983 results about "Semi-trailer" patented technology

The invention discloses a motor-driven tractor-semitrailer driving stability control method which comprises the following steps: firstly, establishing a tractor-semitrailer three-degree-of-freedom dynamic model, and solving yaw velocity expected values and side slip angle expected values of a tractor and a semitrailer according to driver input and actual vehicle states; secondly, according to the deviation between the expected value and the actual value of the vehicle state quantity, an upper-layer controller outputs the expected additional yaw moment, and the adaptive capacity to the parameter change of the semitrailer is achieved; the lower layer controller then outputs a torque on each wheel according to the desired additional yaw moment and the vehicle state, including a driving torque on the driving wheel and a braking torque on all wheels. By the adoption of the method for controlling the running stability of the motor-driven tractor-semitrailer, unstable working conditions such as rollover and folding of the tractor-semitrailer in the running process can be avoided, the running stability is improved, and meanwhile the method has the self-adaptive capacity for load changes of the semitrailer.

The invention provides a tractor semitrailer full-working-condition active stability control system and method, and belongs to the technical field of vehicle engineering. The system comprises a kinetic model module, a reference quantity determination module and an active stability controller module. The dynamic model module constructs a linear three-degree-of-freedom tractor semitrailer model, a hub motor model and a longitudinal driver model. The reference quantity determination module generates an ideal state value according to the steady state condition of the system and corrects the ideal state value in combination with the road attachment condition. The active stability controller module is divided into three layers, an MIMO-IMFAC controller calculates additional yawing moment, a torque optimization controller optimizes tire load distribution through a quadratic programming algorithm, and a driving / braking torque distribution controller preferentially uses regenerative braking and dynamically adjusts braking torque of the semitrailer according to the yawing moment. By adopting the control system and the control method, the stability and the dynamic response capability of the vehicle under complex working conditions are remarkably improved.

The invention belongs to the technical field of vehicle steering control, and relates to a van semitrailer steering synchronization angle closed-loop test calibration system, which comprises the following steps of: firstly, executing a static steering test on a no-load combined vehicle, and constructing a mapping reference table of a saddle space position and an ideal hinge angle; then multi-working-condition dynamic steering testing is carried out on the load combination vehicle, vehicle frame deformation data are collected in real time, the deformation data are converted into a hinge angle compensation value through a pre-trained deformation mechanical model, selective correction is carried out on the actually-measured hinge angle based on a deformation compensation starting threshold value, a calibration target is generated to reversely analyze the target saddle position, and the target saddle position is corrected; the problem that in the prior art, inevitable elastic structure deformation and real mechanical steering asynchronous faults of the van semitrailer under the actual dynamic load working condition cannot be fully considered and distinguished is effectively solved, and then multi-working-condition driving verification data are collected, deformation mechanical model parameters are iteratively updated, and a compensation threshold value generation strategy is generated. And closed-loop optimization is realized.

The invention relates to an electric drive semitrailer grading AEB control decision-making method considering road surface factors, and the method comprises the following steps: S1, enabling a vehicle to obtain front vehicle information and road surface information through a sensor, a high-precision map and other ways, calculating a correction adhesion coefficient through combining with the state of the vehicle, and determining the maximum gradient limit; s2, outputting a maximum braking deceleration correction factor through fuzzy control by taking the correction adhesion coefficient and the gradient as input; s3, according to the advantages and disadvantages of the road surface working conditions and the maximum braking deceleration correction factor, the maximum braking deceleration is calculated according to the working conditions; s4, calculating a safe braking distance and collision time according to the current state of the vehicle and the speed and distance of the front vehicle; and S5, the collision time is used for early warning decision making, the safety braking distance is used for emergency braking decision making, the corrected maximum braking deceleration serves as a full-force braking target value, and graded AEB control is achieved. According to the method, road surface factors are fully considered, vehicle safety can be guaranteed under different attachment conditions and slope road surfaces, and the braking stability is remarkably improved.

Provided are equipment and methods for intelligent mobile medical waste disposal and flue gas purification, and the equipment includes a vehicle-mounted mobile platform and a skid-mounted standard container; where, the vehicle-mounted mobile platform is composed of a standard semi-trailer truck and a truck carriage base; the vehicle-mounted mobile platform is used for realizing functions of mobile transportation, cargo loading, fuel loading and unloading, power charging and discharging and network information transmission; the skid-mounted standard container is loaded above the truck carriage base of the vehicle-mounted mobile platform; and the skid-mounted standard container consists of a standard container and contents in the standard container; and the contents include: an intelligent collection and transportation feeding system, a medical waste pyrolysis incineration system, an incineration flue gas purification system, and an intelligent management and control system for medical waste disposal.

The invention relates to the technical field of vibration damping devices, in particular to a rocket body transport vehicle vibration damping device which comprises a base, a first vibration damper and a second vibration damper. The base is fixed to the upper side of the suspension, one end of the first shock absorber is fixedly connected with the middle of the base, and the other end of the first shock absorber is fixedly connected with a frame. Mounting grooves are formed in the side face, close to the frame, of the base and located on the two sides of the first shock absorber, the second shock absorbers are arranged in the mounting grooves, and the shock absorption ends of the second shock absorbers are connected with the shock absorption end of the first shock absorber. In the working process, the overall vibration reduction effect of the semitrailer can be improved.

The invention relates to the technical field of semitrailers, and discloses a side-turning self-dumping semitrailer which comprises a semitrailer body, a carriage, a driving mechanism and a movable side carriage door, and a side baffle structure and a door locking structure corresponding to the movable side carriage door are arranged on a lower side beam of the carriage. The side baffle structure comprises a baffle, a balance weight beam arranged on the top of the outer side face of the baffle and a plurality of supporting pipes vertically arranged on the baffle, and the bottoms of the supporting pipes are connected with a lower side beam pivot of the carriage. The side baffle structure and the door locking structure of the rollover self-dumping semitrailer can be opened and closed by ingeniously utilizing the rollover acting force of the carriage, the reliability is high, additional power sources (such as an oil cylinder and an air cylinder) do not need to be arranged, the manufacturing cost and the maintenance cost are reduced, and meanwhile the oil leakage risk is avoided. Due to the linkage design of the movable side compartment door and the baffle, the unloading process is smoother, manual intervention is not needed, and the problem that tires are prone to being buried by goods during unloading of an existing side-tipping dumper is fundamentally solved.

The invention discloses a semitrailer frame and a loading and unloading method thereof, and relates to the technical field of semitrailers, the semitrailer frame comprises a longitudinal beam frame, a plurality of cross beams are fixedly welded in the longitudinal beam frame and on the front side and the rear side of the longitudinal beam frame, a traction pin mechanism is arranged at the bottom of the longitudinal beam frame, and a plurality of first connecting holes are formed in the tops of the longitudinal beam frame and the cross beams; the panel mechanism comprises a connecting panel and a bearing panel, a plurality of first mounting grooves are formed in the connecting panel, first bolts are arranged in the first mounting grooves in a penetrating and threaded mode, the first bolts are in threaded connection with the first connecting holes, and the bottom of the connecting panel is attached to the top of the longitudinal beam frame and the top of the cross beam. Inertial impact force generated by the full-load carriage during emergency braking can be effectively buffered, so that a connecting and fixing mechanism between the carriage and the bearing panel and a frame are effectively prevented from being damaged by large inertial impact force, goods can be effectively prevented from being damaged by the large inertial impact force, and the transportation loss of the goods is reduced.

The invention relates to the technical field of battery management of hybrid power vehicles, in particular to a hybrid power semitrailer battery management system and a multi-mode balance control method, and the hybrid power semitrailer battery management system comprises a data acquisition module, a main control module, a balance execution module, a thermal management module, a communication interface module and a safety protection module. Accurate battery state estimation and dynamic parameter updating are realized through an advanced algorithm and a model, a decision basis is provided for equalization and thermal management, an active and passive hybrid architecture and an intelligent topology switching strategy are adopted, energy management between battery cells is efficiently realized, energy waste is avoided, wind speed and wind direction are dynamically regulated and controlled by applying reinforcement learning, and energy consumption is reduced. The temperature consistency of the battery cell is maintained with low energy consumption, the energy utilization efficiency, the state control precision and the operation safety of the battery management system are remarkably improved, the service life of the battery is effectively prolonged, and stable operation of the system is guaranteed.

The invention discloses a semitrailer battery energy transmission system and method based on an electric traction vehicle, belongs to the technical field of battery energy transmission, and aims to solve the problems that in the prior art, energy supply for a semitrailer is inconvenient, the actual transportation effect of the semitrailer is affected, and the transportation cost is increased. The system comprises an electric tractor and a semitrailer, the electric tractor is provided with an optical coupler, the electric tractor is provided with a traction seat and a first battery, the optical coupler is electrically connected with a control device, an ECU control unit and a vehicle end interface, the ECU control unit is electrically connected with a display, and the control device is provided with a plurality of control assemblies; the second battery is charged through the first battery, so that energy supply for the semitrailer is facilitated, the problem of insufficient energy of the semitrailer can be effectively solved, the transportation problem caused by insufficient energy of the semitrailer in the driving process is avoided, the logistics transportation efficiency is improved, and the logistics cost is reduced.

The invention provides a semi-trailer rollover early warning method and system based on dynamic threshold value prediction. The early warning method comprises the steps that the transverse acceleration, the yaw velocity, the vehicle speed, the suspension pressure and the front lane curvature of a semi-trailer are obtained in real time; according to the collected and calculated data and a linear trend extrapolation method, constructing a dynamic rollover risk threshold function and a comprehensive risk index function, and calculating a rollover risk threshold, a real-time risk value and a predicted risk value; the item with the higher value in the real-time risk value and the predicted risk value is selected and compared with a rollover risk threshold value, and whether early warning is triggered or not is judged, and a control instruction is issued; the early warning system comprises a semitrailer state monitoring unit, a lane curvature recognition unit, a rollover risk threshold calculation unit, a real-time risk value calculation unit, a predicted risk value calculation unit and an early warning control unit, and is used for realizing the early warning method, so that the response speed and the judgment accuracy of the semitrailer rollover early warning system under variable working conditions are improved.

An auxiliary power system for an electric semi-truck is disclosed. The auxiliary power system includes a power storage device mounted to a semi-trailer. One or more main batteries provide propulsion to a semi-truck and are in electrical communication with the power storage device to receive auxiliary power therefrom. The power storage device is operable to increase the range over which the semi-truck travels between recharging. The power storage device may be configured to either provide supplemental power to increase the power output of the semi-truck in real-time or may be configured to increase the range between recharging of the main batteries of the semi-truck.

The invention relates to the technical field of transport vehicles, and discloses a new energy container transport semitrailer which comprises a semitrailer body and a container body hoisted above the semitrailer body. Two main beams are installed on the semi-trailer body, a plurality of cross beams are installed between the two main beams, loading blocks are installed in the cross beams, two inserting grooves are symmetrically formed in each loading block, a plurality of sets of inclined blocks are installed at the bottom of the box body, and each set of inclined blocks correspond to the two inserting grooves in the corresponding loading block. And two clamping pushing assemblies are arranged in the cross beam. The inclined blocks are matched with the protection assemblies, the clamping blocks and the limiting assemblies, guiding, fixing and limiting are achieved when the box body is hoisted and moves downwards, the lateral restraining force and the connecting strength are enhanced, the electromagnets are used for fixing the two sides of the bottom of the box body, the weight is evenly distributed, the main beam deformation risk is reduced, the pull ropes are matched with the protection assemblies to form a protection barrier, and safety is improved; the inclined block design avoids direct contact between the box body and the ground, and the service life is prolonged.

Systems and methods for predicting anomalies in a wheel system of a semi-trailer truck. One example system includes: a vibration sensor positioned to sense vibrations of the wheel system and an electronic processor communicatively coupled to the vibration sensor. The electronic processor is configured to determine a velocity profile of the semi-trailer truck; obtain a vibration measurement; determine, from the vibration measurement, a classified vibration level; determine whether the classified vibration level is indicative of an anomaly; identify, based on whether the classified vibration level is indicative of the anomaly and both the velocity profile and a reference classified vibration level, an anomaly existing within either or both of the semi-trailer truck wheel system or the road; and perform a mitigation action in response to identifying the anomaly.

The invention relates to a semitrailer traction pin assembly (1) for an articulated vehicle, comprising a traction pin (2) defining an axis of rotation (A) wherein the traction pin (2) has a traction pin flange (3) for directly or indirectly connecting the traction pin (2) to the semitrailer. The traction pin assembly (1) further comprises an angle measuring device (15) at least partially embedded in the traction pin (2), the device having a shaft (17) rotatably mounted about the axis of rotation (A), and a transmission member (18) connected to the shaft (17), the transmission member (18) being pivotable about the axis of rotation (A).

An apparatus and system for mounting, monitoring, and managing one or more battery packs within a housing attached to or, integrated in, a commercial vehicle such as a semi-trailer for the purpose of providing battery power to all-electric powered commercial vehicles. One or more removable battery packs of various sizes may be mounted in one or more housings within an assembly installed on, or included as a structural part of, the frame of a commercial vehicle. Electrical connections on the installed battery packs connect the battery packs to each other and to the commercial vehicle electric motors. Computer systems permit the monitoring and managing of each installed battery pack. Thus, commercial vehicles may be provided with the appropriate battery power supply for an anticipated trip, without being required to purchase or to haul excess batteries and thus excess weight on the trip.

The invention relates to a commercial vehicle (3) comprising a tractor unit (4) and a semi-trailer (5), wherein the tractor unit (4) has cameras, a satellite navigation system, side mirrors (7) and / or mirror replacement cameras (7) having a first field of view (B1), wherein a radar sensor (8) is arranged at the rear of the tractor unit (4) such that it detects a second field of view (B2) under the semi-trailer (5) or trailer, which includes an area of ​​shadowing (A) by the semi-trailer (5) lying outside the first field of view (B1), wherein the tractor unit (4) further comprises a lane change assistance system configured to monitor areas next to, behind and to the side of the commercial vehicle (3) for other vehicles (6.1 to 6.4), to determine the position, speed and acceleration of detected vehicles (6.1 to 6.4) and to predict when approaching vehicles (6.1 to 6.4) will4) are located next to or near the commercial vehicle (3), when one of the vehicles (6.1 to 6.4) enters an area critical for a lane change of the commercial vehicle (3), to issue a warning in the commercial vehicle (3), to increase a warning level of the warning issued to the driver when a direction indicator (10) of the commercial vehicle (3) is switched on, in this case then, if the vehicle (6.1 to 6.4) decelerates, to withdraw the warning or reduce the warning level, and otherwise to maintain the warning.

The utility model discloses a folding ladder stand device capable of being used as a bearing surface, and relates to the technical field of semitrailer ladder stands. The carriage comprises a carriage body and a plurality of ladder stand bodies, a plurality of ladder stand lugs are fixedly arranged at the tail end of the carriage body, ladder stand rotating shafts are fixedly installed at one ends of the ladder stand bodies, sleeves are arranged on the outer walls of the ladder stand rotating shafts in a sliding mode, and a carriage rotating shaft is rotatably installed between every two adjacent ladder stand lugs. The outer walls of the multiple carriage rotating shafts are fixedly provided with linkage butt straps. According to the utility model, the ladder stand body which is horizontally aligned with the cargo carrying surface of the carriage body after being folded is arranged, so that the space of the cargo carrying surface of the carriage body is not occupied, and under the condition that the total length of a vehicle is consistent, the size of the cargo carrying surface of the vehicle using the ladder stand body is larger, and the ladder stand body can serve as a part of the cargo carrying surface to load more cargoes; and a fixing ring or a container lock and other devices can be placed on the upper plane of the crawling ladder body, so that the diversity of cargos is met.

The utility model discloses a dual-system evaporator for a vehicle, and belongs to the technical field of evaporators for refrigeration vehicles. The evaporator mainly comprises an evaporator shell, the two ends of the evaporator shell are fixedly connected with side fixing plates respectively, a plurality of sets of heat exchange coils are arranged in the evaporator shell, a plurality of pipeline supporting plates used for supporting and fixing the heat exchange coils are fixedly connected in the evaporator shell, and each set of heat exchange coils comprises a first coil and a second coil which are arranged in a staggered mode. The two ends of the first coil pipe and the two ends of the second coil pipe penetrate through the side fixing plates. The two sets of heat exchange channels which operate independently are additionally arranged in the evaporator and are arranged in the crossed mode, the crossed heat exchange channels enable the temperature distribution of the evaporator to be more uniform, and even if one set of heat exchange channels cannot work normally, the other set of heat exchange channels can still effectively maintain the refrigeration temperature. The utility model is mainly used for refrigeration of the refrigeration semitrailer.

The utility model discloses a container transportation semitrailer protection device, and relates to the technical field of container transportation. The protective device comprises a protective frame, a moving mechanism is arranged on the inner side of the protective frame, limiting mechanisms are arranged on the inner walls of the two sides of the protective frame, the moving mechanism comprises a limiting rod, the two ends of the limiting rod are fixedly connected with the inner walls of the two sides of the protective frame respectively, and two symmetrically-distributed limiting cylinders are arranged on the outer side of the limiting rod in a sliding mode. By means of the moving mechanism, stable sliding and positioning of the moving frame on the inner side of the protective frame are achieved, the accuracy and stability of moving of the moving frame are guaranteed through sliding connection of the positioning rod and the positioning cylinder, meanwhile, the moving frame is not prone to falling off, and the safety of the protective frame is improved. And the height can be limited in cooperation with a limiting mechanism, so that the purpose of adjusting the side protection height of the semi-trailer is achieved.

The invention belongs to the technical field of heavy-load transportation equipment, and discloses a semitrailer bearing type frame structure and a semitrailer, and the semitrailer bearing type frame structure comprises a longitudinal beam serving as a core bearing structure of a semitrailer frame; the cross beams are connected to the interiors of the longitudinal beams and used for strengthening the local strength of the frame; the rib plate is connected to the outer side of the longitudinal beam and used for supporting an object; the containing box is connected to the longitudinal beam and used for containing objects, and the lamp holder is connected to the longitudinal beam and used for achieving a warning effect; the alarm is connected to the longitudinal beam and is used for warning; the hydraulic rod can have the function of deflection angle adjustment, the supporting disc can actively adapt to the ground form when facing complex terrains such as ramps and potholes, local suspension caused by ground fluctuation is avoided, stable supporting of the supporting feet is guaranteed, and the applicability of a vehicle in scenes such as non-paved road surfaces and loading and unloading sites is improved.

The invention discloses automatic welding equipment for a longitudinal beam of a semitrailer, and relates to the field of automobile part manufacturing, the automatic welding equipment for the longitudinal beam of the semitrailer comprises two electric sliding rails and a self-adaptive flat welding structure used for welding a longitudinal beam main body, the tops of the two electric sliding rails are slidably connected with a rack, and the rack is connected with a welding platform; the self-adaptive flat welding structure comprises a rack, a hand climbing frame is fixedly connected to the side face of the rack, longitudinal sliding rails are fixedly connected to the positions, close to the two sides, of the interior of the rack, longitudinal electric sliding blocks are slidably connected to the interiors of the two longitudinal sliding rails, and connecting blocks are fixedly connected to the sides, close to each other, of the two longitudinal electric sliding blocks; and two sliding rods are fixedly connected between the two connecting blocks. By arranging the self-adaptive flat welding structure, the welding gun can track the position of a welding seam in real time, the shape deviation of the longitudinal beam is automatically compensated, it is guaranteed that the welding track is accurately aligned all the time and is not affected by the shape of the longitudinal beam body, the welding adaptability of equipment is improved, and different longitudinal beam bodies can be welded.

A rear aerodynamic skirt assembly is configured to be mounted to a semi-trailer rear to the semi-trailer axle(s) and front of the rear underride guard. The rear aerodynamic skirt assembly comprises a sheet of material and securing mechanisms. The shape of the sheet of material and the nature of the securing mechanism used to mount the sheet of material to the semi-trailer provide the desired air-deflecting function while providing the resilience necessary to resist to risks associated with being mounted to a vehicle, e.g., a semi-trailer.

The invention discloses a cutting device for semitrailer manufacturing, and relates to the technical field of semitrailer cutting, the cutting device comprises a bottom plate, a shell is fixedly mounted at the top of the bottom plate, a cutting machine is arranged at the top of the bottom plate, a sliding rail is fixedly mounted at the top of the bottom plate, and a first driving device is arranged at the top of the sliding rail; the fixing block is fixedly installed at the top of the first driving device, the circular base is fixedly installed at the top of the fixing block, the second driving device is arranged at the top of the fixing block, the reset telescopic rod is fixedly installed at the top of the second driving device, and the fixing rod is fixedly installed on the face, close to the second driving device, of the circular base. The rotating rod is rotationally installed on the circumferential face of the fixing rod, the rolling wheel rotates to make contact with a workpiece and exert pressure on the workpiece to fix the position of the workpiece, the situation that cutting is affected due to the fact that the position of the workpiece moves when the cutting machine conducts cutting is prevented, and defective products are reduced during cutting.

The invention relates to the technical field of welding, and particularly discloses automatic assembly welding equipment for a main frame of a semi-trailer, which is used for performing assembly welding processing on a main longitudinal beam and an auxiliary longitudinal beam in the main frame and comprises a placing frame, a transverse moving unit, a longitudinal moving unit, a pressing unit, a welding unit and a guiding unit, the transverse moving unit drives the auxiliary longitudinal beam to transversely move, and it is ensured that the auxiliary longitudinal beam is accurately attached to the main longitudinal beam; a top pressing roller of the pressing unit applies vertical downward pressure to the auxiliary longitudinal beam, a side pressing roller applies lateral extrusion force, buckling deformation of the auxiliary longitudinal beam in the welding process is effectively restrained through the dual effects, the assembly straightness and relative position precision of the main longitudinal beam and the auxiliary longitudinal beam are guaranteed, and dislocation is avoided; the guide unit guides the welding gun head in real time based on the extending path of the V-shaped groove of the auxiliary longitudinal beam, it is ensured that the welding gun head always moves along a preset track in the welding process, and deviation is prevented. And the longitudinal moving unit is combined to drive the welding gun to feed at a constant speed, so that the centering degree and continuity of a V-shaped groove welding seam are effectively improved, and the welding quality consistency is guaranteed.

The present invention relates to a kingpin (1) for a semitrailer of a semi-trailer vehicle, which extends substantially along a longitudinal axis (X), with at least one wear detection means arranged in the kingpin (1) perpendicular to the longitudinal axis (X) such that wear of the kingpin (1) perpendicular to the longitudinal axis (X) can be detected optically and / or by sensors. The kingpin (1) is characterized in that the wear detection means comprises: • at least one wear element (11c, 12c) which is arranged in and / or on the kingpin (1) perpendicular to the longitudinal axis (X) such that wear of the kingpin (1) perpendicular to the longitudinal axis (X) equally wears the wear element (11c; 12c), wherein the wear element (11c, 12c) is arranged in the circumferential direction (U) at least partially, preferably completely, around the kingpin (1) • at least one cavity (11a, 11b, 12a, 12b, 14c) which extends in the circumferential direction (U) corresponding to the wear element (11c, 12c), wherein the cavity (11a, 11b, 12a, 12b, 14c) is closed fluid-tight by the wear element (11c, 12c), preferably perpendicular to the longitudinal axis (X), wherein the cavity (11a, 11b, 12a, 12b, 14c) contains a fluid at overpressure, and • at least one pressure sensor (16) which is designed to detect the pressure of the fluid in the cavity (11a, 11b, 12a, 12b, 14c), wherein the wear element (11c, 12c) is dimensioned perpendicular to the longitudinal axis (X) in such a way that the fluid can escape through a through-opening of the wear element (11c, 12c) created due to wear when a wear limit of the kingpin (1) is reached at this point on the kingpin (1).

The invention relates to a semitrailer frame combination tool and a manufacturing method thereof. A limiting mechanism comprises a hood, a bearing plate rotationally installed on one side of the hood and limiting units arranged on the bearing plate in a sliding mode and matched with two longitudinal beams correspondingly. The supporting frame can be used for lifting the transverse edge beam when the transverse edge beam is not completely fixed, so that the parallelism of the welded and formed transverse beam is guaranteed; the whole frame is driven by the turnover limiting mechanism to turn over together, and the posture of the frame can be adjusted according to the welding position when the connecting beam and the suspension are welded, so that the welding difficulty is reduced; the longitudinal beam is centered, positioned and clamped in the mode that the two clamping plates and the two positioning plates are gathered together, the limiting mechanisms at the two ends are kept coaxial, overturning can be accurately achieved, and the levelness of a frame before and after overturning is kept unchanged.

The invention discloses a semitrailer rear axle electric control hydraulic steering system based on multi-sensor fusion. The semitrailer rear axle electric control hydraulic steering system comprises a control unit, a sensor system, a motor system and a hydraulic system. The sensor system comprises a vehicle speed sensor, a folding angle sensor and a steering angle sensor; the motor system comprises a motor and a motor controller; the hydraulic system comprises a hydraulic pump, a proportional servo valve and a hydraulic cylinder; during working; the control unit is used for automatically calculating a target steering angle through the vehicle speed information and the folding angle information, comparing the target steering angle with feedback actual steering angle data to obtain an error signal, and outputting a control current of the proportional servo valve according to the error signal; the motor provides power for the hydraulic pump, so that hydraulic oil is provided for the hydraulic cylinder, the opening degree of the proportional servo valve is adjusted under the action of control current, then the flow of the hydraulic cylinder is controlled, and the hydraulic cylinder is used for driving a rear axle of the semitrailer to move, so that the rear axle generates a corresponding steering angle.

Devices are for compensating for the roll of a fifth-wheel coupling, such as on a prime mover towing a semi-trailer. An automated compensation system for a fifth-wheel coupling mounted on a towing vehicle unit includes a first pivoting support to support one lateral side of the fifth-wheel coupling; a second pivoting support to support an opposite lateral side of the fifth-wheel coupling; an actuator configured to cause movement of the first and second pivoting supports; a sensor to sense a parameter relevant to determining whether roll compensation is required for the vehicle; a controller configured to receive a sensor output of the sensor and to determine whether roll compensation is required based on the sensor output, the controller being further configured to issue a control signal to cause the actuator to move the first and second pivoting supports when the controller determines that roll compensation is required.

The invention provides a parking path planning method and device of a semitrailer and terminal equipment. The method comprises the steps that the initial vehicle state, the target parking position and the parking area of the semitrailer are obtained; converting the semitrailer system model corresponding to the semitrailer into an equivalent single vehicle model; wherein the trailer rear axle center of the semitrailer is determined as the rear axle center of the single-vehicle model, the center distance between the hinged point of the tractor of the semitrailer and the trailer and the rear axle center of the trailer is determined as the single-vehicle axle distance in the single-vehicle model, and the tractor is determined as the single-vehicle wheel of the single-vehicle model; determining a model node path of the single vehicle model in the parking area based on a mixed A * algorithm by using the initial vehicle state and the target parking position; and determining the parking path of the tractor according to the model node path, the corresponding relationship between the semitrailer system model and the single vehicle model and the kinematics relationship between the tractor and the trailer. According to the method, the parking safety and efficiency of the semitrailer can be improved.