CN107985440A - The control system and its control method of intelligent vehicle, intelligent semitrailer - Google Patents
The control system and its control method of intelligent vehicle, intelligent semitrailer Download PDFInfo
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- CN107985440A CN107985440A CN201711440153.8A CN201711440153A CN107985440A CN 107985440 A CN107985440 A CN 107985440A CN 201711440153 A CN201711440153 A CN 201711440153A CN 107985440 A CN107985440 A CN 107985440A
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- semitrailer
- energy
- information
- semitrailer body
- module
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D59/00—Trailers with driven ground wheels or the like
- B62D59/04—Trailers with driven ground wheels or the like driven from propulsion unit on trailer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
- B62D53/06—Semi-trailers
Abstract
The present invention discloses a kind of control system of intelligent semitrailer, including：Energy converting between mechanical module is configured with the one-to-one corresponding at least one wheel drive shaft of the semitrailer body in a distributed manner, there are two kinds of operating modes of driving condition and generating state；Energy-storage module, is connected with energy converting between mechanical module；Sensor assembly, for detecting the trip information of semitrailer body；Control module, the trip information of the semitrailer body obtained according to sensor assembly, controls the switching between the charge and discharge state of energy-storage module, and the control corresponding switching between driving condition and generating state of energy converting between mechanical module.The present invention also provides a kind of intelligent vehicle and the control method of the control system of intelligent semitrailer.Transport condition and road conditions environmental information of the invention by predicting intelligent semitrailer in advance, realizes energy-optimised distribution, effectively improves intelligent semitrailer capacity usage ratio.
Description
Technical field
The present invention relates to intelligent vehicle field, more particularly to intelligent vehicle, the control system of intelligent semitrailer and its control
Method.
Background technology
At present, in communications and transportation, in order to strengthen the work capacity of tractor, it will usually using semitrailer bulk junction
Structure, i.e., in transportational process, semitrailer body is articulated on tractor, and cargo fortune is completed using the container of semitrailer body
It is defeated.
However, conventionally, as the semitrailer body part of semi-trailer high capacity waggon does not have power, and usually
The outside of intelligent control semitrailer body and the operation of induction monitoring vehicle can not be realized to the semitrailer body part of freight
Environment.In the process of moving, when freight runs into zig zag, climbing, freight is easily longer because of semitrailer body,
Brake deceleration is difficult to control, the problem of the track for overturning, knocking into the back or taking other vehicles easily occur, cause traffic accident；
Meanwhile in the prior art, freight can not turn the energy efficient of the forms such as the mechanical energy produced in operational process, kinetic energy
Change electric energy into, reduce the performance and capacity usage ratio of vehicle.
The content of the invention
The main object of the present invention is to provide a kind of intelligent vehicle, the control system and its control method of intelligent semitrailer,
The problem of aiming to solve the problem that the structure and capacity usage ratio of Intelligent Optimal semitrailer.
To achieve the above object, a kind of control system of intelligent semitrailer of the present invention, the intelligence semitrailer include semi-mounted
Car body, at least one wheel being arranged in semitrailer sheet and with the one-to-one wheel drive shaft of the wheel, intelligence
The control system of semitrailer includes：Corresponded in a distributed manner with the wheel drive shaft of the semitrailer body and be configured at least one
A energy converting between mechanical module, wherein, the energy converting between mechanical module at any driving condition carries out the wheel drive shaft
Driving output, the energy converting between mechanical module is driven under generating state by the wheel drive shaft, by wheel drive shaft
Mechanical energy be converted to electric energy；Energy-storage module, is electrically connected with the energy converting between mechanical module, for turning to the electromechanical energy
The electrical energy for storage that mold changing block output electric energy and the reception energy converting between mechanical module export under generating state；Sensor
Module, for detecting the trip information of the semitrailer body；Control module, with the sensor assembly, energy-storage module
And the energy converting between mechanical module connection, for the operation of the semitrailer body obtained according to the sensor assembly
Parameter information, transmission is instructed to the energy converting between mechanical module accordingly, to control the charge and discharge of the energy-storage module
Switching and corresponding the cutting between driving condition and generating state of the control energy converting between mechanical module between state
Change.
Preferably, the sensor assembly is included with least one in lower sensor：Environment sensing sensor, brake block
Temperature sensor, altimeter, barometer, trailer-mounted radar tachymeter, range sensor, acceleration transducer, GPS locator, car
Wheel speed sensor and brake-pedal-travel sensor.
The present invention also provides a kind of control method for the control system of intelligent semitrailer described in any of the above-described, including
Step：Obtain the trip information for the semitrailer body that the sensor assembly obtains；According to the sensor assembly
The trip information of the semitrailer body obtained, it is to be in default energy regenerating to judge the semitrailer bulk state
State either default driving condition；When the semitrailer body is in default energy recovery state, the control mould
Block control energy-storage module is switched to charged state, and the control energy converting between mechanical module is switched to generating state；Institute
When stating semitrailer body and being in default driving condition, the control module control energy-storage module is switched to discharge condition, and
The energy converting between mechanical module is controlled to be switched to driving condition.
Preferably, the trip information of the semitrailer body includes at least one in following parameter information：It is described
Reality between the distance between semitrailer body and default road object of reference information, the semitrailer body and front truck or rear car
When range information, the speed of operation information of the semitrailer body, present road curvature information, present road grade information,
Current vehicle elevation information, the acceleration information of the semitrailer body, highway speed-limiting mark information, the temperature of brake block letter
The colouring information of breath and traffic lights；
The default energy recovery state includes at least one of the following conditions：Braking state, the present road gradient
Information is descending, the road curvature degree is more than default curvature, the current driving speed of the semitrailer body is more than default
Speed or the distance between restriction vehicle speed value, the semitrailer body and road object of reference more than highway speed-limiting mark it is small
It is less than default distance value in default distance value, the semitrailer body and the distance between front truck or rear car；The brake
Car temperature is more than default temperature value, the colouring information of the traffic lights is red and described semitrailer body and the traffic lights
Distance be less than default distance value；
The default driving condition includes at least one of the following conditions：The semitrailer body is starting state,
For present road grade information to go up a slope, the acceleration of the semitrailer body is on the occasion of the road curvature degree is less than default
Curvature, the current driving speed of the semitrailer body are less than default speed or the restriction speed less than highway speed-limiting mark
The distance between value, the semitrailer body and road object of reference are more than default distance value, the semitrailer body and front truck
Or the distance between rear car is more than default distance value；The colouring information of the traffic lights is green and described semitrailer body
It is more than default distance value with the distance of the traffic lights.
Preferably, step is further included：According to the sensor assembly obtain the semitrailer body positional information with
And present road grade information, or the current vehicle elevation information of the trailer car body according to acquisition, judge the semi-mounted
Whether car body is in upward slope state；When the semitrailer body is in upward slope state, believed according to the present road gradient
Whether the potential variation that breath and current vehicle elevation information calculate when the semitrailer body goes up a slope is more than predetermined threshold value；Institute
When potential variation when stating semitrailer body upward slope is more than predetermined threshold value, determines the electric discharge ratio of the energy-storage module, be described
Semitrailer body subsequently in descending, prepare by the charging of the energy-storage module.
Preferably, step is further included：According to the sensor assembly obtain the semitrailer body positional information with
And present road grade information, or the current vehicle elevation information of the trailer car body according to acquisition, judge the semi-mounted
Whether car body is in descending state；When the semitrailer body is in descending state, obtains the sensor assembly and obtain
The present road grade information and the brake block temperature information, and the remaining capacity of the energy-storage module, determines
The former car brake modes of semitrailer body and the energy converting between mechanical module are handed between switching to the ways of deceleration of charged state
For the interval used.
Preferably, the positional information of the semitrailer body obtained according to the sensor assembly, present road
Grade information and current vehicle elevation information, after judging the step of whether the semitrailer body is in descending state, also
Including：When the semitrailer body is in descending state, judge the brake block temperature whether be more than preset temperature and
Whether the remaining capacity of energy-storage module is less than default electricity；It is more than preset temperature and energy-storage module in the temperature of the brake block
Remaining capacity when being less than default electricity, control the energy converting between mechanical module to be switched to charged state；In the brake block
Temperature be less than the remaining capacity of preset temperature and the energy-storage module and be more than default quantitative, control the semitrailer body to open
Braked with former car.
Preferably, communication module is additionally provided with the semitrailer, between exterior monitoring center or surrounding vehicles
Communication connection, the control method further include：The traffic information and the sensor assembly got according to communication module obtains
The trip information of the semitrailer car body taken, to traveling shape of the semitrailer body in ensuing preset time
State and road conditions environmental information are predicted, and according to the prediction result to the semitrailer body when ensuing default
Interior energy recovery state or default driving condition is controlled.
Preferably, the control method further includes：According to the current driving speed and quality of the semitrailer body, calculate
The current kinetic energy of the semitrailer body；According to the kinetic energy of the semitrailer body and default condition, the electromechanics is determined
Energy conversion module is in generated output during generating state；Or further include step：Obtained according to the sensor assembly
The rotational angle letter for the steering wheel that tractor corresponding to present road curvature information, and/or the intelligent semitrailer is sent
Breath and steering indicating light information, determine the turn direction and speed of the semitrailer car body；According to the definite semitrailer car body
Turn direction and speed, control the drive of the corresponding energy converting between mechanical module of wheel drive shaft of the different wheels
Dynamic output power.
The present invention also provides a kind of intelligent vehicle, including tractor and semitrailer, the semitrailer include car body with
And the control system such as above-mentioned any one of them intelligence semitrailer.
It is simple easily to carry out in the control system and control method of intelligent semitrailer provided by the invention, can be according to described
The trip information for the semitrailer body that sensor assembly obtains, controls the electromechanical energy module in driving condition and power generation
Switched between state, to improve capacity usage ratio, at the same time it can also predict intelligence half in advance according to the sensor assembly
The transport condition of trailer.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described.
Fig. 1 is a kind of schematic perspective view of intelligent semitrailer in each embodiment of the present invention；
A kind of hardware module structure diagram of intelligent semitrailer in each embodiment of Fig. 2 present invention；
Fig. 3 is the flow chart of the control method first embodiment of the intelligent semitrailer of the present invention；
Fig. 4 is the flow chart of the control method second embodiment of the intelligent semitrailer of the present invention；
Fig. 5 is the flow chart of the control method 3rd embodiment of the intelligent semitrailer of the present invention；
Fig. 6 is the flow chart of the control method fourth embodiment of the intelligent semitrailer of the present invention；
Fig. 7 is the flow chart of the 5th embodiment of control method of the intelligent semitrailer of the present invention；
Fig. 8 is the flow chart of the control method sixth embodiment of the intelligent semitrailer of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.
In addition, the technical solution between each embodiment of the present invention can be combined with each other, but must be general with this area
Logical technical staff can be implemented as basis, will be understood that when the combination appearance of technical solution is conflicting or can not realize this
The combination of technical solution is not present, also not within the protection domain of application claims.
Please refer to Fig.1 and Fig. 2, a kind of hardware module structure diagram of intelligent semitrailer 100 in each embodiment, institute
Stating intelligent semitrailer 100 includes semitrailer body 10 and car body 20, and being arranged at the semitrailer body 10 includes multiple wheels 11,
And with the one-to-one wheel drive shaft 12 of the wheel 11.
Common, when in use, the intelligence semitrailer 100 is connected the whole freight vehicle of composition with tractor, its
In, tractor provides power, and intelligent semitrailer 100 makees carrying cargo utensil, under the pulling of tractor, the intelligence half
Trailer 100 completes transport task.
Wherein, the control system of the intelligent semitrailer 100 includes：At least one energy converting between mechanical module 13, energy storage
Module 14, sensor assembly 15 and control module 16；13 distribution of energy converting between mechanical module is arranged at the intelligence
In the axis of wheel rotation 12 of semitrailer 100, the energy-storage module 14 is connected with the energy converting between mechanical module 13, the control
Module 16 is connected with the sensor assembly 15, energy-storage module 14 and the energy converting between mechanical module 13, the control mould
Block 16 receives the trip information for the intelligent semitrailer that the sensor assembly 15 obtains, and by the control instruction of generation
To the energy converting between mechanical module 13.
Specifically, at least one energy converting between mechanical module 13 in a distributed manner with the semitrailer body 10 at least
One wheel drive shaft 12 is set correspondingly, wherein, the energy converting between mechanical module 13 is at any driving condition to described
Wheel drive shaft 12 is driven output, and the energy converting between mechanical module 13 is under generating state, by the wheel drive shaft
12 drive, electric energy is converted to by the mechanical energy of wheel drive shaft 12.It should be noted that the energy converting between mechanical module 13
It can be that there is motor or motor group of motor function and generator function etc. at the same time, be not specifically limited herein.
Specifically, the energy converting between mechanical module 13 can be used for driving output, to drive the semitrailer body 10
Wheel drive shaft 12 drive the vehicle wheel rotation；Or the rotation input of the wheel drive shaft 12 is received, formed rotating
Mechanical energy change into electric energy.The energy converting between mechanical module 13 can be one group or multigroup, the energy converting between mechanical
Electric motor units in module 13 can be wheel motor or wheel hub motor.
It is understood that the energy converting between mechanical module 13 can be used for driving the wheel drive shaft 12
It is dynamic, meanwhile, the driving that the intelligence semitrailer 100 also receives the tractor is advanced or is retreated.
The energy-storage module 14, is electrically connected with the energy converting between mechanical module 13, for the energy converting between mechanical
Module 13 exports electric energy and receives electrical energy for storage of the energy converting between mechanical module 13 under generating state.
It is understood that the energy-storage module 14 is connected with the energy converting between mechanical module 13, the energy-storage module
14 can switch between charged state and discharge condition.Specifically, the energy-storage module 14 is according to the electromechanical energy
The operating status of modular converter 13 makes corresponding adjustment, such as：When the energy converting between mechanical module 13 is driven output,
The energy-storage module 14 is switched to discharge condition, to provide driving force；In the energy converting between mechanical module 13 by the wheel
The driving of drive shaft 12, electric energy is converted to by the mechanical energy of wheel drive shaft 12, and at this time, the energy-storage module 14 is switched to charging
State, to store the electric energy that the energy converting between mechanical module 13 produces.
Wherein, the energy-storage module 14 can include at least one energy type super capacitor or power type battery.It is described
The stored energy capacitance of energy-storage module 14 can make choice according to the requirement of the semitrailer body 10.The energy-storage module 14 also wraps
The electric power management circuit being connected with the energy type super capacitor or power type battery is included, the electric power management circuit receives institute
The control of control module 16 is stated, to control switching of the energy-storage module 14 between charged state and generating state.
Further, in one embodiment, electric quantity monitoring module can also be installed on the semitrailer body 10, it is described
Electric quantity monitoring module is connected with the control module 16 and the energy-storage module 14, is deposited for monitoring the energy-storage module 14
The electricity and remaining capacity of storage, and electricity and remaining capacity that the energy-storage module 14 is stored are sent to control module
16.The electricity and remaining capacity that the control module 16 can be stored according to the energy-storage module 14, to control energy storage mould
The discharge and recharge degree and charging and discharging state of block 14, or obtain the current electric quantity of the energy-storage module 14 in real time for user and remain
Remaining electricity.
Sensor assembly 15, for detecting the trip information of the semitrailer body 10；It is understood that at this
In embodiment, the sensor assembly 15 can be installed on the semitrailer body 10, and the sensor assembly 15 can be real
When obtain surrounding environment, the operating parameter of state and vehicle of driver in itself in itself of the semitrailer body 10 when driving
Information.The sensor assembly 15 includes multiple sensors, and each sensor is installed on the correspondence position of the semitrailer body 10
Put, for detecting different parameters；For example, brake-block temperature sensor is installed on the brake block of semitrailer body 10, with
The temperature of detecting real-time brake block；Wheel speed sensor is installed on the wheel of semitrailer body 10, for measuring semitrailer
10 vehicle wheel rotational speed of body.In other embodiments, the sensor assembly 15 can also be installed on tractor, or is utilized
Original sensor on intelligent driving vehicle.
Specifically, the sensor assembly 15 exports acquired trip information to the control module 16, with
Analyzed and processed for the control module 16.According to the trip information, the semitrailer body 10 is predicted in advance
Running environment and state.
Control module 16, connects with the sensor assembly 15, energy-storage module 14 and the energy converting between mechanical module 13
Connect, for the trip information of the semitrailer body 10 obtained according to the sensor assembly 15, send and refer to accordingly
Order is to the energy converting between mechanical module 13 and the energy-storage module 14, to control the charge and discharge shape of the energy-storage module 14
Switching between state, and corresponding the cutting between driving condition and generating state of the control energy converting between mechanical module 13
Change.
Specifically, in the present embodiment, the control module 16 is arranged on semitrailer body 10, the control module 16
The trip information for the semitrailer body 10 that receiving sensor module 15 obtains, and according to the trip information, by institute
The operating status for stating semitrailer body 10 is determined as driving condition or energy recovery state, then exports corresponding control instruction,
The energy converting between mechanical module 13 is controlled to be switched to corresponding operating status, meanwhile, the energy-storage module 14 is switched to and institute
State 13 corresponding operating status of energy converting between mechanical module.In other embodiments, the control module 16 can also be arranged at
On the tractor, or directly utilize the main control module of the tractor.
For example when the sensor assembly 15 monitors that the semitrailer body 10 is in braking state, this is run
Information is uploaded to the control module 16, and the control module 16 is according to the electric quantity monitoring module monitors to the energy storage mould
14 electric energy of block is less than can then determine that the semitrailer body 10 is in energy recovery state, and export corresponding control instruction
To the energy converting between mechanical module 13 and energy-storage module 14, the energy converting between mechanical module 13 is switched to generating state, and
The driving of axis of wheel rotation is received, the mechanical energy that the semitrailer body 10 produces is converted into electric energy, and then the energy storage mould
Block 14 is switched to charged state and receives and stores the electric energy；When the sensor assembly 15 is monitored at the semitrailer body 10
When braking state, but state control module 16 according to the electric quantity monitoring module monitors to 14 electric energy of energy-storage module
Full, then the semitrailer body 10 cannot be in energy recovery state.In the present embodiment, the control module 16 is according to sensing
The trip information for the semitrailer body 10 that device module 15 obtains, realize to the energy of the semitrailer body 10 into
Row optimization distribution.
Further, the control system of the semitrailer body 10 can also include and exterior monitoring center or surrounding vehicles
The communication module (not shown) of communication connection, for the operating status of the semitrailer body 10 to be uploaded to the exterior prison
Control center, so that the exterior monitoring center understands the current operating conditions of the semitrailer body 10 in real time, reduces traffic thing
Therefore.
In the present embodiment, by semitrailer body 10 set control module 16, energy converting between mechanical module 13 with
And sensor assembly 15, the energy of the semitrailer body 10 can be effectively recycled, and then improve capacity usage ratio and safety
Property, travel the semitrailer body 10 more steady, at the same time it can also the operation ginseng obtained according to the sensor assembly 15
Number information can predict the operating status of the semitrailer body 10 in time, to make tune in time to the semitrailer body 10
It is whole.
The sensor assembly 15 is included with least one in lower sensor：Environment sensing sensor, brake-block temperature
Sensor, altimeter, barometer, trailer-mounted radar tachymeter, range sensor, acceleration transducer, GPS locator, wheel turn
Fast sensor and brake-pedal-travel sensor.In the present embodiment, the sensor assembly 15 can include a variety of sensings
Device is to obtain all operating parameters of the semitrailer body 10 in operating status.
Wherein, the environment sensing sensor is to carry out data acquisition to the surrounding enviroment of the semitrailer body 10, is obtained
By way of road traffic information for example：The curvature of road, the gradient, highway speed-limiting mark, the information such as color change of traffic lights, with
And the obstacle such as positional information and the semitrailer body 10 and surrounding vehicles of the semitrailer body 10 and peripheral obstacle
The information such as the distance of thing, speed, wherein, the environment sensing sensor mainly has machine vision, radar sensor, ultrasonic wave to pass
Sensor, infrared ray sensor etc.；
The brake-block temperature sensor is used for the temperature for detecting brake block when the semitrailer body 10 enters braking state
Degree；The altimeter can be used for measuring vehicle level height etc.；The barometer can be used for measuring atmospheric pressure, to determine
The height above sea level of 10 present position of semitrailer body；The trailer-mounted radar tachymeter can be used for measuring the semi-mounted
The travel speed of car body 10；The range sensor can be used for detecting between the semitrailer body 10 and Reference
Distance, wherein, the range sensor can be with electrical distance sensor, ultrasonic distance sensor etc.；The acceleration transducer
For measuring the acceleration of the semitrailer body 10, to understand the current motion state of semitrailer body 10；The GPS positioning
Device can be used for geographical location, the movement locus for positioning the semitrailer body 10 in real time, wherein, the GPS locator is general
Built-in GPS module and mobile communication module, the current location information of the semitrailer body 10 is uploaded onto the server；
The wheel speed sensor can be used for measuring 10 vehicle wheel rotational speed of semitrailer body；The brake-pedal-travel sensor can be with
Whether the brake block for detecting semitrailer body 10 used, and brake pedal tramples time and the stroke trampled, from
And to calculate the state of the brake block of obtaining.
It is understood that any of the above specific sensor can be used alone and can also be applied in combination, the environment sense
On the premise of knowing the sensor of part in sensor and can realizing identical function, it can not have to using single sensor come reality
Now to the acquisition of same parameters, it is not specifically limited herein.
Further, the electromechanics is correspondingly provided with least one wheel drive shaft 12 of the semitrailer body 10
Energy conversion module 13, wherein, the semitrailer body 10 is further included corresponds subtracting for setting with the data-collection module
Fast device.
The semitrailer body 10 includes at least one axis of wheel rotation, wherein, at least one axis of wheel rotation 12
It is upper that the energy converting between mechanical module 13 and retarder (not shown) are housed, wherein, the retarder and the electromechanical energy
Modular converter 13 can be separately provided, and can also be integrated.In use, the retarder and the electromechanical energy
Modular converter 13 is engaged.During traveling, when the energy converting between mechanical module 13 is in generating state, to the semitrailer
Body 10 plays decelerating effect, meanwhile, the mechanical energy produced in moderating process is converted into electric energy.
It will be understood by those skilled in the art that the control system of the intelligent semitrailer 100 shown in Fig. 1 and Fig. 2 may be used also
With including than illustrating more or fewer components, either combining some components or different components arrangement.
Based on above-mentioned hardware configuration, each embodiment of the control method of the intelligent semitrailer 100 during proposition is of the invention.
Fig. 3 is refer to, is the side of the control method for being used for intelligent semitrailer 100 in first embodiment provided by the invention
Method flow chart 200, the control method include the following steps：
Step S10, obtains the trip information for the semitrailer body 10 that the sensor assembly 15 obtains；
In the process of moving, it is installed on the sensor assembly on the semitrailer body 10 or being installed on tractor
15 sensing trip informations, and the trip information is transmitted to control module 16 in real time, to adjust described half in time
The operating status of trailer body 10.
In the present embodiment, the trip information can include information of vehicles and the outside of the semitrailer body 10
Environmental information.Wherein, the trip information of the semitrailer body 10 includes at least one in following parameter information：It is described
Between the distance between semitrailer body 10 and default road object of reference information, the semitrailer body 10 and front truck or rear car
Real-time range information, the speed of operation information of the intelligent semitrailer 100, the travel direction letter of the intelligent semitrailer 100
Breath, the current driving location information of the intelligent semitrailer 100, present road curvature information, present road grade information, when
Vehicle in front elevation information, the acceleration information of the semitrailer body 10, highway speed-limiting mark information, the temperature of brake block letter
Breath, whether former car brake is activated and the colouring information of traffic lights.
Step S20, the trip information of the semitrailer body 10 obtained according to the sensor assembly 15, judges
Whether the semitrailer body 10 is in default energy recovery state or default driving condition；
The sensor assembly 15, can be by the semitrailer sheet according to the trip information of the semitrailer body 10
The operating status of body 10 is divided into default energy recovery state and driving condition.
Specifically, in the present embodiment, the default energy recovery state includes at least one of the following conditions：Stop
Car state, present road grade information are descending, the road curvature degree more than default curvature, the semitrailer body 10
Current driving speed be more than default speed or restriction vehicle speed value more than highway speed-limiting mark, the semitrailer body 10 with
The distance between road object of reference is less than default distance value, the semitrailer body 10 and the distance between front truck or rear car
Less than default distance value；The brake temperature is more than default temperature value, the colouring information of the traffic lights is red and institute
State semitrailer body 10 and the distance of the traffic lights is less than default distance value；
The default driving condition includes at least one of the following conditions：The semitrailer body 10 is starting shape
State, for present road grade information to go up a slope, the acceleration of the semitrailer body 10 is on the occasion of the road curvature degree is less than pre-
If curvature, the current driving speed of the semitrailer body 10 be less than default speed or the limit less than highway speed-limiting mark
The distance between vehicle speed value, the semitrailer body 10 and road object of reference are determined more than default distance value, the semitrailer sheet
Body 10 is more than default distance value with the distance between front truck or rear car；The colouring information of the traffic lights is green and described
Semitrailer body 10 and the distance of the traffic lights are more than default distance value.
It is understood that the trip information of the semitrailer body 10 and the default energy recovery state it
Between correspondence can be：
Trailer-mounted radar tachymeter in the sensor assembly 15 detect the current vehicle speed of the semitrailer body 10 and
Current vehicle speed is reducing, and the brake-pedal-travel sensor detects the brake by use, control module 16 determines
The intelligence semitrailer 100 is in braking state；
Environment sensing sensor detecting in the sensor assembly 15 is ramp section to present road, and GPS is detected
The low side traveling of a lateral physical features to trailer from ramp high-land, the altimeter detect height and are successively decreasing, and control mould
It is descending state that block 16, which determines that the intelligent semitrailer 100 is in present road grade information,；
The range sensor in the sensor assembly 15 detects the semitrailer body 10 and road reference substance
The distance between be less than default distance value, either the semitrailer body 10 and the distance between front truck or rear car are less than pre-
If distance value, control module 16 can determine that the intelligent semitrailer 100 is in the energy recovery state for needing to slow down；Or
The colouring information of environment sensing sensor detecting to the traffic lights in the sensor assembly 15 is red, and
The distance that range sensor detects the semitrailer body 10 and the traffic lights is less than default distance value, control module 16
It can determine that the intelligent semitrailer 100 is in the energy recovery state for needing to slow down.
It is understood that between the trip information of the semitrailer body 10 and the default driving condition
Correspondence can be：
The current vehicle speed that trailer-mounted radar tachymeter in the sensor assembly 15 detects the semitrailer body 10 is 0
And current vehicle speed is increasing, or wheel speed sensor detect the trailer vehicle wheel rotational speed be 0, GPS positioning instrument detecting
The displacement for not being subjected to displacement or occurring to the movement locus of the intelligent semitrailer 100 is less than preset value, the control mould
Block 16 determines that the intelligent semitrailer 100 is currently at starting state；
Environment sensing sensor detecting in the sensor assembly 15 is ramp section to present road, and GPS is detected
Highly increasing, control mould is detected from the side of the low lateral high-land of ramp physical features traveling, the altimeter to trailer
It is upward slope state that block 16, which determines that the intelligent semitrailer 100 is in present road grade information,；
Acceleration induction device in the sensor assembly 15 detect the semitrailer body 10 acceleration be on the occasion of,
And the range sensor detects the distance between the semitrailer body 10 and road reference substance and is more than default distance value,
Either the semitrailer body 10 is more than default distance value with the distance between front truck or rear car, and control module 16 can be true
The fixed intelligent semitrailer 100 is in the driving condition that can accelerate；Or
The colouring information of environment sensing sensor detecting to the traffic lights in the sensor assembly 15 is green, and
The distance that range sensor detects the semitrailer body 10 and the traffic lights is more than default distance value, control module 16
It can determine that the intelligent semitrailer 100 is in the driving condition that can accelerate.
Step S30, when the semitrailer body 10 is in default energy recovery state, the control module 16 controls
Energy-storage module 14 is switched to charged state, and the control energy converting between mechanical module 13 is switched to generating state；
It is understood that the trip information obtained according to the sensor assembly 15, the control module 16 are true
When the fixed semitrailer body 10 is in energy recovery state, such as：Distance between the semitrailer body 10 and front truck
During less than default distance value, the control module 16 can be instructed to 13 output control of energy converting between mechanical module, control
Make the energy converting between mechanical module 13 and be switched to generating state, meanwhile, the energy-storage module 14 is accordingly switched to charging shape
State, to store the electric energy that the energy converting between mechanical module 13 is changed, improves the driving force of the semitrailer body 10.
Step S40, when the semitrailer body 10 is in default driving condition, the control module 16 controls energy storage
Module 14 is switched to discharge condition, and the control energy converting between mechanical module 13 is switched to driving condition.
Wherein, when the operating status of the semitrailer body 10 is default driving condition, the energy-storage module 14 is cut
Discharge condition is changed to, the energy converting between mechanical module 13 is driven output to the wheel drive shaft 12, when the electromechanics
When energy conversion module 13 is driven output to the wheel drive shaft 12, the energy converting between mechanical module 13 illustrates described
Semitrailer body 10 is in driving condition, when the energy converting between mechanical module 13 is by the drive of the wheel drive shaft 12, says
The bright semitrailer body 10 is in default energy recovery state.
In the present embodiment, the energy during traveling can be effectively recycled, improves capacity usage ratio, and enhancing half
The driving force of trailer body 10；Meanwhile the control module 16 controls the energy converting between mechanical module 13 to be switched to charging shape
During state, i.e., described trailer enters energy recovery state, can also coordinate and slow down to the semitrailer body 10, avoid braking
Piece is long because continuing usage time, causes brake-block temperature excessive and reduces the security performance of trailer, reduces brake pad wear,
The security of semitrailer body 10 is improved, saves energy, at the same time it can also maximally utilize the stored energy capacitance of energy-storage module, with
The discharge and recharge number of energy-storage module is reduced, extends the service life of energy-storage module.
Further, please refer to Fig.4, propose the method flow of the control method of intelligent semitrailer 100 in second embodiment
Figure, in a second embodiment, the step S10~S40 is identical with first embodiment, and details are not described herein；Its difference is,
The step 40 further includes：
Step S410, according to the positional information of the semitrailer body 10 of the sensor assembly 15 acquisition and currently
Road grade information, or the current vehicle elevation information of the trailer car body according to acquisition, judge the semitrailer body
Whether 10 be in upward slope state；
In the process of moving, the sensor assembly 15 can with the operating status of semitrailer body 10 described in detecting real-time,
Such as：Altimeter and GPS sensor are called, detects the geographical location information residing for the semitrailer body 10, and pass through height
Spend grade information and elevation information that instrument measures the 10 place road of semitrailer body.The control module 16 is to the slope
Degree information and elevation information are analyzed and processed, to determine whether the semitrailer body 10 is carrying out slope climbing movement.
In other embodiments, reference altitude and the gradient can also be set, by analysis judge the gradient of present road with
Whether height is in the range of reference altitude and the gradient, in current road grade and height beyond reference altitude and the model of the gradient
When enclosing interior, the control module 16 can determine that the semitrailer body 10 is in upward slope state, in current road grade
With height when in the range of reference altitude and the gradient, the control module 16 can determine the semitrailer body 10 not into
Row upslope motion.
Step S420, when the semitrailer body 10 is in upward slope state, according to the present road grade information with
And whether the potential variation that current vehicle elevation information is calculated when the semitrailer body 10 goes up a slope is more than predetermined threshold value；
In the stage of upward slope, the semitrailer body 10 needs to consume substantial amounts of energy, and the control module 16 controls described
Energy-storage module 14 is switched to discharge condition, to provide driving force for the semitrailer body 10, completes upslope motion.
In the descending stage, the control module 16 controls the energy converting between mechanical module 13 to be switched to energy regenerating shape
State, while the energy-storage module 14 is switched to charged state, to recycle the energy that the semitrailer body 10 produces in the descending stage
Amount, while vehicle deceleration can also be aided in, reduce brake pad wear and fever.It is understood that consumed in operational process
Electric energy determined by the potential energy that the semitrailer body 10 runs generation, wherein, the potential energy can be according to the present road gradient
Information and height of car information are calculated.
Step S430, when the potential variation when the semitrailer body 10 goes up a slope is more than predetermined threshold value, determines the storage
The electric discharge ratio of energy module 14, is that the semitrailer body 10 subsequently in descending, prepare by the charging of the energy-storage module 14.
At the stage of upward slope, according to present road grade information and elevation information, the semitrailer body 10 is calculated
Potential variation, when the potential variation of the semitrailer body 10 is more than predetermined threshold value, illustrate that the semitrailer body 10 needs
Substantial amounts of electricity is consumed, to increase driving force, completes climbing；Meanwhile after the semitrailer body 10 completes the upward slope stage,
The descending stage will be entered, at this time, the energy-storage module 14 of the semitrailer body 10 can be by fully supplementing during descending
The electric energy of release will be being consumed described in the upward slope stage, to reduce the number of 14 discharge and recharge of energy-storage module, extending the energy storage
The service life of module 14, and enter generating state in descending stage, the energy converting between mechanical module 13, can be to described
Semitrailer body 10 slows down, and avoids persistently braking using brake block in descending and causing brake-block temperature excessive, influences
The performance of the trailer.
It is understood that the potential variation in the semitrailer body 10 is more than predetermined threshold value, and according to the sensing
Device module 15, which detects the semitrailer, will enter the descending stage, illustrate that the current gradient is larger, and the energy-storage module 14 can be with
The electricity of consumption can be supplemented in the descending stage, at this point it is possible to determine the electric discharge ratio of the energy-storage module 14, described will be stored up
The electric energy of energy module 14 is all given out light, and to increase driving force, is maximally utilised the stored energy capacitance of the energy-storage module 14, is subtracted
The number of few 14 discharge and recharge of energy-storage module；When the potential variation of the semitrailer body 10 is less than predetermined threshold value, explanation
The gradient of present road is smaller, and the gradient in ensuing descending section is smaller, therefore, the energy-storage module of the semitrailer body 10
14 electric energy can be completely used for being driven the wheel drive shaft 12, can also only discharge the electricity of part, because
Follow-up descending is smaller, is not in the situation that electricity is rapidly filled with.
, can be by the semitrailer body that is obtained according to the sensor assembly 15 in addition, in other embodiments
10 positional information and present road grade information, or the current vehicle height of the semitrailer body 10 according to acquisition
Information, judges next whether the present road is descending, then after controlling the energy-storage module 14 that electricity is given out light, so as to
Fully supplemented in the descending stage.
Further, Fig. 5 is refer to, proposes the method flow of the control method of intelligent semitrailer 100 in 3rd embodiment
Figure, in the third embodiment, the step S10~S40 is identical with first embodiment, and details are not described herein；Its difference is,
The step S40 is further included：
Step S440, according to the positional information of the semitrailer body 10 of the sensor assembly 15 acquisition and currently
Road grade information, or the current vehicle elevation information of the trailer car body according to acquisition, judge the semitrailer body
Whether 10 be in descending state；
In the process of moving, 15 detecting real-time of sensor assembly perceives the operating status of the semitrailer body 10,
Such as：Altimeter and GPS sensor are called, detects the geographical location information residing for the semitrailer body 10, and pass through height
Spend grade information and elevation information that instrument measures the 10 place road of semitrailer body.The control module 16 is to the slope
Degree information and elevation information are analyzed and processed, to determine whether the semitrailer body 10 is carrying out downslope motion.
Step 450, when the semitrailer body 10 is in descending state, the institute that the sensor assembly 15 obtains is obtained
The temperature information of present road grade information and the brake block, and the remaining capacity of the energy-storage module 14 are stated, determines half
The former car brake modes of trailer body 10 and the energy converting between mechanical module 13 are switched between the ways of deceleration of generating state
The interval being used alternatingly.
To avoid the semitrailer body 10 from causing the semitrailer body 10 to lose control because speed is too fast in descending
System, in turn results in traffic accident appearance, can carry out appropriate deceleration to the semitrailer body 10；Wherein, the mode of deceleration
It can be slowed down using brake block to semitrailer body 10, can also be turned the electromechanical energy by the control module 16
Mold changing block 13 is switched to charged state to reach deceleration purpose.It is understood that it is to pass through brake block to be slowed down using brake block
Frictional resistance between tire is to slow down the travel speed of the semitrailer body 10.During brake, by described half
The kinetic energy of trailer body 10 is converted to thermal energy, so that the temperature rise of brake block.When the temperature of the brake block is excessive, hold
Brake block failure is easily led to, causes the semitrailer body 10 in the descending stage out of control, and then causes traffic accident to occur, together
When, when the temperature of the brake block is excessive, the tire for the semitrailer body 10 that is also easy to ignite, influences the semitrailer body 10
Security.Therefore, it is necessary to monitor the temperature of brake block in real time during descending.
In the present embodiment, the semitrailer body 10 is in descending, according to the temperature of present road grade information, brake block
Information, and the remaining capacity of the energy-storage module 14 are spent, the energy converting between mechanical module 13 and brake block pair is used alternatingly
The semitrailer body 10 slows down.Wherein, the former car brake modes of the semitrailer body 10 turn with the electromechanical energy
Mold changing block 13 is switched to the spacing frequency being used alternatingly between the ways of deceleration of charged state can be according to the performance of the vehicle
Set, can also be by the control module 16 according to present road grade information, the temperature information of brake block and institute
The analysis result for stating the remaining capacity of energy-storage module 14 is set.
Further, Fig. 6 is refer to, proposes the method flow of the control method of intelligent semitrailer 100 in fourth embodiment
Figure, in the fourth embodiment, the step S440~S450 is identical with 3rd embodiment, and details are not described herein；Its difference exists
In the step S440 is further included afterwards：
Step S441, when the semitrailer body 10 is in descending state, judges whether the temperature of the brake block is big
Whether it is less than default electricity in the remaining capacity of preset temperature and energy-storage module 14；
When the semitrailer body 10 is in descending state, to avoid the brake block of the semitrailer body 10 from persistently locating
Cause temperature excessive in braking state, or 14 long-time of the energy-storage module be in electricity abundance when, the energy-storage module
14 cannot store the electric energy of the electromechanical energy gang mould block conversion, so that the feelings slowed down to the semitrailer body 10 can not be realized
Condition, can also be by monitoring the temperature of the brake block and the remaining capacity of the energy-storage module 14 in real time.
Specifically, in the present embodiment, the sensor assembly 15 can be monitored acquisition brake block temperature with it is pre-
If temperature is compared, the remaining capacity of the energy-storage module 14 is compared with default electricity, according to comparison result, is judged
Slow down if appropriate for brake block is continuing with to the semitrailer body 10, and turn if appropriate for by the electromechanical energy
Mold changing block 13 is switched to generating state.
Step S442, the remaining capacity that preset temperature and energy-storage module 14 are more than in the temperature of the brake block are less than in advance
If during electricity, the energy converting between mechanical module 13 is controlled to be switched to charged state；
It is understood that when the temperature of the brake block is more than the residue electricity of preset temperature and the energy-storage module 14
When amount is less than default electricity, illustrate that the brake-block temperature of the semitrailer body 10 alreadys exceed safe handling scope, be not suitable for
It is continuing with, meanwhile, the energy-storage module 14 is in unsaturated state, can store the energy converting between mechanical module 13 and produce
Electric energy, therefore, harmful effect is caused to avoid being continuing with brake block, meanwhile, improve capacity usage ratio, maximally utilize
The energy-storage module 14, the control module 16 of the semitrailer body 10 can control the energy converting between mechanical module 13 to switch
For charged state, to slow down travel speed during 10 descending of semitrailer body.
Step S443, the remaining capacity that preset temperature and the energy-storage module 14 are less than in the temperature of the brake block are big
Quantified in default, control the semitrailer body 10 to enable former car brake.
In this step, when the temperature of the brake block is less than the remaining capacity of preset temperature and the energy-storage module 14
During more than default electricity, illustrate that the brake-block temperature of the semitrailer body 10 is in normal operating condition, at this time, to reduce electricity
The consumption of energy, and avoid using the longevity to the use that the energy-storage module 14 carries out frequent discharge and recharge and reduces energy-storage module 14
Life, therefore, can directly enable the former car brake of the semitrailer body 10, the semitrailer body 10 is subtracted with reaching
The purpose of speed.
Further, Fig. 7 is refer to, proposes the method flow of the control method of intelligent semitrailer 100 in the 5th embodiment
Figure 20 1, the step S10~S40 is identical with first embodiment, and details are not described herein；Its difference is, the step S40
Further include afterwards：
Described the half of step S50, the traffic information got according to communication module and the acquisition of the sensor assembly 15
The trip information of trailer car body 10, to transport condition of the semitrailer body 10 in ensuing preset time and
Road conditions environmental information is predicted, and according to the prediction result to the semitrailer body 10 in ensuing preset time
Energy recovery state or default driving condition be controlled.
It is understood that in step s 50, in the process of moving, the traffic information that the communication module obtains can be with
Including at least one in following information：Vehicle flowrate, road degree of crowding information, road turning information, the regional traffic of road
Accident information, crossing intersection information, road occupancy information, average speed information, track quantity information.Specifically, in this reality
Apply in example, the fortune for the semitrailer body 10 that the traffic information that the communication module is obtained is obtained with the sensor assembly
Row parameter information combines, and predicts whether the semitrailer body 10 needs to carry out deceleration processing in ensuing section, right
Ground is answered to control the energy converting between mechanical module 13 to be switched to energy recovery state or driving condition.Such as：When the communication
Module gets front when blocking up, and the sensor assembly 15 gets the front vehicles and the intelligence semitrailer
The distance between 100 is relatively near, predicts that the semitrailer body 10 will enter congested traffic area, this illustrates the semitrailer body 10
, it is necessary to carry out deceleration processing when entering the section in preset time period, i.e., when the semitrailer body 10 enters the section,
The control module 16 controls the energy converting between mechanical module 13 to be switched to default energy recovery state；Or when described logical
It is intersection that letter module, which gets front, and the sensor assembly 15 gets the grade information of the road to go up a slope,
Then predict that the semitrailer body 10 will climb, at this point it is possible to control the electromechanical energy within the default period
Modular converter 13 is switched to driving condition.By the transport condition for predicting the semitrailer body 10, it is ensured that semitrailer sheet
The security of body 10, meanwhile, realize energy-optimised distribution.
Further, Fig. 8 is refer to, proposes the method flow of the control method of intelligent semitrailer 100 in sixth embodiment
Figure 20 2, the step S10~S40 is identical with first embodiment, and details are not described herein；Its difference is, the step S40
Further include afterwards：
Step S60, according to the current driving speed and quality of the semitrailer body 10, calculates the semitrailer body 10
Current kinetic energy；
It is understood that during the traveling of the semitrailer body 10, it is possible to achieve energy is changed, by described half
Electricity conversion in the energy-storage module 14 of trailer body 10 is the kinetic energy of the semitrailer body 10.Wherein, the semitrailer sheet
The kinetic energy of body 10 can be obtained according to the current driving speed and Mass Calculation of the semitrailer body 10.
Step S70, according to the kinetic energy of the semitrailer body 10 and default condition, determines the energy converting between mechanical
Module 13 is in generated output during generating state.
In the present embodiment, according to the semitrailer body 10 in transport condition, the kinetic energy of generation, and between energy
Transfer efficiency, it may be determined that the energy converting between mechanical module 13 is in generated output during generating state.Such as：In traffic
Crowded section is, it is necessary to which frequently braking, at this time, the control module 16 control the energy converting between mechanical module 13 to switch
For generating state, to recover energy；It is relatively low can certainly to be arranged to generated output, directly using service brake control brake, does not make
The traveling of vehicle, aspect driver operation are influenced with energy converting between mechanical module 13；For example, the semitrailer body 10 is in
During high-speed travel state, kinetic energy is larger, and can carry out energy to the semitrailer body 10 usually in brake or descending
Amount recycling, because in the semitrailer body 10 in running at high speed, if when running into barrier, it is necessary to be subtracted in time
Speed, can control its operating power to try one's best big when at this time the energy converting between mechanical module 13 is in generating state；Can be with
Understand, when the electricity of the energy-storage module 14 is sufficient, can control power is 0, at this time, the energy converting between mechanical module
13 are in generating state, its operating power can be controlled to try one's best small.
Further, in one alternatively embodiment, the control method of the intelligence semitrailer 100 further includes：Step
Corresponding to S80, the present road curvature information obtained according to the sensor assembly 15, and/or the intelligent semitrailer 100
The rotational angle information of steering wheel that sends of tractor, determine the turn direction and speed of the semitrailer car body 10；
Step 90, according to the turn direction and speed of the definite semitrailer car body 10, the different wheels is controlled
The driving output power of the 11 corresponding energy converting between mechanical module 13 of wheel drive shaft 12.
Specifically, the present road curvature information includes but not limited to the information such as road curve radius.The traction
The angular transducer of the angle of turn for detecting steering wheel is also provided with car, wherein, tractor is and intelligent semi-mounted
It is to establish to have communication connection between car 100, for example, by mutual between the bus tractor and the control module 16
Communication connection, so that the angle of turn information and tractor of the steering wheel that the angular transducer being arranged on tractor is obtained
Steering indicating light information be sent to the control module of intelligent semitrailer 100.
In the present embodiment, leading corresponding to present road curvature information, and/or the intelligent semitrailer 100 is passed through
Draw the rotational angle information of steering wheel and the steering indicating light information of tractor of car transmission, whether determine the semitrailer body 10
The turn condition of the semitrailer body 10 is in or predicts, to control the output work of the energy converting between mechanical module 13
Rate, and then control the travel speed and rotational angle of each wheel of the semitrailer 100.
For example, when vehicle enters left-turning pathways, angular transducer detects the angle of turn of the steering wheel, described to lead
That draws the main control module acquisition left and right turn signal of car is turned on and off information, and is sent to intelligent semitrailer；And the semitrailer
The curvature of environment sensing sensor detecting on body 10 to road；The control module 16 is judged by analyzing above-mentioned data
The travel direction and travel speed of the semitrailer 100, determine the defeated of data-collection module 13 corresponding to each wheel 11
Go out power, so that the travel speed of the right wheel is faster than left side wheel, and then realize the assisted diversion driving work(of intelligent semitrailer 100
Energy.
Pass through the angle of turn according to steering wheel or present road curvature information, control machine electric energy in the present embodiment
The output power of modular converter 13 is measured, to provide laterally driven power, aids in the semitrailer body 10 to be turned to.
The present invention also provides a kind of intelligent semitrailer 100, including car body 20 and the control described in any of the above-described embodiment
System.
The present invention also provides a kind of intelligent vehicle, including tractor and intelligent semitrailer 100 as described above.
The foregoing is merely the optional implementation of the present invention, it is not intended to limit the scope of the invention, it is every in this hair
Under bright design, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/other are used in indirectly
Relevant technical field is included in the scope of patent protection of the present invention.
Claims (10)
1. a kind of control system of intelligence semitrailer, the intelligence semitrailer include semitrailer body, are arranged at semitrailer body
On at least one wheel and with the one-to-one wheel drive shaft of the wheel, it is characterised in that the control of intelligent semitrailer
System processed includes：
Corresponded in a distributed manner with the wheel drive shaft of the semitrailer body and be configured at least one energy converting between mechanical mould
Block, wherein, the energy converting between mechanical module is at any driving condition driven the wheel drive shaft output, the electromechanics
Energy conversion module is driven under generating state by the wheel drive shaft, and the mechanical energy of wheel drive shaft is converted to electricity
Energy；
Energy-storage module, is electrically connected with the energy converting between mechanical module, for exporting electric energy to the energy converting between mechanical module
And receive the electrical energy for storage that the energy converting between mechanical module exports under generating state；
Sensor assembly, for detecting the trip information of the semitrailer body；
Control module, is connected with the sensor assembly, energy-storage module and the energy converting between mechanical module, for according to institute
The trip information of the semitrailer body of sensor assembly acquisition is stated, corresponding instruction to the electromechanical energy is sent and turns
Block is changed the mold, to control switching and the control energy converting between mechanical mould between the charge and discharge state of the energy-storage module
The corresponding switching between driving condition and generating state of block.
2. the control system of intelligence semitrailer as claimed in claim 1, it is characterised in that the sensor assembly includes following
It is at least one in sensor：
Environment sensing sensor, brake-block temperature sensor, altimeter, barometer, trailer-mounted radar tachymeter, range sensor,
Acceleration transducer, GPS locator, wheel speed sensor and brake-pedal-travel sensor.
3. a kind of control method for the control system of intelligent semitrailer any one of claim 1-2, its feature exists
In, including step：
Obtain the trip information for the semitrailer body that the sensor assembly obtains；
The trip information of the semitrailer body obtained according to the sensor assembly, judges the semitrailer body shape
State is in default energy recovery state either default driving condition；
When the semitrailer body is in default energy recovery state, the control module control energy-storage module, which is switched to, to be filled
Electricity condition, and the control energy converting between mechanical module are switched to generating state；
When the semitrailer body is in default driving condition, the control module control energy-storage module is switched to electric discharge shape
State, and the control energy converting between mechanical module are switched to driving condition.
4. control method as claimed in claim 3, it is characterised in that
The trip information of the semitrailer body includes at least one in following parameter information：The semitrailer body with
Real-time range information of the distance between the default road object of reference between information, the semitrailer body and front truck or rear car,
Speed of operation information, present road curvature information, present road grade information, the current vehicle height of the semitrailer body
Information, the acceleration information of the semitrailer body, highway speed-limiting mark information, the temperature information and traffic lights of brake block
Colouring information；
The default energy recovery state includes at least one of the following conditions：Braking state, present road grade information
For descending, the road curvature degree is more than default curvature, the current driving speed of the semitrailer body is more than default car
The distance between speed or the restriction vehicle speed value more than highway speed-limiting mark, the semitrailer body and road object of reference are less than pre-
If distance value, the semitrailer body and the distance between front truck or rear car be less than default distance value；The brake temperature
Degree more than the colouring information of default temperature value, the traffic lights for the red and semitrailer body and the traffic lights away from
From less than default distance value；
The default driving condition includes at least one of the following conditions：The semitrailer body is starting state, currently
Road grade information to go up a slope, the acceleration of the semitrailer body be on the occasion of, the road curvature degree be less than default curvature,
The current driving speed of the semitrailer body is less than default speed or restriction vehicle speed value less than highway speed-limiting mark, institute
State the distance between semitrailer body and road object of reference more than default distance value, the semitrailer body and front truck or after
The distance between car is more than default distance value；The colouring information of the traffic lights for the green and semitrailer body with it is described
The distance of traffic lights is more than default distance value.
5. control method as claimed in claim 4, it is characterised in that further include step：
The positional information and present road grade information of the semitrailer body obtained according to the sensor assembly, or
According to the current vehicle elevation information of the trailer car body of acquisition, judge whether the semitrailer body is in upward slope state；
When the semitrailer body is in upward slope state, highly believed according to the present road grade information and current vehicle
Whether the potential variation that breath calculates when the semitrailer body goes up a slope is more than predetermined threshold value；
When potential variation when the semitrailer body goes up a slope is more than predetermined threshold value, the electric discharge ratio of the energy-storage module is determined
Example, is that the semitrailer body subsequently in descending, prepare by the charging of the energy-storage module.
6. control method as claimed in claim 4, it is characterised in that further include step：
The positional information and present road grade information of the semitrailer body obtained according to the sensor assembly, or
According to the current vehicle elevation information of the trailer car body of acquisition, judge whether the semitrailer body is in descending state；
When the semitrailer body is in descending state, the present road gradient letter that the sensor assembly obtains is obtained
The temperature information of breath and the brake block, and the remaining capacity of the energy-storage module, determine the former car brake of semitrailer body
Mode and the energy converting between mechanical module switch between the ways of deceleration of charged state the interval being used alternatingly.
7. control method as claimed in claim 6, it is characterised in that described according to described the half of sensor assembly acquisition
Positional information, present road grade information and the current vehicle elevation information of trailer body, judge that the semitrailer body is
After no the step of being in descending state, further include：
When the semitrailer body is in descending state, judge whether the temperature of the brake block is more than preset temperature and storage
Whether the remaining capacity of energy module is less than default electricity；
When the temperature of the brake block is more than the remaining capacity of preset temperature and energy-storage module less than default electricity, institute is controlled
State energy converting between mechanical module and be switched to charged state；
The remaining capacity for being less than preset temperature and the energy-storage module in the temperature of the brake block is more than default quantitative, control
The semitrailer body enables former car brake.
8. control method as claimed in claim 7, it is characterised in that be additionally provided with communication module on the intelligence semitrailer, use
Communicated to connect between exterior monitoring center or surrounding vehicles, the control method further includes：
The operation for the semitrailer car body that the traffic information got according to communication module and the sensor assembly obtain
Parameter information, carries out transport condition of the semitrailer body in ensuing preset time and road conditions environmental information pre-
Survey, and according to energy recovery state or pre- of the prediction result to the semitrailer body in ensuing preset time
If driving condition be controlled.
9. control method as claimed in claim 3, it is characterised in that the control method further includes step：
According to the current driving speed and quality of the semitrailer body, the current kinetic energy of the semitrailer body is calculated；
According to the kinetic energy of the semitrailer body and default condition, determine that the energy converting between mechanical module is in power generation shape
Generated output during state；
Or further include step：
Leading according to corresponding to present road curvature information, and/or the intelligent semitrailer that the sensor assembly obtains
Draw the rotational angle information and steering indicating light information of the steering wheel of car transmission, determine the turn direction and speed of the semitrailer car body
Degree；
According to the turn direction and speed of the definite semitrailer car body, the wheel drive shaft pair of the different wheels is controlled
The driving output power for the energy converting between mechanical module answered.
10. a kind of intelligent vehicle, including tractor and intelligent semitrailer, it is characterised in that the intelligence semitrailer includes
The control system of car body and the intelligent semitrailer as any one of claim 1-2.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711440153.8A CN107985440A (en) | 2017-12-26 | 2017-12-26 | The control system and its control method of intelligent vehicle, intelligent semitrailer |
| PCT/CN2018/095351 WO2019128188A1 (en) | 2017-12-26 | 2018-07-12 | Semi-trailer control system, semi-trailer, smart vehicle, and semi-trailer control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711440153.8A CN107985440A (en) | 2017-12-26 | 2017-12-26 | The control system and its control method of intelligent vehicle, intelligent semitrailer |
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| CN107985440A true CN107985440A (en) | 2018-05-04 |
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| CN201711440153.8A Pending CN107985440A (en) | 2017-12-26 | 2017-12-26 | The control system and its control method of intelligent vehicle, intelligent semitrailer |
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| CN110303901A (en) * | 2019-07-12 | 2019-10-08 | 重庆长安新能源汽车科技有限公司 | A kind of car ramp auxiliary braking method, device and electric car |
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| CN111951605A (en) * | 2020-08-12 | 2020-11-17 | 扬州市伏尔坎机械制造有限公司 | Active safety control system and control method for semitrailer |
| CN112147925A (en) * | 2020-09-08 | 2020-12-29 | 成都安尔法智控科技有限公司 | Sensor modularization device and method |
| CN113246745A (en) * | 2021-05-19 | 2021-08-13 | 河南科技大学 | Auxiliary drive control method of new energy semitrailer and new energy semitrailer |
| CN115147051A (en) * | 2022-09-01 | 2022-10-04 | 菏泽京九特种汽车有限公司 | Special lifting vehicle transportation safety supervision system based on big data |
| CN115147051B (en) * | 2022-09-01 | 2022-12-09 | 菏泽京九特种汽车有限公司 | Special lifting vehicle transportation safety supervision system based on big data |
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