CN112026913B - Semi-trailer with rear wheels capable of realizing electronic differential and reversing method - Google Patents

Semi-trailer with rear wheels capable of realizing electronic differential and reversing method Download PDF

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CN112026913B
CN112026913B CN202010987436.XA CN202010987436A CN112026913B CN 112026913 B CN112026913 B CN 112026913B CN 202010987436 A CN202010987436 A CN 202010987436A CN 112026913 B CN112026913 B CN 112026913B
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semitrailer
differential
wheel
steering
front wheel
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CN112026913A (en
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路玉峰
柏贞远
樊祥奔
李春玲
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Qilu University of Technology
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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

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

Semi-trailer with rear wheels capable of realizing electronic differential and reversing method
Technical Field
The disclosure belongs to the technical field of vehicles, and particularly relates to a semi-trailer with rear wheels capable of realizing electronic differential and a backing method.
Background
In recent ten years, with continuous planning and construction of road facilities and continuous increase of demands of people for many materials, the road transportation industry is in a high-speed development stage, and the road transportation gradually becomes an important transportation mode. Semi-trailer trains with large transport tonnage, low transport cost and high transport efficiency gradually occupy most of the shares of road transportation.
The inventor knows that the structure of the semi-trailer has the characteristics of heavy weight, high mass center and mutual coupling at the saddle, so that the factors of nonlinearity, instability, uncertainty and the like exist in the process of reversing and steering the semi-trailer train. Dangerous situations such as folding and collision are easy to occur. In addition, the semi-trailer train has too long body and too large blind area, so that the backing difficulty is large, and the driver has rich driving experience and high-level driving skill for completing one backing steering.
Disclosure of Invention
The present disclosure is directed to a semi-trailer vehicle with electronically differential rear wheels, which solves at least one of the above problems.
In order to achieve the above object, a first aspect of the present disclosure provides a semitrailer with rear wheels capable of achieving electronic differential, including an ECU, a differential knob, a visual positioning system and a front wheel steering power-assisted mechanism, where a pair of wheels at the rearmost end of the 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.
A second aspect of the present disclosure provides a method for backing a semitrailer, including 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.
The steering data model is as follows:
Figure GDA0003057394840000021
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.
The beneficial effects of one or more of the above technical solutions are as follows:
utilize wheel limit motor drive trailer on the trailer to go to driving the tractor to go to, avoid adopting the tractor to push away the unstable condition when going after the trailer. The driver operates the steering wheel to control the steering of the tractor, and meanwhile the ECU controls the trailer to perform differential steering, so that the backing steering of the semi-trailer train is as simple as the backward steering of a single vehicle.
According to the semi-trailer vehicle reversing system, the combination of the visual positioning system and the differential knob is adopted, under the condition that the rotating speed of the inner wheel at the rear end of the semi-trailer vehicle is determined, each differential value corresponds to a reversing track in an electronic map, so that a driver can accurately judge whether the matching of the differential value and the rotating speed of the inner wheel at the rear end can achieve the purpose of reversing or not, and whether the matching deviates from a road or collides with an obstacle or not; the semi-trailer vehicle reversing is converted into semi-automatic control through experience judgment, the reversing efficiency is convenient to improve, and the reversing time is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic view of the overall structure in embodiment 1 of the present disclosure;
fig. 2 is a schematic view of a reversing trajectory in embodiment 2 of the present disclosure;
fig. 3 is a schematic flow chart of reversing in embodiment 2 of the present disclosure;
fig. 4 is a schematic view of the reverse driving at the intersection according to embodiment 2 of the present disclosure.
Wherein, 1, the front wheel of the tractor; 2. a tractor; 3. a trailer axle; 4. a semi-trailer; 5. an electric wheel; 6. a wheel-side motor; 7. a differential knob; 8. a reversing key.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
At present, the technology of the aspects of running stability, operation stability, track tracking and the like of the semi-trailer train is mainly researched domestically, and the research on the aspect of backing the semi-trailer train is less. Therefore, an effective auxiliary device for backing a semi-trailer train is needed, which reduces the difficulty of operation of a semi-trailer train driver during backing, improves the working efficiency of the driver, and ensures that the semi-trailer train can complete backing actions quickly, simply, safely and stably.
Example 1
As shown in fig. 1, the present embodiment provides a semitrailer with rear wheels capable of achieving electronic differential, which includes an ECU, 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 the 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.
It can be understood that the concrete structure of semitrailer belongs to prior art, and it is including being used for realizing towed tractor and being used for the semitrailer of shipment, and the tractor afterbody sets up the saddle, realizes articulating of semitrailer and tractor, sets up the trailer axletree on the trailer. The saddle transmits the power of tractor to in the semitrailer, and the wheel in the semitrailer is driven the wheel and does not have the function of turning to. The present embodiment is described by taking as an example a tractor with two pairs of wheels and a semitrailer with one pair of wheels in fig. 1:
it should be noted that the electric wheels in this embodiment do not have a steering function like the wheels in the common semitrailer, and are non-steering wheels, so that the active steering of the semitrailer is realized by means of differential traveling between the two electric wheels.
The ECU is in signal connection with the visual positioning system, the wheel-side motor and the front wheel steering power-assisted mechanism respectively, and the wheel-side motor supplies power through the storage battery pack. The storage battery pack is powered by an engine of the tractor and is arranged on a chassis of the semitrailer.
It can be understood that the electric wheel can realize the rotating walking wheel without an engine driven by a transmission system, in the embodiment, one side of the electric wheel is provided with a wheel-side motor, the wheel-side motor is coaxially fixed with an axle, and the axle is supported by a chassis of the semitrailer. It will be appreciated that the electric wheels require electric energy for driving, and in this embodiment the accumulator is powered by the engine of the tractor and is mounted at the chassis of the semitrailer.
The front wheel steering power-assisted mechanism is arranged at the steering wheel of the tractor.
It should be noted that the front wheel steering assist mechanism in this embodiment may adopt a gear structure, that is, a first gear (not shown) is fixed on a rotating rod of the steering wheel, and then the power of the driving motor is transmitted by using gear engagement. The front wheels of the tractor are steered on the basis that a driver does not rotate a steering wheel by hands.
It can be understood that, in the present embodiment, in order to trigger the reverse signal, a reverse button is installed in the towing vehicle. The reversing key is connected with the ECU through a communication line.
In this embodiment, the rear end of the semitrailer is provided with a visual recognition camera, the visual recognition camera can shoot road conditions at the rear end and on two sides of the semitrailer and transmit the road conditions to the ECU, and the ECU can establish an electronic map according to a preset program and received data. It is understood that, in the present embodiment, the visual recognition camera may employ a binocular recognition camera.
It should be noted that, in the prior art, it is the combination of the camera and the sensor to obtain the images of the rear end and both sides of the vehicle.
Further, in the prior art, there is a technology of taking a picture by using a camera and then generating an electronic map, for example, methods for generating an electronic map by using a picture are provided in CN201110221057.0 and CN201110221057.0, respectively, and the present solution may adopt the prior art to generate an electronic map, which is not described herein again.
Example 2
As shown in fig. 2 to 3, the present embodiment provides a method for backing a semitrailer, including 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.
The steering data model is as follows:
Figure GDA0003057394840000071
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.
The derivation process of the steering data model is carried out according to the graphic labeled parameters as follows:
o-the steering center; a, a central point of a rear axle of the semitrailer; b-saddle (tractor and semitrailer hinged point);
c, the middle point of the rear shaft of the tractor; alpha 1-rotation angle of the right front wheel of the tractor; alpha 2-rotation angle of the left front wheel of the tractor;
l1-distance from rear axle to saddle of semitrailer; l2-distance between front and rear axles of tractor; k1-semitrailer track;
k2 — tractor track; m is the distance from the rear axle of the tractor to the saddle; r is the distance from the middle point of the rear axle of the semitrailer to the steering center; d/2-turning radius; b-knuckle arm length; r-radius of the wheel.
From the geometry of fig. 2:
Figure GDA0003057394840000072
since b is much smaller than the value of D, the value of b is negligible, so:
Figure GDA0003057394840000073
functional relationship of R to α 1:
from FIG. 2:
Figure GDA0003057394840000081
OB2＝BC2+OC2
OB2＝AB2+OA2。
therefore, BC2+OC2＝AB2+OA2. Namely:
Figure GDA0003057394840000082
Figure GDA0003057394840000083
according to the reverse pushing method, the reverse turning radius of the semi-trailer train with the power reverse system is the same as the forward running turning radius of the traditional semi-trailer train, and the reverse turning radius is as follows:
Figure GDA0003057394840000084
radius of circumference travelled by the wheels inside the semitrailer:
Figure GDA0003057394840000085
the radius and alpha of the circle of the inner side wheel of the semitrailer are obtained by replacing the above formula (2-4)1The relationship of (1):
Figure GDA0003057394840000086
the radius of the circumference traveled by the wheels on the outer side of the semitrailer is as follows:
Figure GDA0003057394840000087
the radius and alpha of the circle of the outer side wheel of the semitrailer are obtained by replacing the above formula (2-4)1The relationship of (1):
Figure GDA0003057394840000088
the semi-trailer train is regarded as a uniform speed when backing a car, and the speed V of the inner wheel is measured when backing a car at a right angleInner partAs a standard, after T time, the semi-trailer train returns to the original point:
Figure GDA0003057394840000091
the speed of the wheel on the inner side of the semitrailer is as follows:
Figure GDA0003057394840000092
the speed of the wheels on the outer side of the semitrailer is as follows:
Figure GDA0003057394840000093
speed difference of inner and outer side wheels of the semitrailer:
Figure GDA0003057394840000094
so that the front wheel turning angle alpha of the tractor1Speed difference V between inner side wheel and outer side wheel of semitrailerDifference (D)The relationship of (1):
Figure GDA0003057394840000101
specific examples are:
it should be noted that, in the prior art, when a semi-trailer vehicle is reversing at a crossroad: when backing, a visual identification camera and a distance sensor are arranged at the tail of the semitrailer, the distance e between an electric wheel on the inner side of the semitrailer and the edge of a road can be measured, a virtual dynamic backing track line with a guiding effect is drawn in an electronic map through image calibration and used for displaying the running track of the current backing state in real time, and the left-right moving range of the virtual dynamic backing track line changes along with the rotation of a backing knob.
The hardware system of the backing track line consists of an image acquisition module, a power supply module and a control module. (1) An image acquisition module: the state of the road behind the vehicle generates an optical image through the lens, the optical image is projected on the smooth surface of the image sensor, and the road condition behind the vehicle is displayed on the vehicle-mounted navigation screen through the conversion of electric signals, digital signals, video signals and the like. (2) A power supply module: and the voltage of the vehicle body is converted into 5V voltage used by the image acquisition and control unit through the voltage reduction chip. (3) A control module: the method comprises the steps of planning a backing path according to the size of the whole vehicle and differential signals of internal and external electric wheels of a semitrailer, calculating a backing trajectory line through a preset path planning program, outputting the trajectory line to a display screen, and adjusting the backing trajectory by a driver through rotating a differential knob.
A camera and a sensor are mounted on a body of the semitrailer, when the center of a wheel of the semitrailer is flush with the point O, the sensor transmits a signal to an ECU, and electric wheels of the semitrailer perform differential steering according to a preset backing track.
In fig. 4, A is the middle point of the rear axle of the semitrailer, B is a saddle, O is the steering center, L1 is the distance from the rear axle of the semitrailer to the saddle, and K1 is the track of the semitrailer.
Semi-trailer steering radius
Figure GDA0003057394840000111
Steering radius of outer wheel of semitrailer
Figure GDA0003057394840000112
Turning radius of inner side wheel of semitrailer
Figure GDA0003057394840000113
Saddle center turning radius:
Figure GDA0003057394840000114
Figure GDA0003057394840000115
although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims (10)

1. 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.
2. The method of backing a semi-trailer according to claim 1, wherein the steering data model is:
Figure FDA0003077254380000011
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.
3. A semitrailer capable of realizing electronic differential for rear wheels for realizing the semitrailer reversing method according to any one of claims 1-2, which 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 the 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.
4. The semitrailer with rear wheels capable of achieving electronic differentiation according to claim 3, characterized in that the tractor and the semitrailer are articulated by means of saddles.
5. The semi-trailer with the rear wheels capable of realizing electronic differential speed according to claim 3, wherein the electric wheels are non-steering wheels, and a wheel-side motor is arranged on one side of each electric wheel.
6. The semi-trailer with the rear wheels capable of realizing electronic differential according to claim 5, 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.
7. The semi-trailer with the rear wheels capable of realizing electronic differential speed according to claim 6, 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.
8. The semi-trailer vehicle with the rear wheels capable of realizing the electronic differential speed according to claim 3, wherein the front wheel steering power-assisted mechanism is installed at a steering wheel of a tractor.
9. The semi-trailer vehicle with the rear wheels capable of realizing electronic differential speed according to claim 4, wherein a reverse key is installed in the towing vehicle.
10. The semitrailer with the rear wheels capable of achieving electronic differential according to claim 3, 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.
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