CN112026913A - A semi-trailer vehicle with rear wheels capable of realizing electronic differential and reversing method - Google Patents

A semi-trailer vehicle with rear wheels capable of realizing electronic differential and reversing method Download PDF

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CN112026913A
CN112026913A CN202010987436.XA CN202010987436A CN112026913A CN 112026913 A CN112026913 A CN 112026913A CN 202010987436 A CN202010987436 A CN 202010987436A CN 112026913 A CN112026913 A CN 112026913A
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semi
differential
trailer
wheel
semitrailer
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CN112026913B (en
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李春玲
柏贞远
樊祥奔
路玉峰
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Qilu University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention relates to a semitrailer with rear wheels capable of realizing electronic differential and a backing method, which comprises an ECU (electronic control Unit), a differential knob, a visual positioning system and a front wheel steering power-assisted mechanism, wherein a pair of wheels at the rearmost end of a semitrailer are two electric wheels capable of being driven independently; the differential knob can input different rear wheel differential values to the ECU; the vision positioning system comprises a vision identification camera arranged at the rear end of the semitrailer, the ECU can receive information of the vision identification camera and generate an electronic map, a display is arranged in a cab of the semitrailer, and the display can display the backing track of the semitrailer in the electronic map under any differential value in a set range; the ECU can calculate the corresponding front wheel deflection angle according to the differential signal and the preset rotating speed of the inner electric wheel, and realizes the steering of the front wheel through the front wheel steering power-assisted mechanism.

Description

一种后轮能够实现电子差速的半挂车辆及倒车方法A semi-trailer vehicle with rear wheels capable of realizing electronic differential and reversing method

技术领域technical field

本公开属于车辆技术领域，具体涉及一种后轮能够实现电子差速的半挂车辆及倒车方法。The present disclosure belongs to the technical field of vehicles, and in particular relates to a semi-trailer vehicle whose rear wheels can realize electronic differential and a reversing method.

背景技术Background technique

近十几年来，随着公路设施的不断规划、建设完善、人们对许多物资的需求不断增加，公路运输业处在高速发展阶段，公路运输逐渐变成了一种重要的运输模式。运输吨位大、运输成本低、运输效率高的半挂汽车列车，已逐渐占据公路运输的大部分份额。In the past ten years, with the continuous planning and improvement of road facilities, and people's increasing demand for many materials, the road transportation industry is in a stage of rapid development, and road transportation has gradually become an important transportation mode. Semi-trailer trains with large transportation tonnage, low transportation cost and high transportation efficiency have gradually occupied the majority of road transportation.

发明人了解到，半挂车辆本身的构造拥有重量大、质心高及鞍座处相互耦合的特点，使半挂汽车列车在倒车转向过程中存在着非线性、不稳定性、非确定性等因素。容易发生折叠、碰撞等危险情况。另外半挂汽车列车车身太长，盲区太大，导致倒车难度大，完成一次倒车转向需要驾驶员有丰富的驾车经验以及高水平的驾驶技巧。The inventor learned that the structure of the semi-trailer vehicle itself has the characteristics of heavy weight, high center of mass and mutual coupling at the saddle, which makes the semi-trailer vehicle trains have nonlinear, unstable, non-deterministic and other factors in the process of reverse steering. . Dangerous situations such as folding and collision are prone to occur. In addition, the body of the semi-trailer train is too long and the blind spot is too large, which makes reversing difficult. To complete a reversing turn requires the driver to have rich driving experience and high-level driving skills.

发明内容SUMMARY OF THE INVENTION

本公开的目的是提供一种后轮能够实现电子差速的半挂车辆，能够至少解决上述技术问题之一。The purpose of the present disclosure is to provide a semi-trailer vehicle whose rear wheels can realize electronic differential, which can solve at least one of the above technical problems.

为实现上述目的，本公开的第一方面提供一种后轮能够实现电子差速的半挂车辆，包括ECU、差速旋钮、视觉定位系统和前轮转向助力机构，半挂车最后端的一对车轮为两个能独立驱动的电动轮；差速旋钮能够向ECU输入不同的后轮差速数值；视觉定位系统包括安装在半挂车后端的视觉识别摄像头，ECU能够接收视觉识别摄像头的信息并生成电子地图，半挂车辆的驾驶室中设有显示器，所述显示器能够显示在设定范围内任意差速数值下，半挂车辆在电子地图中的倒车轨迹；In order to achieve the above object, a first aspect of the present disclosure provides a semi-trailer vehicle with rear wheels capable of realizing electronic differential, including an ECU, a differential knob, a visual positioning system and a front wheel steering assist mechanism, and a pair of wheels at the rear end of the semi-trailer. It is two electric wheels that can be driven independently; the differential knob can input different rear wheel differential values to the ECU; the visual positioning system includes a visual recognition camera installed at the rear end of the semi-trailer, and the ECU can receive the information from the visual recognition camera and generate electronic Map, a display is provided in the cab of the semi-trailer vehicle, and the display can display the reversing trajectory of the semi-trailer vehicle in the electronic map under any differential value within the set range;

ECU能够根据差速信号以及预设的内侧电动轮转速来推算出对应的前轮偏角，并通过前轮转向助力机构实现前轮的转向。The ECU can calculate the corresponding front wheel slip angle according to the differential signal and the preset inner electric wheel speed, and realize the steering of the front wheel through the front wheel steering assist mechanism.

本公开的第二方面提供一种半挂车倒车方法，包括以下步骤：A second aspect of the present disclosure provides a semitrailer reversing method, comprising the following steps:

以牵引车前轮偏角、牵引车与半挂车尺寸及半挂车后端两个电动轮之间的速度差值、预设的倒车转向时内轮转速为参数，建立半挂车辆的转向数据模型；The steering data model of the semi-trailer vehicle is established by taking the deflection angle of the front wheel of the tractor, the size of the tractor and the semi-trailer, the speed difference between the two electric wheels at the rear of the semi-trailer, and the preset speed of the inner wheel during reverse steering. ;

倒车时，若需要倒车转向，先根据视觉识别摄像头建立半挂车辆后端的电子地图，并通过显示器显示；When reversing, if you need to reverse and turn, first establish an electronic map of the rear end of the semi-trailer according to the visual recognition camera, and display it on the display;

通过旋转差速旋钮以传递给ECU不同的差速数值，在电子地图中显示半挂车辆的倒车轨迹，当倒车轨迹满足倒车要求时，停止旋转差速旋钮；By rotating the differential knob to transmit different differential values to the ECU, the reversing trajectory of the semi-trailer is displayed on the electronic map. When the reversing trajectory meets the reversing requirements, stop rotating the differential knob;

将倒车转向时内侧电动轮的轮速设为定值，通过差速信息来计算前轮偏角；Set the wheel speed of the inner electric wheel to a fixed value during reverse steering, and calculate the front wheel slip angle through the differential information;

前轮转向助力机构驱动前轮转向，以满足计算出的前轮偏角数值；The front wheel steering assist mechanism drives the front wheel steering to meet the calculated front wheel declination value;

控制两个电动轮以设定速度差行走，实现差速转向；Control the two electric wheels to walk at the set speed difference to realize differential steering;

半挂车主动倒车转向时，带动牵引车同步运动，以实现半挂车辆的倒车转向。When the semi-trailer actively reverses the steering, it drives the tractor to move synchronously to realize the reverse steering of the semi-trailer.

所述转向数据模型为：The steering data model is:

Figure BDA0002689715520000021
Figure BDA0002689715520000021

其中，V差为两个电动轮之间的速度差值，V外为背离转向中心的外侧电动轮的速度，V内为靠近转向中心的内侧电动轮的速度，K1为半挂车轮距、K2为牵引车轮距、L1为半挂车后轴到鞍座中心的距离、L2为牵引车前后轴的间距、α1为牵引车前轮偏角，M为牵引车后轴到鞍座的距离。Among them, V difference is the speed difference between the two electric wheels, V outside is the speed of the outer electric wheel away from the steering center, V inner is the speed of the inner electric wheel close to the steering center, K 1 is the semi-trailer wheel spacing, K 2 is the distance of the tractor wheel, L 1 is the distance from the rear axle of the semi-trailer to the center of the saddle, L 2 is the distance between the front and rear axles of the tractor, α 1 is the deflection angle of the front wheel of the tractor, and M is the rear axle of the tractor to the saddle the distance.

以上一个或多个技术方案的有益效果：The beneficial effects of one or more of the above technical solutions:

利用挂车上的轮边电机驱动挂车后向行驶，并带动牵引车后向行驶，避免采用牵引车后推挂车后向行驶时的不稳定状态。驾驶员操作方向盘控制牵引车的转向，同时ECU控制挂车进行差速转向，实现半挂汽车列车倒车转向类似于单体车后向转弯一样简单。The wheel side motor on the trailer is used to drive the trailer to drive backward, and drive the tractor to drive backward, so as to avoid the unstable state when the tractor is used to push the trailer backward. The driver operates the steering wheel to control the steering of the tractor, while the ECU controls the trailer to perform differential steering, so that the reverse steering of the semi-trailer train is as simple as the backward turning of a single vehicle.

本公开中采用视觉定位系统与差速旋钮的组合，在半挂车辆后端内轮转速确定的情况下，每个差速数值均对应于电子地图中的一个倒车轨迹，使得驾驶员能够准确的判断此时的差速数值及后端内轮转速的配合是否能够达到倒车的目的，是否会偏离道路或碰撞障碍物；即将半挂车辆倒车由经验判断转化为半自动化的控制，便于提高倒车的效率，减少倒车的时间。In the present disclosure, the combination of the visual positioning system and the differential knob is adopted. When the rotational speed of the inner wheel at the rear end of the semi-trailer is determined, each differential value corresponds to a reversing trajectory in the electronic map, so that the driver can accurately It is judged whether the combination of the differential value at this time and the speed of the rear inner wheel can achieve the purpose of reversing, and whether it will deviate from the road or collide with obstacles; that is, the reversing of the semi-trailer vehicle is transformed from empirical judgment into semi-automatic control, which is convenient to improve the reversing ability. Efficiency, reduce the time of reversing.

附图说明Description of drawings

构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的限定。The accompanying drawings that constitute a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute a limitation to the present application.

图1是本公开实施例1中整体结构示意图；1 is a schematic diagram of the overall structure in Embodiment 1 of the present disclosure;

图2是本公开实施例2中倒车轨迹示意图；2 is a schematic diagram of a reversing trajectory in Embodiment 2 of the present disclosure;

图3是本公开实施例2中倒车的流程示意图；3 is a schematic flow chart of reversing in Embodiment 2 of the present disclosure;

图4为本公开实施例2中在十字路口进行倒车时的示意图。FIG. 4 is a schematic diagram of reversing at an intersection according to Embodiment 2 of the present disclosure.

其中，1、牵引车前轮；2、牵引车；3、挂车车轴；4、半挂车；5、电动轮； 6、轮边电机；7、差速旋钮；8、倒车按键。Among them, 1. Front wheel of tractor; 2. Tractor; 3. Trailer axle; 4. Semi-trailer; 5. Electric wheel; 6. Wheel motor; 7. Differential knob; 8. Reverse button.

具体实施方式Detailed ways

应该指出，以下详细说明都是例示性的，旨在对本申请提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

目前，国内主要研究半挂汽车列车行驶稳定性、操纵稳定性及轨迹追踪等方面的技术，针对半挂汽车列车倒车方面的研究还比较少。因此需要一种有效的半挂汽车列车倒车辅助装置，降低半挂汽车列车驾驶员倒车时的操作难度，提高驾驶员的工作效率，保证半挂汽车列车快速简便、安全稳定地完成倒车动作。At present, domestic research mainly focuses on the driving stability, handling stability and trajectory tracking of semi-trailer trains, and there are few researches on the reversing of semi-trailer trains. Therefore, there is a need for an effective semi-trailer train reversing auxiliary device, which reduces the operational difficulty of the semi-trailer train driver when reversing, improves the driver's work efficiency, and ensures that the semi-trailer train completes the reversing action quickly, easily, safely and stably.

实施例1Example 1

如图1所示，本实施例提供一种后轮能够实现电子差速的半挂车辆，包括 ECU、差速旋钮、视觉定位系统和前轮转向助力机构，半挂车最后端的一对车轮为两个能独立驱动的电动轮；差速旋钮能够向ECU输入不同的后轮差速数值；视觉定位系统包括安装在半挂车后端的视觉识别摄像头，ECU能够接收视觉识别摄像头的信息并生成电子地图，半挂车辆的驾驶室中设有显示器，所述显示器能够显示在设定范围内任意差速数值下，半挂车辆在电子地图中的倒车轨迹；As shown in FIG. 1 , this embodiment provides a semi-trailer vehicle whose rear wheels can realize electronic differential, including an ECU, a differential knob, a visual positioning system and a front wheel steering assist mechanism. The rear pair of wheels of the semi-trailer is two One electric wheel that can be driven independently; the differential knob can input different rear wheel differential values to the ECU; the visual positioning system includes a visual recognition camera installed at the rear end of the semi-trailer, and the ECU can receive the information from the visual recognition camera and generate an electronic map. The cab of the semi-trailer vehicle is provided with a display, which can display the reversing trajectory of the semi-trailer vehicle in the electronic map under any differential value within the set range;

ECU能够根据差速信号以及预设的内侧电动轮转速来推算出对应的前轮偏角，并通过前轮转向助力机构实现前轮的转向。The ECU can calculate the corresponding front wheel slip angle according to the differential signal and the preset inner electric wheel speed, and realize the steering of the front wheel through the front wheel steering assist mechanism.

可以理解的是，半挂车辆的具体结构属于现有技术，其包括用于实现牵引的牵引车以及用于装货的半挂车，牵引车尾部设置鞍座，实现半挂车与牵引车的铰接，挂车上设置挂车车轴。鞍座将牵引车的动力传递至半挂车中，半挂车中的车轮为从动轮且不具有转向功能。本实施例以图1中具有两对车轮的牵引车以及具有一对车轮的半挂车为例进行描述：It can be understood that the specific structure of the semi-trailer belongs to the prior art, and it includes a tractor used for pulling and a semi-trailer used for loading. Trailer axles are set on the trailer. The saddle transmits the power of the tractor to the semi-trailer, and the wheels in the semi-trailer are driven wheels and have no steering function. This embodiment is described by taking the tractor with two pairs of wheels and the semi-trailer with one pair of wheels as examples in FIG. 1 :

需要指出的是，本实施例中电动轮与普通半挂车中车轮一样，不具有转向功能，为非转向轮，因此，半挂车的主动转向依靠两个电动轮之间的差速行走来实现。It should be pointed out that the electric wheel in this embodiment is the same as the wheel in the ordinary semi-trailer. It does not have a steering function and is a non-steering wheel. Therefore, the active steering of the semi-trailer is realized by the differential running between the two electric wheels.

所述ECU与视觉定位系统、轮边电机、前轮转向助力机构之间分别通过信号连接，轮边电机通过蓄电池组供电。所述蓄电池组通过牵引车的发动机供电，蓄电池组安装在半挂车的底盘处。The ECU and the visual positioning system, the wheel motor and the front wheel steering assist mechanism are respectively connected by signals, and the wheel motor is powered by a battery pack. The battery pack is powered by the engine of the tractor, and the battery pack is installed at the chassis of the semi-trailer.

可以理解的是，电动轮为不需要发动机经传动系统驱动就可以实现转动的行走轮，在本实施例中电动轮一侧具有轮边电机，轮边电机与车轴同轴固定，车轴通过半挂车的底盘实现支撑。可以理解的是，电动轮需要电能驱动，在本实施例中，所述蓄电池通过牵引车的发动机供电，蓄电池安装在半挂车的底盘处。It can be understood that the electric wheel is a walking wheel that can be rotated without the need for an engine to be driven by a transmission system. In this embodiment, one side of the electric wheel has a wheel motor, and the wheel motor is coaxially fixed with the axle, and the axle passes through the semi-trailer. The chassis realizes the support. It can be understood that the electric wheel needs to be driven by electric energy. In this embodiment, the battery is powered by the engine of the tractor, and the battery is installed at the chassis of the semi-trailer.

所述前轮转向助力机构安装在牵引车的方向盘处。The front wheel steering assist mechanism is installed at the steering wheel of the tractor.

需要指出的是，本实施例中前轮转向助力机构可以采用齿轮结构，即在方向盘的转杆处固定环套第一齿轮(图中未示出)，然后利用齿轮啮合来传递驱动电机的动力。在司机不用手旋转方向盘的基础上，完成牵引车前轮的转向。It should be pointed out that in this embodiment, the front wheel steering assist mechanism may adopt a gear structure, that is, a first gear (not shown in the figure) is fixed at the rotating rod of the steering wheel, and then the gear meshing is used to transmit the power of the driving motor. . On the basis that the driver does not rotate the steering wheel by hand, the steering of the front wheel of the tractor is completed.

可以理解的是，本实施例中，为了触发倒车的信号，在牵引车中安装有倒车按键。倒车按键应与ECU通过通信线连接。It can be understood that, in this embodiment, in order to trigger the signal for reversing, a reversing button is installed in the tractor. The reverse button should be connected to the ECU through a communication cable.

在本实施例中，所述半挂车的后端设置有视觉识别摄像头，视觉识别摄像头能够拍摄半挂车后端及两侧的道路情况并传递给ECU，ECU能够根据预设的程序及接收到的数据来建立电子地图。可以理解的是，在本实施例中，视觉识别摄像头可以采用双目识别相机。In this embodiment, the rear end of the semi-trailer is provided with a visual recognition camera, and the visual recognition camera can photograph the road conditions at the rear end and both sides of the semi-trailer and transmit it to the ECU. data to build electronic maps. It can be understood that, in this embodiment, the visual recognition camera may adopt a binocular recognition camera.

需要指出的是，在现有技术中，利用摄像头及传感器等部件的组合来获得车辆后端及两侧图像属于现有技术。It should be pointed out that, in the prior art, using a combination of components such as cameras and sensors to obtain images of the rear end and both sides of the vehicle belongs to the prior art.

进一步的，在现有技术中，存在通过摄像头拍摄照片进而或者电子地图的技术，如CN201110221057.0和CN201110221057.0中分别提供了利用图片生成电子地图的方法，本方案中可以采用现有技术来生成电子地图，此处不再赘述。Further, in the prior art, there is a technology of taking pictures through a camera or an electronic map. For example, CN201110221057.0 and CN201110221057.0 respectively provide methods for generating electronic maps by using pictures, and the existing technology can be used in this solution. The electronic map is generated, which will not be repeated here.

实施例2Example 2

如图2-图3所示，本实施例提供一种半挂车倒车方法，包括以下步骤：As shown in FIGS. 2-3 , this embodiment provides a method for reversing a semi-trailer, including the following steps:

以牵引车前轮偏角、牵引车与半挂车尺寸及半挂车后端两个电动轮之间的速度差值、预设的倒车转向时内轮转速为参数，建立半挂车辆的转向数据模型；The steering data model of the semi-trailer vehicle is established by taking the deflection angle of the front wheel of the tractor, the size of the tractor and the semi-trailer, the speed difference between the two electric wheels at the rear of the semi-trailer, and the preset speed of the inner wheel during reverse steering. ;

倒车时，若需要倒车转向，先根据视觉识别摄像头建立半挂车辆后端的电子地图，并通过显示器显示；When reversing, if you need to reverse and turn, first establish an electronic map of the rear end of the semi-trailer according to the visual recognition camera, and display it on the display;

通过旋转差速旋钮以传递给ECU不同的差速数值，在电子地图中显示半挂车辆的倒车轨迹，当倒车轨迹满足倒车要求时，停止旋转差速旋钮；By rotating the differential knob to transmit different differential values to the ECU, the reversing trajectory of the semi-trailer is displayed on the electronic map. When the reversing trajectory meets the reversing requirements, stop rotating the differential knob;

将倒车转向时内侧电动轮的轮速设为定值，通过差速信息来计算前轮偏角；Set the wheel speed of the inner electric wheel to a fixed value during reverse steering, and calculate the front wheel slip angle through the differential information;

前轮转向助力机构驱动前轮转向，以满足计算出的前轮偏角数值；The front wheel steering assist mechanism drives the front wheel steering to meet the calculated front wheel declination value;

控制两个电动轮以设定速度差行走，实现差速转向；Control the two electric wheels to walk at the set speed difference to realize differential steering;

半挂车主动倒车转向时，带动牵引车同步运动，以实现半挂车辆的倒车转向。When the semi-trailer actively reverses the steering, it drives the tractor to move synchronously to realize the reverse steering of the semi-trailer.

所述转向数据模型为：The steering data model is:

Figure BDA0002689715520000071
Figure BDA0002689715520000071

其中，V差为两个电动轮之间的速度差值，V外为背离转向中心的外侧电动轮的速度，V内为靠近转向中心的内侧电动轮的速度，K1为半挂车轮距、K2为牵引车轮距、L1为半挂车后轴到鞍座中心的距离、L2为牵引车前后轴的间距、α1为牵引车前轮偏角，M为牵引车后轴到鞍座的距离。Among them, V difference is the speed difference between the two electric wheels, V outside is the speed of the outer electric wheel away from the steering center, V inner is the speed of the inner electric wheel close to the steering center, K 1 is the semi-trailer wheel spacing, K 2 is the distance of the tractor wheel, L 1 is the distance from the rear axle of the semi-trailer to the center of the saddle, L 2 is the distance between the front and rear axles of the tractor, α 1 is the deflection angle of the front wheel of the tractor, and M is the rear axle of the tractor to the saddle the distance.

以下根据图示标注参数，进行转向数据模型的推导过程：The following is the derivation process of the steering data model according to the parameters marked in the diagram:

O—转向中心；A—半挂车后轴中点；B—鞍座(牵引车与半挂车铰接点)；O—the steering center; A—the midpoint of the rear axle of the semi-trailer; B—the saddle (the hinge point between the tractor and the semi-trailer);

C—牵引车后轴中点；α1—牵引车右前轮转动角度；α2—牵引车左前轮转动角度；C—the midpoint of the rear axle of the tractor; α1—the rotation angle of the right front wheel of the tractor; α2—the rotation angle of the left front wheel of the tractor;

L1—半挂车后轴到鞍座距离；L2—牵引车前后轴间距；K1—半挂车轮距；L1—the distance from the rear axle of the semi-trailer to the saddle; L2—the distance between the front and rear axles of the tractor; K1—the distance between the semi-trailer;

K2—牵引车轮距；M—牵引车后轴到鞍座的距离；R—半挂车后轴中点到转向中心的距离；D/2—转弯半径；b—转向节臂长；r-车轮半径。K2—the distance between the tractor wheels; M—the distance from the rear axle of the tractor to the saddle; R—the distance from the midpoint of the rear axle of the semi-trailer to the steering center; D/2—the turning radius; b—the length of the steering knuckle arm; r—the wheel radius .

由图2几何关系知：From the geometric relationship in Figure 2, we know:

Figure BDA0002689715520000072
Figure BDA0002689715520000072

因为b远小于D值，所以b值可以忽略不计，所以：Because b is much smaller than the value of D, the value of b is negligible, so:

Figure BDA0002689715520000073
Figure BDA0002689715520000073

R与α1的函数关系：The functional relationship between R and α1:

由图2得：From Figure 2 we get:

Figure BDA0002689715520000081
Figure BDA0002689715520000081

OB2＝BC2+OC2 OB 2 =BC 2 +OC 2

OB2＝AB2+OA2。OB 2 =AB 2 +OA 2 .

所以，BC2+OC2＝AB2+OA2。即：Therefore, BC 2 +OC 2 =AB 2 +OA 2 . which is:

Figure BDA0002689715520000082
Figure BDA0002689715520000082

Figure BDA0002689715520000083
Figure BDA0002689715520000083

根据逆推方法可以求得带有动力倒车系统的半挂汽车列车的倒车转弯半径与传统半挂汽车列车的正向行驶转弯半径相同，都为：According to the inverse method, the reversing turning radius of the semi-trailer train with the power reversing system can be obtained to be the same as the forward driving turning radius of the traditional semi-trailer train, both of which are:

Figure BDA0002689715520000084
Figure BDA0002689715520000084

半挂车内侧车轮所走过的圆周半径：The radius of the circle traversed by the inner wheel of the semi-trailer:

Figure BDA0002689715520000085
Figure BDA0002689715520000085

将上式代入式(2-4)得半挂车内侧车轮所在圆的半径与α1的关系：Substitute the above formula into formula (2-4) to obtain the relationship between the radius of the circle where the inner wheel of the semi-trailer is located and α 1 :

Figure 3
Figure 3

半挂车外侧车轮所走过的圆周半径：The radius of the circle traversed by the outer wheels of the semi-trailer:

Figure 1
Figure 1

将上式代入式(2-4)得半挂车外侧车轮所在圆的半径与α1的关系：Substitute the above formula into formula (2-4) to obtain the relationship between the radius of the circle where the outer wheel of the semi-trailer is located and α 1 :

Figure BDA0002689715520000088
Figure BDA0002689715520000088

半挂汽车列车倒车时视为匀速，直角弯倒车时以内轮速V内为标准，经过T 时间半挂汽车列车后回到原点：The semi-trailer train is regarded as a uniform speed when reversing, and the inner wheel speed V is the standard when reversing at a right angle, and the semi-trailer train returns to the origin after time T:

Figure BDA0002689715520000091
Figure BDA0002689715520000091

半挂车内侧车轮轮速：The wheel speed of the inner wheel of the semi-trailer:

Figure BDA0002689715520000092
Figure BDA0002689715520000092

半挂车外侧车轮轮速：Wheel speed of the outer wheel of the semi-trailer:

Figure BDA0002689715520000093
Figure BDA0002689715520000093

半挂车内外侧轮速差：The speed difference between the inner and outer wheels of the semi-trailer:

Figure BDA0002689715520000094
Figure BDA0002689715520000094

所以牵引车前轮转角α1与半挂车内外侧轮速差V差的关系：Therefore, the relationship between the front wheel angle α 1 of the tractor and the speed difference V between the inner and outer wheels of the semi-trailer is:

Figure BDA0002689715520000101
Figure BDA0002689715520000101

具体例：Specific example:

需要指出的是，现有技术中，半挂车辆在十字形路口倒车时：倒车时在半挂车尾部安装有视觉识别摄像头与距离传感器，能够测得半挂车内侧电动轮与道路边缘的距离e，通过图像标定，在电子地图中画出一条具有引导效果的虚拟动态倒车轨迹线，用于实时显示当前倒车状态的运行轨迹，其左右移动范围随着倒车旋钮的转动而变动。It should be pointed out that, in the prior art, when a semi-trailer is reversing at a cross-shaped intersection: a visual recognition camera and a distance sensor are installed at the rear of the semi-trailer when reversing, which can measure the distance e between the electric wheel inside the semi-trailer and the edge of the road, Through image calibration, a virtual dynamic reversing trajectory line with guiding effect is drawn in the electronic map, which is used to display the running trajectory of the current reversing state in real time, and its left and right movement range changes with the rotation of the reversing knob.

倒车轨迹线的硬件系统由图像采集模块、电源模块、控制模块组成。(1) 图像采集模块：车后路面状态通过镜头生成光学图像投射到图像传感器光面上，通过电信号、数字信号、视频信号等的转变，将车后道路情况在车载导航屏上显示。(2)电源模块：通过降压芯片，将车身电压变换为图像采集和控制单元使用的5V电压。(3)控制模块：根据整车尺寸、半挂车的内外电动轮差速信号进行倒车路径规划，通过预设的路径规划程序计算得出倒车轨迹线，并将该轨迹线输出至显示屏，驾驶员可通过转动差速旋钮调整倒车轨迹。The hardware system of the reversing track line is composed of an image acquisition module, a power supply module and a control module. (1) Image acquisition module: The road conditions behind the vehicle are projected onto the optical surface of the image sensor by generating an optical image through the lens, and the road conditions behind the vehicle are displayed on the vehicle navigation screen through the transformation of electrical signals, digital signals, and video signals. (2) Power supply module: Through the step-down chip, the body voltage is converted into the 5V voltage used by the image acquisition and control unit. (3) Control module: According to the size of the whole vehicle and the differential signals of the inner and outer electric wheels of the semi-trailer, the reversing path is planned, and the reversing trajectory is calculated through the preset path planning program, and the trajectory is output to the display screen, driving The operator can adjust the reversing trajectory by turning the differential knob.

半挂车的车身安装有摄像头与传感器，当半挂车车轮中心与O点平齐时，传感器将信号传递给ECU，半挂车电动轮以预先设定好的倒车轨迹进行差速转向。The body of the semi-trailer is equipped with a camera and a sensor. When the center of the semi-trailer wheel is flush with the O point, the sensor transmits the signal to the ECU, and the semi-trailer electric wheel performs differential steering according to the pre-set reversing trajectory.

图4中，A为半挂车后轴中点，B为鞍座，O为转向中心，L1为半挂车后轴到鞍座的距离，K1为半挂车轮距。In Figure 4, A is the midpoint of the rear axle of the semitrailer, B is the saddle, O is the steering center, L1 is the distance from the rear axle of the semitrailer to the saddle, and K1 is the wheelbase of the semitrailer.

半挂车转向半径Semi-trailer turning radius

Figure BDA0002689715520000111
Figure BDA0002689715520000111

半挂车外侧车轮转向半径The turning radius of the outer wheel of the semi-trailer

Figure 2
Figure 2

半挂车内侧车轮转向半径Inside wheel turning radius of semi-trailer

Figure 4
Figure 4

鞍座中心转向半径：Saddle center turning radius:

Figure BDA0002689715520000114
Figure BDA0002689715520000114

Figure 5
Figure 5

上述虽然结合附图对本公开的具体实施方式进行了描述，但并非对本公开保护范围的限制，所属领域技术人员应该明白，在本公开的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本公开的保护范围以内。Although the specific embodiments of the present disclosure have been described above in conjunction with the accompanying drawings, they do not limit the protection scope of the present disclosure. Those skilled in the art should understand that on the basis of the technical solutions of the present disclosure, those skilled in the art do not need to pay creative efforts. Various modifications or variations that can be made are still within the protection scope of the present disclosure.

Claims (10)

1. A semi-trailer with rear wheels capable of realizing electronic differential is characterized by comprising an ECU (electronic control Unit), a differential knob, a visual positioning system and a front wheel steering power-assisted mechanism, wherein a pair of wheels at the rearmost end of a semi-trailer are two electric wheels capable of being driven independently; the differential knob can input different rear wheel differential values to the ECU; the vision positioning system comprises a vision identification camera arranged at the rear end of the semitrailer, the ECU can receive information of the vision identification camera and generate an electronic map, a display is arranged in a cab of the semitrailer, and the display can display the backing track of the semitrailer in the electronic map under any differential value in a set range;
the ECU can calculate the corresponding front wheel deflection angle according to the differential signal and the preset rotating speed of the inner electric wheel, and realizes the steering of the front wheel through the front wheel steering power-assisted mechanism.
2. The semitrailer with rear wheels capable of achieving electronic differentiation according to claim 1, characterized in that the tractor and the semitrailer are articulated by means of saddles.
3. The semi-trailer with the rear wheels capable of realizing electronic differential speed according to claim 1, wherein the electric wheels are non-steering wheels, and a wheel-side motor is arranged on one side of each electric wheel.
4. The semi-trailer vehicle with the rear wheels capable of realizing electronic differential speed according to claim 3, wherein the ECU is in signal connection with the differential knob, the visual identification camera, the wheel-side motor and the front wheel steering power-assisted mechanism respectively, and the wheel-side motor is powered by the storage battery pack.
5. The semi-trailer with the rear wheels capable of realizing electronic differential speed according to claim 4, characterized in that the storage battery is powered by an engine of the tractor, and the storage battery is installed at a chassis of the semi-trailer.
6. The semi-trailer vehicle with the rear wheels capable of realizing the electronic differential speed according to claim 1, wherein the front wheel steering assist mechanism is installed at a steering wheel of a tractor.
7. The semi-trailer vehicle with the rear wheels capable of realizing electronic differential speed according to claim 1, wherein a reverse key is installed in the towing vehicle.
8. The semitrailer with the rear wheels capable of achieving electronic differential according to claim 1, characterized in that the vision recognition cameras are mounted on two sides of the rear end of the semitrailer respectively and are binocular recognition cameras.
9. A semitrailer backing method is characterized by comprising the following steps:
establishing a steering data model of the semitrailer by taking the front wheel deflection angle of the tractor, the size of the tractor and the semitrailer, the speed difference between two electric wheels at the rear end of the semitrailer and the preset rotating speed of an inner wheel during reversing and steering as parameters;
when backing, if backing and steering are needed, firstly establishing an electronic map at the rear end of the semi-trailer vehicle according to the visual identification camera, and displaying the electronic map through the display;
the differential knob is rotated to transmit different differential numerical values to the ECU, the backing track of the semi-trailer is displayed in an electronic map, and when the backing track meets the backing requirement, the differential knob is stopped from rotating;
setting the wheel speed of the inner electric wheel as a fixed value during reversing and steering, and calculating the front wheel deflection angle through differential information;
the front wheel steering power-assisted mechanism drives the front wheel to steer so as to meet the calculated front wheel deflection angle value;
controlling the two electric wheels to walk at a set speed difference to realize differential steering;
when the semitrailer actively backs a car and turns to, drive tractor synchronous motion to realize the car that backs a car of semitrailer and turn to.
10. The method of backing a semi-trailer according to claim 9, wherein the steering data model is:
Figure FDA0002689715510000021
wherein, VDifference (D)Is the speed difference between two electric wheels, VOuter coverFor the speed of the outer electric wheel away from the centre of steering, VInner partSpeed of the inboard electric wheel near the centre of steering, K1Is the wheel track of the semitrailer K2Is the track, L of the tractor1The distance L from the rear axle of the semitrailer to the center of the saddle2Is the distance, alpha, between the front and rear axles of the tractor1The front wheel deflection angle of the tractor is shown, and M is the distance from the rear shaft of the tractor to the saddle.
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