of the actual slope conditions.

[0051] For example, determining the trailer load rating of the electric semi-trailer on the vehicle based on trailer load information includes: The system acquires the vertical force of the traction pin at the tractor pin of the tractor unit on the vehicle; based on the vertical force of the traction pin and the axle load information of the electric drive axle, it determines the estimated current load of the trailer in the trailer load information; it determines the first difference between the estimated current load of the trailer and the unloaded calibration load, and the second difference between the fully loaded calibration load and the unloaded calibration load; based on the first difference and the second difference, it determines the load ratio; based on the load ratio and a preset ratio threshold, it determines the trailer load level of the electric semi-trailer on the vehicle.

[0052] In the embodiments provided in this application, when it is determined that the vehicle is in an uphill condition and the uphill gradient is greater than a preset gradient threshold, the vehicle enters the uphill condition. When the time exceeds the set time, the trailer controller determines that the vehicle is in an uphill condition and enters the uphill assist power control mode. It determines the vertical force of the tractor pin at the tractor pin of the tractor vehicle, and based on the vertical force of the tractor pin at the tractor vehicle and the axle load information of the electric drive axle, it determines the estimated value of the trailer's current load in the trailer load information. Then, it calculates the first difference between the estimated value of the trailer's current load and the unloaded calibration load, and calculates the second difference between the fully loaded calibration load and the unloaded calibration load. Then, it calculates the ratio of the first difference and the second difference to determine the load ratio. Finally, it compares the above load ratio with the preset ratio threshold to determine the trailer load level of the electric semi-trailer on the vehicle.

[0053] It is understood that, in the embodiments provided in this application, the electric drive axle load information includes the electric drive axle load and the non-electric drive axle load of the electric semi-trailer. Based on the vertical force of the draw pin and the electric drive axle load information, the estimated value of the trailer's current load in the trailer load information is determined, including: Based on the axle loads of the electric drive axle and the non-electric drive axle, the vertical force of the traction pin, the axle load of the electric drive axle, and the axle load of the non-electric drive axle are summed to determine the estimated current load of the trailer.

[0054] Furthermore, the preset ratio thresholds include a first preset ratio threshold and a second preset ratio threshold. Based on the load ratio and the preset ratio thresholds, the trailer load level of the electric semi-trailer on the vehicle is determined, including: When the load ratio is less than the first preset ratio threshold, the trailer load level of the electric semi-trailer on the vehicle is determined to be light load. When the load ratio is greater than or equal to the first preset ratio threshold and less than the second preset ratio threshold, the trailer load level of the electric semi-trailer on the vehicle is determined to be medium load. When the load ratio is greater than or equal to the second preset ratio threshold, the trailer load level of the electric semi-trailer on the vehicle is determined to be heavy load.

[0055] Here, the specific formula for determining whether a trailer's load rating is light, medium, or heavy is as follows: ; in, Used to characterize the first preset ratio threshold; Used to characterize the second preset ratio threshold.

[0056] For example, the formula for determining the load ratio by calculating the ratio of the first difference and the second difference is as follows: ; in, Used to characterize the estimated current load of the trailer; Used to characterize the no-load calibration load; Used to characterize the full-load calibration load; Used to characterize the load ratio.

[0057] It should be noted that when the slope Entry threshold greater than preset slope When the slope is steep, the uphill assist power control mode is activated; when the slope is steep... Exit threshold below preset slope At that time, confirm the exit of the uphill assist power control mode.

[0058] in, .

[0059] Here, the vertical force of the tractor pin at the tractor unit is measured by a force sensor at the tractor pin; the axle load information of the electric drive axle is measured by a force sensor on the trailer axle.

[0060] In this application, when it is possible to determine whether the road ahead of the vehicle is flat or uphill during the driving process, it is possible to further distinguish whether the vehicle is in a light load, medium load or heavy load state, so as to avoid outputting the same auxiliary power target value in all uphill scenarios.

[0061] For example, based on trailer load information and electric drive axle load information, the load distribution status of the electric drive axle of the electric semi-trailer is determined, including: Based on the ratio between trailer load information and electric drive axle load information, the electric drive axle load ratio is determined. When the electric drive axle load ratio is less than the first preset axle load ratio threshold, the electric drive axle load distribution state of the electric semi-trailer is determined to be a low-capacity output auxiliary power output. When the electric drive axle load ratio is greater than or equal to the first preset axle load ratio threshold, the electric drive axle load distribution state of the electric semi-trailer is determined to be a high-capacity output auxiliary power output.

[0062] In the embodiments provided in this application, the formula for determining the proportion of electric drive axle load based on the ratio between trailer load information and electric drive axle load information can be specifically as follows: ; in, Used to characterize the axle load of the electric drive bridge; This is used to characterize the estimated current load of the trailer; Used to characterize the axle load percentage of electric drive bridges.

[0063] It is understood that in the embodiments provided in this application, when the axle load ratio of the electric drive axle is low, the upper limit of auxiliary power output is reduced; when the axle load ratio of the electric drive axle is high and the load condition allows, a higher auxiliary power output is allowed, and the upper limit of auxiliary power output is determined to be increased. This step is used to ensure that the output of the auxiliary power target value of the electric semi-trailer not only considers the trailer's light, medium, or heavy load condition, but also considers whether the load is effectively distributed to the electric drive axle.

[0064] It should be noted that this step is used to ensure that the trailer's auxiliary power output takes into account not only the trailer's light, medium, or heavy load status, but also whether the load is effectively distributed to the electric drive axle.

[0065] In this application, the upper limit of the auxiliary power target value can be limited according to the load distribution state of the electric drive axle of the electric semi-trailer, thereby matching the output capacity of the electric semi-trailer with the actual available attachment and load state.

[0066] For example, based on the actual slope type, trailer load level, and electric drive axle load distribution status, the target value of auxiliary power for the electric semi-trailer to provide auxiliary power to the vehicle is determined, including: When the trailer load rating is light and the actual slope type is low, the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is determined to be zero; when the trailer load rating is medium and the actual slope type is medium or steep, the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is determined from the first power preset range; when the trailer load rating is heavy and the actual slope type is steep, the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is determined from the second power preset range, wherein the lower limit of the second power preset range is not less than the upper limit of the first power preset range.

[0067] In the embodiments provided in this application, the formula for determining the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is as follows: ; Among them, F() is a preset mapping function, which is specifically used to characterize the segmented control rules or lookup table relationships; Used to characterize power demand; Used to characterize the actual slope type; Used to characterize trailer load rating; Used to characterize the axle load percentage of the electric drive bridge; Used to characterize the target value of auxiliary power.

[0068] Here, when When the power demand is below the required value, even if the actual slope condition of the vehicle is uphill, no power assist is output or only a low level of assist is output; when the vehicle is on a flat road or not uphill, the electric drive axle of the electric semi-trailer maintains zero power assist or a low level of assist; when the vehicle is under light load and on a small slope, the electric drive axle of the electric semi-trailer maintains zero power assist; when the vehicle is under medium load and on an uphill slope, the electric drive axle of the electric semi-trailer outputs moderate assist power; when the vehicle is under heavy load and on a steep slope, the electric drive axle of the electric semi-trailer increases the upper limit of assist power output; when the axle load ratio of the electric drive axle of the electric semi-trailer is low, the upper limit of the target value of assist power output will be limited.

[0069] It should be noted that when the vehicle is on a flat road or not uphill, the output shaft of the electric semi-trailer does not output auxiliary power, or only maintains a low level of auxiliary power, in order to avoid continuously consuming battery energy under normal cruising or low load conditions.

[0070] When the vehicle is on an uphill slope, but the slope is low and the electric semi-trailer is lightly loaded, the electric drive axle of the electric semi-trailer maintains zero power assist output to avoid low-yield power assist.

[0071] When the vehicle is on an uphill slope and the electric semi-trailer is under medium load, the electric drive axle of the electric semi-trailer will output appropriate auxiliary power according to the actual slope type and the driver's power needs.

[0072] When the vehicle is heavily loaded and the actual slope type is a steep slope, the upper limit of the auxiliary power output will be controlled to reduce the burden on the tractor and thus improve the overall climbing ability of the vehicle.

[0073] It is understood that the methods for determining low slope, medium slope, or high slope in the embodiments provided in this application are as follows: ; here, and Used to characterize The lower and upper thresholds; Used to characterize the boundary threshold between medium and large slopes.

[0074] It should be noted that the numerical ranges of the first power preset range and the second power preset range in the embodiments provided in this application can be customized and used according to different application scenarios and usage conditions.

[0075] In this application, by determining whether the actual slope type is low, medium or high, a graded control rule is established for light-load low slopes with no assistance, medium-load with moderate assistance, heavy-load high slopes with enhanced assistance, and long uphill slopes with continuously limited assistance.

[0076] For example, the method also includes: When the trailer load rating is not light load, if the auxiliary power target value is greater than the upper limit of the auxiliary power corresponding to the load distribution state of the electric drive axle, the information of the traction pin hinge angle on the tractor inside the vehicle is obtained, and the auxiliary power target value is corrected based on the traction pin hinge angle information to determine the corrected auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle.

[0077] In the above-mentioned process, when a traditional electric semi-trailer assists the tractor unit while going uphill, it will continue to output a large amount of auxiliary power when the vehicle is turning uphill or at a large articulation angle. This will generate an adverse thrust on the tractor unit through the towing pin, increasing the risk of the main trailer folding or becoming unstable.

[0078] In this application, a threshold limit is applied to the angle of the towing pin articulation. Specifically, when the trailer load rating is not light load, if the target auxiliary power value is greater than the upper limit of the auxiliary power corresponding to the load distribution state of the electric drive axle, the towing pin articulation angle information on the tractor inside the vehicle is obtained, and the auxiliary power of the trailer is limited based on the towing pin articulation angle and / or the rate of change of the articulation angle. When the articulation angle is too large, the output of the above-mentioned target auxiliary power value is stopped to correct the target auxiliary power value, and a corrected target auxiliary power value for the electric semi-trailer to provide auxiliary power to the vehicle is determined.

[0079] It is understandable that in this application, the target value of the trailer's auxiliary power is corrected based on the towing pin articulation angle information, including: Obtain the absolute value and rate of change of the traction pin hinge angle; when the absolute value of the hinge angle is less than the first hinge angle threshold, set the safety correction coefficient to 1; when the absolute value of the hinge angle is greater than or equal to the first hinge angle threshold and less than the second hinge angle threshold, determine a safety correction coefficient between 0 and 1 based on the absolute value and rate of change of the hinge angle, and attenuate the auxiliary power; when the absolute value of the hinge angle is greater than or equal to the second hinge angle threshold, set the safety correction coefficient to 0 and stop the auxiliary power output; the product of the trailer auxiliary power target value and the safety correction coefficient is determined as the safety-corrected auxiliary power target value.

[0080] It should be noted that the formula for the target value of the auxiliary power after safety correction is as follows: ;

[0081] ; in, Used to characterize the hinge angle of the traction pin; Used to characterize the rate of change of the traction pin hinge angle; Used to characterize the first hinge angle threshold; Used to characterize the second hinge angle threshold; Used to characterize the target value of auxiliary power; Used to characterize the target value of auxiliary power after safety correction.

[0082] In this application, when the traction pin hinge angle is too large, the output of the auxiliary power target value is limited or stopped to reduce the risk of folding and main-trailer coupling instability of the electric semi-trailer.

[0083] For example, in the embodiments provided in this application, when the vehicle is in an uphill condition for a long time, the system will continuously limit the output of auxiliary power according to the vehicle's battery temperature, motor temperature and state of charge (SOC) to avoid the trailer power system from running under high load for a long time, which would cause overheating or rapid power loss.

[0084] It should be noted that this application obtains at least one of the following: the state of charge of the power battery, battery temperature, motor temperature, drive wheel slip ratio, main-mount communication status, and electric drive axle fault status; and determines the corresponding degradation coefficient based on the state of charge, battery temperature, motor temperature, drive wheel slip ratio, main-mount communication status, and electric drive axle fault status. The final corrected auxiliary power target value is determined by multiplying the corrected auxiliary power target value by each degradation coefficient, and a torque change rate limit is applied to the final corrected auxiliary power target value to obtain a smoothed auxiliary power command.

[0085] Understandably, based on the state of charge (SOC), battery temperature, motor temperature, drive wheel slip ratio, main engine communication status, and electric drive axle fault status, corresponding degradation coefficients are determined, including: when the SOC is lower than a first preset charge threshold, the SOC limitation coefficient decreases linearly with the decrease in SOC; when the battery temperature or motor temperature is higher than a first preset temperature threshold, the temperature limitation coefficient decreases linearly with the increase in temperature; when the drive wheel slip ratio is greater than a preset slip ratio threshold, the low adhesion limitation coefficient is set to a preset low adhesion derating value; when the main engine communication status is abnormal, the communication degradation coefficient is set to 0; when the electric drive axle fault status is that a fault exists, the fault degradation coefficient is set to 0.

[0086] In this application, the expression for determining the final corrected auxiliary power target value is specifically as follows: ; in, Used to characterize the target value of the corrected auxiliary power; Used to characterize the torque change rate limit, preventing longitudinal impact on the main trailer caused by sudden establishment or sudden disengagement of auxiliary power; Used to characterize the SOC constraint coefficient; Used to characterize the temperature limiting factor; Used to characterize low adhesion limitation coefficient; Used to characterize the fault degradation coefficient.

[0087] In this application, based on wheel speed, drive wheel slip ratio, or the status of the vehicle's anti-lock braking system (ABS), electronically controlled brake system (EBS), or electronic stability control system (ESC), if it is determined that the vehicle has a low risk of adhesion, the upper limit of the auxiliary power target value is reduced; if the vehicle's slip risk persists, the auxiliary power target value is smoothly reduced until zero torque output to ensure vehicle safety.

[0088] Compared with the prior art, the embodiments provided in this application can avoid ineffective assistance of electric semi-trailers in low-yield conditions such as flat roads and light-load uphill driving, and reduce energy waste of trailer power batteries; this application can increase the upper limit of auxiliary power output in heavy-load steep slope conditions, reduce the burden on the tractor, and thus improve the climbing ability of the entire train; this application can limit the upper limit of auxiliary power according to the axle load distribution of the electric drive axle, and reduce slippage, main-trailer impact and energy waste in low axle load conditions; this application can limit or deactivate auxiliary power in large articulation angle, low adhesion, over-temperature, low SOC or fault conditions, and improve the safety and reliability of the entire train.

[0089] Figure 2 This application provides a structural block diagram of a power determination device for an electric semi-trailer, as illustrated in an embodiment of the present application. Figure 2 As shown, the power determination device 200 for the electric semi-trailer includes: The acquisition module 210 is used to acquire information on the slope of the road ahead, trailer load information, and electric drive axle load information of the vehicle during its operation. The slope information includes the actual slope conditions and the actual slope type. The vehicles include electric semi-trailers and tractors.

[0090] The first determining module 220 is used to determine the trailer load level of the electric semi-trailer on the vehicle based on the trailer load information when the actual slope condition of the vehicle is uphill.

[0091] The second determining module 230 is used to determine the electric drive axle load distribution state of the electric semi-trailer based on the trailer load information and the electric drive axle load information, wherein the electric drive axle load distribution state is used to characterize the upper limit of the output auxiliary power.

[0092] The third determining module 240 is used to determine the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle based on the actual slope type, trailer load level and electric drive axle load distribution status, so that the electric semi-trailer outputs auxiliary power command to the electric drive axle based on the auxiliary power target value.

[0093] For example, the acquisition module 210 includes: The first determining unit is used to determine the power demand value of the target driving object for the vehicle based on the power demand signal of the target driving object for the vehicle.

[0094] The first acquisition unit is used to acquire information on the slope of the road ahead, trailer load, and electric drive axle load of the vehicle during its operation if the power demand value is greater than a preset demand threshold.

[0095] For example, the acquisition module 210 acquires the actual slope conditions from the vehicle's slope information through the following units: The second determining unit is used to determine the main slope condition corresponding to the vehicle based on the vehicle slope data output by the inertial measurement unit inside the vehicle.

[0096] The third determining unit is used to determine the first auxiliary slope condition corresponding to the vehicle based on the load change data output by the longitudinal load sensor inside the vehicle.

[0097] The fourth determining unit is used to determine the second auxiliary slope condition corresponding to the vehicle based on the vehicle's navigation data.

[0098] The fifth determining unit is used to determine the actual slope condition of the vehicle based on the main slope condition, the first auxiliary slope condition, and the second auxiliary slope condition.

[0099] For example, the first determining module 220 includes: The second acquisition unit is used to acquire the vertical force of the traction pin at the traction pin of the tractor on the vehicle.

[0100] The sixth determining unit is used to determine the estimated value of the trailer's current load in the trailer load information based on the vertical force of the traction pin and the axle load information of the electric drive axle.

[0101] The seventh determining unit is used to determine the first difference between the estimated current load of the trailer and the unloaded calibration load, and the second difference between the fully loaded calibration load and the unloaded calibration load.

[0102] The eighth determining unit is used to determine the load ratio based on the first difference and the second difference.

[0103] The ninth determining unit is used to determine the trailer load level of the electric semi-trailer on the vehicle based on the load ratio and a preset ratio threshold.

[0104] For example, the second determining module 230 includes: The tenth determining unit is used to determine the proportion of electric drive axle load based on the ratio between trailer load information and electric drive axle load information.

[0105] The eleventh determining unit is used to determine the load distribution state of the electric drive axle of the electric semi-trailer based on the electric drive axle load ratio; wherein, the electric drive axle load distribution state is used to characterize the upper limit of the auxiliary power output of the electric semi-trailer, the upper limit of the auxiliary power output increases with the increase of the electric drive axle load ratio, and the upper limit of the auxiliary power output is not greater than the product of the electric drive axle load ratio and the total driving force requirement of the vehicle.

[0106] For example, the third determining module 240 includes: The twelfth determining unit is used to determine the target value of the auxiliary power provided by the electric semi-trailer to the vehicle as zero when the trailer load level is light and the actual slope type is low.

[0107] The thirteenth determining unit is used to determine the target value of the auxiliary power that the electric semi-trailer provides to the vehicle from the first power preset range when the trailer load level is medium load and the actual slope type is medium or steep.

[0108] The fourteenth determining unit is used to determine the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle from the second power preset range when the trailer load level is heavy load and the actual slope type is steep slope, wherein the lower limit of the second power preset range is not less than the upper limit of the first power preset range.

[0109] For example, the method also includes: The correction module 250 is used to obtain the towing pin articulation angle information on the tractor inside the vehicle when the trailer load level is not light load, and to correct the auxiliary power target value based on the towing pin articulation angle information, so as to determine the corrected auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle.

[0110] The electric semi-trailer power determination device 200 provided in this application embodiment, compared with the prior art, obtains the slope information of the road ahead, trailer load information, and electric drive axle load information of the vehicle during driving. When the actual slope condition of the vehicle is uphill, it determines the trailer load level of the electric semi-trailer on the vehicle based on the trailer load information. Then, based on the trailer load information and the electric drive axle load information, it determines the electric drive axle load distribution state of the electric semi-trailer. Next, based on the actual slope type, trailer load level, and electric drive axle load distribution state, it determines the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle, so that the electric semi-trailer outputs auxiliary power commands to the electric drive axle based on the auxiliary power target value. This application reduces the occurrence of over-assistance under light load and under-assistance under heavy load, while reducing the waste of vehicle power resources or energy. It can also distinguish the auxiliary power target value output by the electric semi-trailer under different trailer load levels, improve the adaptability of load distribution, and enhance vehicle safety.

[0111] This application can avoid ineffective assistance of electric semi-trailers in low-yield conditions such as flat roads and light-load low slopes, and reduce energy waste of trailer power batteries; this application can increase the upper limit of auxiliary power output in heavy-load high-slope conditions, reduce the burden on the tractor, and thus improve the climbing ability of the entire train; this application can limit the upper limit of auxiliary power according to the axle load distribution of the electric drive axle, and reduce slippage, main-trailer impact and energy waste in low axle load conditions; this application can limit or disengage auxiliary power in large articulation angle, low adhesion, over-temperature, low SOC or fault conditions, and improve the safety and reliability of the entire train.

[0112] Please see Figure 3 , Figure 3 This application provides a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 3 As shown, the electronic device 300 includes a processor 310, a memory 320, and a bus 330.

[0113] Memory 320 stores machine-readable instructions executable by processor 310. When electronic device 300 is running, processor 310 and memory 320 communicate via bus 330. When the machine-readable instructions are executed by processor 310, they can perform the operations described above. Figure 1 The steps of the method for determining the power of the electric semi-trailer in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0114] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1The steps of the method for determining the power of the electric semi-trailer in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0115] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0116] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0117] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0118] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0119] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0120] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0121] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process for determining the power of an electric semi-trailer.

[0122] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0123] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only 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 mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0125] 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 network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0126] 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.

[0127] 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 the prior art, 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 USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0128] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0129] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0130] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A method for determining the power source of an electric semi-trailer, characterized in that, The method for determining the power of the electric semi-trailer includes: The vehicle acquires information on the slope of the road ahead, trailer load, and electric drive axle load during its journey. The slope information includes the actual slope conditions and the actual slope type. The vehicle includes an electric semi-trailer and a tractor. When the actual slope condition of the vehicle is uphill, the trailer load rating of the electric semi-trailer on the vehicle is determined based on the trailer load information. Based on the trailer load information and the electric drive axle load information, the electric drive axle load distribution state of the electric semi-trailer is determined, wherein the electric drive axle load distribution state is used to characterize the upper limit of the auxiliary power output, and the upper limit of the auxiliary power output increases with the increase of the electric drive axle load ratio. Based on the actual slope type, the trailer load level, and the load distribution status of the electric drive axle, a target value for the auxiliary power provided by the electric semi-trailer to the vehicle is determined, so that the electric semi-trailer outputs an auxiliary power command to the electric drive axle based on the target value for the auxiliary power.

2. The method for determining the power of an electric semi-trailer according to claim 1, characterized in that, Acquire information on the slope of the road ahead, trailer load, and electric drive axle load during vehicle operation, including: Based on the target driver's power demand signal for the vehicle, determine the target driver's power demand value for the vehicle; If the power demand value is greater than the preset demand threshold, then the slope information of the road ahead, trailer load information, and electric drive axle load information of the vehicle during driving are obtained.

3. The method for determining the power of an electric semi-trailer according to claim 1, characterized in that, The actual slope conditions in the vehicle's slope information are obtained through the following methods: Based on the vehicle slope data output by the inertial measurement unit inside the vehicle, the main slope condition corresponding to the vehicle is determined. Based on the load change data output by the longitudinal load sensor inside the vehicle, the first auxiliary slope condition corresponding to the vehicle is determined. Based on the vehicle's navigation data, determine the second auxiliary slope condition corresponding to the vehicle; Based on the main slope condition, the first auxiliary slope condition, and the second auxiliary slope condition, the actual slope condition of the vehicle is determined.

4. The method for determining the power of an electric semi-trailer according to claim 1, characterized in that, The step of determining the trailer load rating of the electric semi-trailer on the vehicle based on the trailer load information includes: Obtain the vertical force of the traction pin at the traction pin of the tractor on the vehicle; Based on the vertical force of the traction pin and the axle load information of the electric drive axle, determine the estimated value of the current trailer load in the trailer load information; Determine a first difference between the estimated current load of the trailer and the unloaded calibrated load, and a second difference between the fully loaded calibrated load and the unloaded calibrated load; Based on the first difference and the second difference, the load ratio is determined; Based on the load ratio and a preset ratio threshold, the trailer load level of the electric semi-trailer on the vehicle is determined.

5. The method for determining the power of an electric semi-trailer according to claim 1, characterized in that, The step of determining the electric drive axle load distribution status of the electric semi-trailer based on the trailer load information and the electric drive axle load information includes: The electric drive axle load percentage is determined based on the ratio between the trailer load information and the electric drive axle load information. Based on the electric drive axle load ratio, the electric drive axle load distribution status of the electric semi-trailer is determined. The load distribution state of the electric drive axle is used to characterize the upper limit of the auxiliary power output of the electric semi-trailer, and the upper limit of the auxiliary power output is not greater than the product of the axle load ratio of the electric drive axle and the total driving force requirement of the vehicle.

6. The method for determining the power of an electric semi-trailer according to claim 2, characterized in that, The determination of the target auxiliary power value for the electric semi-trailer to provide auxiliary power to the vehicle based on the actual slope type, the trailer load level, and the load distribution status of the electric drive axle includes: When the trailer load rating is light and the actual slope type is low, the target value of the auxiliary power provided by the electric semi-trailer to the vehicle is determined to be zero. When the trailer load rating is medium load and the actual slope type is medium or steep, the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle is determined from the first power preset range. When the trailer load rating is heavy load and the actual slope type is steep slope, the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle is determined from the second power preset range, wherein the lower limit of the second power preset range is not less than the upper limit of the first power preset range.

7. The method for determining the power of an electric semi-trailer according to claim 6, characterized in that, The method further includes: When the trailer load rating is not light load, the towing pin articulation angle information on the tractor inside the vehicle is obtained, and based on the towing pin articulation angle information, the auxiliary power target value is corrected to determine the corrected auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle.

8. A power determination device for an electric semi-trailer, characterized in that, The power determination device for the electric semi-trailer includes: The acquisition module is used to acquire information on the slope of the road ahead, trailer load information, and electric drive axle load information of the vehicle during its operation. The slope information includes the actual slope conditions and the actual slope type. The vehicle includes an electric semi-trailer and a tractor. The first determining module is used to determine the trailer load rating of the electric semi-trailer on the vehicle based on the trailer load information when the actual slope condition of the vehicle is uphill. The second determining module is used to determine the electric drive axle load distribution state of the electric semi-trailer based on the trailer load information and the electric drive axle load information, wherein the electric drive axle load distribution state is used to characterize the upper limit of the output auxiliary power, and the upper limit of the output auxiliary power increases with the increase of the electric drive axle load ratio. The third determining module is used to determine the auxiliary power target value for the electric semi-trailer to provide auxiliary power to the vehicle based on the actual slope type, the trailer load level, and the load distribution status of the electric drive axle, so that the electric semi-trailer outputs auxiliary power commands to the electric drive axle based on the auxiliary power target value.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the power determination method for an electric semi-trailer as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the power determination method for an electric semi-trailer as described in any one of claims 1-7.

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