CN114906214B - Control method, device and equipment of follow-up steering axle and storage medium - Google Patents
Control method, device and equipment of follow-up steering axle and storage medium Download PDFInfo
- Publication number
- CN114906214B CN114906214B CN202210600818.1A CN202210600818A CN114906214B CN 114906214 B CN114906214 B CN 114906214B CN 202210600818 A CN202210600818 A CN 202210600818A CN 114906214 B CN114906214 B CN 114906214B
- Authority
- CN
- China
- Prior art keywords
- target
- locking
- vehicle speed
- follow
- message
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to the technical field of vehicle control, and discloses a method, a device, equipment and a storage medium for controlling a follow-up steering axle, wherein the method comprises the following steps: acquiring the current speed and the driving direction of a target vehicle; when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is a target direction, generating a target locking message according to the current vehicle speed and the driving direction; controlling a follow-up steering axle through an intelligent locking module according to the target locking message; through the mode, when the current speed of the target vehicle is greater than the preset speed threshold or the driving direction is the target direction, the follow-up steering axle is controlled through the intelligent locking module according to the target locking message, so that the follow-up steering axle can be intelligently controlled, and the service life of the follow-up steering axle is effectively prolonged.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method, a device, equipment and a storage medium for controlling a follow-up steering axle.
Background
The follow-up steering axle has wide application in vehicles, especially trucks, but the follow-up steering axle has more limitations in the actual use process, for example, when the vehicle is reversed or the forward vehicle speed exceeds a set vehicle speed threshold, the follow-up steering function of the follow-up steering axle must be locked to prevent the tire of the follow-up steering axle from being worn out early due to the play of the tire, so how to accurately control the follow-up steering axle is a problem to be solved urgently at present.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for controlling a follow-up steering axle, and aims to solve the technical problems that the service life of the follow-up steering axle is rapidly reduced and wheels are seriously abraded due to the fact that the follow-up steering axle cannot be intelligently controlled in the prior art.
In order to achieve the above object, the present invention provides a method for controlling a follow-up steering axle, comprising the steps of:
acquiring the current speed and the driving direction of a target vehicle;
when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is a target direction, generating a target locking message according to the current vehicle speed and the driving direction;
and controlling the follow-up steering axle through an intelligent locking module according to the target locking message.
Optionally, the intelligent locking module comprises a relay, an electromagnetic gas valve, a lockset gas chamber, a locking block, a clamping groove inserted between the base and the sliding block, a steering transverse pull rod and a travel switch;
the control of the follow-up steering axle through the intelligent locking module according to the target locking message comprises the following steps:
sending the target locking message to the relay so that the relay generates a target connection instruction according to the target locking message, connecting the electromagnetic gas valve according to the target connection instruction, acquiring the gas quantity of the gas chamber of the lock after connection is completed, calculating a corresponding pushing force according to the gas quantity, pushing the locking block to a clamping groove inserted between the base and the sliding block through the pushing force to obtain locking information of the transverse steering pull rod, and feeding back the locking information through the travel switch;
judging whether locking information fed back by the travel switch is received within preset time;
and when locking information fed back by the travel switch is received within preset time, locking the follow-up steering axle according to the locking information of the transverse steering pull rod.
Optionally, before sending the target locking message to the relay, the method further includes:
acquiring the current running condition of a target vehicle;
when the current running working condition is a preset working condition, receiving a starting instruction of a self-reset inching switch;
and generating a target locking message according to the starting instruction.
Optionally, after the determining whether the locking information fed back by the travel switch is received within a preset time, the method further includes:
when the locking information fed back by the travel switch is not received within the preset time, a target locking fault message is obtained;
sending the target locking fault message to an instrument and a relay so that the instrument starts a locking fault signal lamp according to the target locking fault message, the relay generates a target connection signal according to the target locking fault message, the relay is communicated with an alarm according to the target connection signal, and early warning is carried out through the alarm;
acquiring the speed and the current running direction of a target vehicle in real time;
and when the vehicle speed is less than or equal to a preset vehicle speed threshold value or the current driving direction is not the target direction, starting a fault elimination instruction to an instrument and a relay so that the instrument closes the locking fault signal lamp and the relay eliminates the early warning of the alarm.
Optionally, after acquiring the vehicle speed and the current driving direction of the target vehicle in real time, the method further includes:
when the vehicle speed is greater than a preset vehicle speed threshold value or the current driving direction is a target direction, acquiring a target vehicle speed limit;
performing difference calculation on the target vehicle speed limit and the vehicle speed to obtain a vehicle speed difference value;
generating a corresponding vehicle speed limit message according to the vehicle speed difference;
after the target time, the vehicle speed limiting message is sent to an engine controller, so that the engine can forcibly adjust the vehicle speed according to the vehicle speed limiting message and feed back vehicle speed adjusting information;
and inquiring a corresponding vehicle maintenance point according to the vehicle speed adjustment information, and detecting the target vehicle through target equipment at the vehicle maintenance point.
Optionally, after obtaining the vehicle speed and the current driving direction of the target vehicle in real time, the method further includes:
if the vehicle speed fluctuates within a preset range of a preset vehicle speed threshold value, judging whether the current driving direction is a target direction;
and if the current driving direction is not the target direction, continuously sending the target locking message to the relay within preset time so that the target locking message continuously sent by the relay generates a target connection instruction, and continuously executing the step of connecting the electromagnetic air valve according to the target connection instruction.
Optionally, after the control of the follow-up steering axle is performed by the intelligent locking module according to the target locking message, the method further includes:
acquiring a speed reduction amplitude value of the target vehicle;
when the vehicle speed reduction amplitude value is larger than a preset vehicle speed amplitude value, generating a target unlocking message according to the vehicle speed reduction amplitude value;
sending the target unlocking message to a relay so that the relay generates a target disconnection instruction according to the target unlocking message, disconnecting the electromagnetic air valve according to the target disconnection instruction, pulling out a locking block from a clamping groove inserted between a base and a sliding block through target tension after disconnection to obtain unlocking information of a steering transverse pull rod, and feeding back the unlocking information through a travel switch;
and unlocking the follow-up steering axle according to the unlocking information.
In order to achieve the above object, the present invention also provides a control device for a follow-up steering axle, including:
the acquisition module is used for acquiring the current speed and the driving direction of the target vehicle;
the generation module is used for generating a target locking message according to the current vehicle speed and the driving direction when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is the target direction;
and the control module is used for controlling the follow-up steering axle through the intelligent locking module according to the target locking message.
Further, to achieve the above object, the present invention also proposes a control apparatus of a follow-up steering axle, including: the control method comprises the steps of storing a control program of the follow-up steering axle, storing the control program of the follow-up steering axle on the memory and running on the processor, and realizing the control method of the follow-up steering axle.
In addition, in order to achieve the above object, the present invention further provides a storage medium having a control program of a follow-up steer axle stored thereon, wherein the control program of the follow-up steer axle, when executed by a processor, implements the control method of the follow-up steer axle as described above.
The control method of the follow-up steering axle provided by the invention comprises the steps of obtaining the current speed and the driving direction of a target vehicle; when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is a target direction, generating a target locking message according to the current vehicle speed and the driving direction; controlling a follow-up steering axle through an intelligent locking module according to the target locking message; through the mode, when the current speed of the target vehicle is greater than the preset speed threshold value or the driving direction is the target direction, the follow-up steering axle is controlled through the intelligent locking module according to the target locking message, so that the follow-up steering axle can be intelligently controlled, and the service life of the follow-up steering axle is effectively prolonged.
Drawings
FIG. 1 is a schematic structural diagram of a control device of a follow-up steering axle in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method for controlling a follow-up steering axle according to the present invention;
FIG. 3 is a schematic flow chart illustrating a second embodiment of a method for controlling a follow-up steering axle according to the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of a control method for a follow-up steering axle according to the present invention;
FIG. 5 is a schematic diagram illustrating a control principle of an embodiment of a control method for a follow-up steering axle according to the present invention;
FIG. 6 is a schematic flow chart illustrating a method for controlling a follow-up steering axle according to a third embodiment of the present invention;
fig. 7 is a functional block diagram of a control device of a follow-up steering axle according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control device of a follow-up steering axle in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the control apparatus of the follow-up steering axle may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the control device of a follow-up steer axle and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a control program of a slave steer axle.
In the control device of the follow-up steering axle shown in fig. 1, the network interface 1004 is mainly used for data communication with the network integration platform workstation; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the control apparatus of the follow-up steering axle of the present invention may be provided in the control apparatus of the follow-up steering axle, which calls the control program of the follow-up steering axle stored in the memory 1005 through the processor 1001 and executes the control method of the follow-up steering axle provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the control method of the follow-up steering axle is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a control method of a follow-up steering axle according to the present invention.
In a first embodiment, the control method of the follow-up steering axle includes the steps of:
and step S10, acquiring the current speed and the driving direction of the target vehicle.
It should be noted that the executing body of the present embodiment is a control device of the follow-up steering axle, and may also be other devices that can achieve the same or similar functions, such as a vehicle controller, etc., and this embodiment is not limited to this, and in the present embodiment, the vehicle controller is taken as an example for description.
It should be understood that the current vehicle speed refers to a vehicle speed of the target vehicle running at the current time, and the current vehicle speed can be acquired in real time by a speed sensor arranged on the target vehicle, and the running direction refers to a direction of the target vehicle during running, and the running direction is obtained by a gear position, for example, when the gear position of the target vehicle is a reverse gear position, the running direction is a reverse direction, and for a general vehicle, when the gear position of the target vehicle is a forward gear position, the running direction is a positive direction.
Further, after step S10, the method further includes: if the vehicle speed fluctuates within a preset range of a preset vehicle speed threshold value, judging whether the current driving direction is a target direction; and if the current driving direction is not the target direction, continuously sending the target locking message to the relay within preset time so that the target locking message continuously sent by the relay generates a target connection instruction, and continuously executing the step of connecting the electromagnetic air valve according to the target connection instruction.
It can be understood that the preset vehicle speed threshold refers to a minimum speed for controlling the follow-up steering axle to lock, the preset vehicle speed threshold may be set to 40km/h, the target direction is a reverse direction, the preset range may be a range corresponding to upper and lower values of the preset vehicle speed threshold, the preset range may be 5km/h, that is, the preset range is 35km/h-45km/h, when the current driving direction of the target vehicle is not the target direction, it is indicated that the target vehicle advances at the speed of the preset range of the preset vehicle speed threshold, in order to avoid that frequent actions of the lock affect the service life of the lock, the embodiment sets that the follow-up steering axle needs to be locked only if the target locking message is continuously sent to the relay within a specified time, and further can embody intelligentization of controlling the follow-up steering axle.
And S20, when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is a target direction, generating a target locking message according to the current vehicle speed and the driving direction.
It can be understood that the target locking message refers to a message indicating that the intelligent locking module locks the follow-up steering axle, and after the current vehicle speed and the driving direction of the target vehicle are obtained, it needs to be determined whether the current vehicle speed is greater than a preset vehicle speed threshold or the driving direction is any one of the conditions that the current vehicle speed is greater than the preset vehicle speed threshold or the driving direction is the target direction, and if yes, a target locking message for controlling the follow-up steering axle needs to be generated.
And S30, controlling the follow-up steering axle through the intelligent locking module according to the target locking message.
It should be understood that the operation of controlling the follow-up steering axle is locking and unlocking respectively, and is determined by messages sent to the intelligent locking module, for example, when the follow-up steering axle needs to be locked, the intelligent locking module receives a target locking message, when the follow-up steering axle needs to be unlocked, the intelligent locking module receives a target unlocking message, and specifically, after the target locking message is generated, the target locking message is sent to the intelligent locking module, and the intelligent locking module controls the follow-up steering axle.
The embodiment obtains the current speed and the driving direction of the target vehicle; when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is a target direction, generating a target locking message according to the current vehicle speed and the driving direction; controlling a follow-up steering axle through an intelligent locking module according to the target locking message; through the mode, when the current speed of the target vehicle is greater than the preset speed threshold value or the driving direction is the target direction, the follow-up steering axle is controlled through the intelligent locking module according to the target locking message, so that the follow-up steering axle can be intelligently controlled, and the service life of the follow-up steering axle is effectively prolonged.
In an embodiment, as shown in fig. 3, a second embodiment of the control method for a follow-up steering axle according to the present invention is proposed based on the first embodiment, and the step S30 includes:
step S301, sending the target locking message to the relay so that the relay generates a target connection instruction according to the target locking message, connecting the electromagnetic gas valve according to the target connection instruction, obtaining the gas quantity of the lock gas chamber after connection is completed, calculating a corresponding pushing force according to the gas quantity, pushing the locking block to the clamping groove inserted between the base and the sliding block through the pushing force, obtaining the locking information of the transverse steering pull rod, and feeding back the locking information through the travel switch.
The intelligent locking module comprises a relay, an electromagnetic gas valve, a lock air chamber, a locking block, a clamping groove inserted between a base and a sliding block, a transverse steering pull rod and a travel switch, and is characterized in that a fixed support (6) is additionally arranged below a lock base (8), a normally closed travel switch (7) is installed on the fixed support (6), a contact of the travel switch (7) extends into the bottom of the base (8), the travel switch (7) is connected into a vehicle controller (BCM) (10) through a line, the contact is at a high level when being pressed and electrified, the detection of the locking and unlocking states of the lock by the BCM (10) is realized, a target connection instruction refers to an instruction for connecting a two-position three-way electromagnetic valve, the two-position three-way electromagnetic valve supplies gas to the lock after being connected, so that the gas quantity of the lock air chamber is increased, a corresponding driving force is formed in the increasing process, the locking block is pushed into the clamping groove inserted between the base and the sliding block through the driving force, the transverse steering pull rod is locked, the locking information of the transverse steering pull rod is obtained, then the travel switch feeds back to a vehicle controller, the locking information can be in a form of controlling the locking block as the high level, and the locking bridge is shown as the form of the locking bridge, and the locking bridge is completely controlled.
Further, before step S301, the method further includes: acquiring the current running condition of a target vehicle; when the current running working condition is a preset working condition, receiving a starting instruction of a self-reset inching switch; and generating a target locking message according to the starting instruction.
It should be understood that the current driving condition refers to a condition of the target vehicle during driving, and the preset condition refers to a relatively special driving condition, for example, a road surface is slippery, under the preset condition, the follow-up steering axle needs to be temporarily locked by a driver within a period of time, and the follow-up steering function cannot be used during locking.
Step S302, determining whether the locking information fed back by the travel switch is received within a preset time.
It should be understood that, after the target locking message is sent to the relay, the vehicle controller may monitor whether to receive the locking information fed back by the travel switch in real time, if so, it indicates that the follow-up steering axle is locked, otherwise, it indicates that the follow-up steering axle is not locked, and the preset time may be set to 30 seconds.
Further, after step S302, the method further includes: when the locking information fed back by the travel switch is not received within the preset time, a target locking fault message is obtained; sending the target locking fault message to an instrument and a relay so that the instrument starts a locking fault signal lamp according to the target locking fault message, the relay generates a target connection signal according to the target locking fault message, the relay is communicated with an alarm according to the target connection signal, and early warning is carried out through the alarm; acquiring the speed and the current running direction of a target vehicle in real time; and when the vehicle speed is less than or equal to a preset vehicle speed threshold value or the current driving direction is not the target direction, starting a fault elimination instruction to an instrument and a relay so that the instrument closes the locking fault signal lamp and the relay eliminates the early warning of the alarm.
It can be understood that if the locking information fed back by the travel switch is judged not to be received within the preset time, the lock is indicated to have a locking fault, and the early warning is needed at the moment, and the early warning is divided into two modes, one mode is an alarm and the other mode is a signal lamp, namely, the relay is utilized to be communicated with the alarm through a target locking fault message, so that the alarm gives an early warning through alarm sound, and the instrument directly opens the locking fault signal lamp after receiving the target locking fault message.
It should be understood that after the driver observes the lock-up fault signal lamp and hears the alarm sound, the vehicle speed is reduced to be below the preset vehicle speed threshold value or the reverse gear is exited, and if the driver makes the vehicle speed or the current driving direction meet any condition through the driving operation, the lock-up fault signal lamp needs to be turned off through a fault elimination instruction, and the early warning of the alarm needs to be eliminated.
Further, after obtaining the vehicle speed and the current driving direction of the target vehicle in real time, the method further includes: when the vehicle speed is greater than a preset vehicle speed threshold value or the current driving direction is a target direction, acquiring a target vehicle speed limit; performing difference calculation on the target vehicle speed limit and the vehicle speed to obtain a vehicle speed difference value; generating a corresponding vehicle speed limit message according to the vehicle speed difference; after the target time, the vehicle speed limit message is sent to an engine controller, so that the engine can forcibly adjust the vehicle speed according to the vehicle speed limit message and feed back vehicle speed adjustment information; and inquiring a corresponding vehicle maintenance point according to the vehicle speed adjustment information, and detecting the target vehicle through target equipment at the vehicle maintenance point.
It should be understood that if the vehicle speed of the target vehicle is still greater than the preset vehicle speed threshold value or the current driving direction or the target direction when the alarm has been warned and the lock-up fault signal lamp is turned on, the vehicle speed needs to be limited below the target vehicle speed directly by the engine, the torque for limiting the speed of the engine is calculated by the vehicle speed difference between the target vehicle speed and the vehicle speed, then a vehicle speed limit message is calculated according to the vehicle speed difference, the vehicle speed of the target vehicle is forcibly adjusted to be below the target vehicle speed limit after the engine receives the vehicle speed limit message, the vehicle maintenance point is displayed, the target vehicle is driven to the vehicle maintenance point by the driver, and the target vehicle is detected and repaired by the target device.
And step S303, when locking information fed back by the travel switch is received within preset time, locking the follow-up steering axle according to the locking information of the transverse steering pull rod.
It should be understood that if it is determined that the locking information fed back by the travel switch is received within the preset time, it indicates that the locking block has been pushed into the locking groove inserted between the base and the slider, that is, the steering cross tie rod is locked, and when the steering cross tie rod is locked, the follow-up steering axle cannot rotate, that is, the follow-up steering function cannot be used, that is, the follow-up steering axle is controlled to be locked.
It can be understood that, referring to fig. 4, fig. 4 is a schematic structural diagram, specifically: after a lock air chamber (1) is communicated with a standard pressure air source, a locking block (3) slides downwards, a lock base (8) is fixed on a bridge main body beam (9), the locking block is inserted into a clamping groove between the base (8) and a sliding block (5), a fixing support (6) is additionally arranged below the lock base (8), a normally closed travel switch (7) is installed on the fixing support (6), a contact of the travel switch (7) extends into the bottom of the base (8), the travel switch (7) is connected into a controller (BCM) (10) through a circuit, the contact is in a high level (locking information) when being pressed and powered on, the locking block (3) is pulled out of the clamping groove under the action of a return spring (2), the sliding block (5) and a steering tie rod (4) can move transversely, the function of a follow-up steering bridge is recovered, and the locking and unlocking of the follow-up steering bridge by a vehicle controller (10) are realized.
It should be understood that, referring to fig. 5, fig. 5 is a schematic control principle diagram, which specifically includes: the automobile lock comprises an instrument (11), an automobile-mounted ECU (12), a reverse gear switch (13), a relay (14), a two-position three-way electromagnetic air valve (15), a relay (16), an alarm (17), a jog switch (18), a resistor R1, a resistor R2 and an air storage cylinder, wherein the two-position three-way electromagnetic air valve (15) is connected with a lock air chamber (1), the relay (14) is connected with the relay (16), and the instrument (11), the automobile-mounted ECU (12), the reverse gear switch (13), a travel switch (7) and the jog switch (18) are connected with a vehicle controller (10) in parallel.
In this embodiment, the target locking message is sent to the relay, so that the relay generates a target connection instruction according to the target locking message, the electromagnetic gas valve is connected according to the target connection instruction, after connection is completed, the gas quantity of the gas chamber of the lock is obtained, a corresponding pushing force is calculated according to the gas quantity, the locking block is pushed to the clamping groove inserted between the base and the sliding block by the pushing force, locking information of the transverse steering pull rod is obtained, and the locking information is fed back by the travel switch; judging whether locking information fed back by the travel switch is received within preset time; when locking information fed back by the travel switch is received within preset time, locking a follow-up steering axle according to the locking information of the transverse steering pull rod; through the mode, the vehicle controller sends the target locking message to the relay, the relay switches on the electromagnetic valve through the target switching-on instruction, then supplies air to the lockset air chamber, the locking block is pushed to the clamping groove between the base and the sliding block by the aid of the pushing force, and the follow-up steering axle is locked through locking information of the transverse steering pull rod, so that accuracy of the locking follow-up steering axle can be effectively improved.
In an embodiment, as shown in fig. 6, a third embodiment of the method for controlling a follow-up steering axle according to the present invention is proposed based on the first embodiment, and after the step S30, the method further includes:
and S401, acquiring a vehicle speed reduction amplitude value of the target vehicle.
It is understood that the vehicle speed reduction amplitude value refers to an amplitude value by which the target vehicle is reduced from a high speed, which refers to a speed of the target vehicle greater than 60km/h in the present embodiment, for example, the vehicle speed of the target vehicle is 90km/h, to a preset vehicle speed threshold value of 40km/h, at which the vehicle speed reduction amplitude value is 50km/h.
And S402, when the vehicle speed reduction amplitude value is larger than a preset vehicle speed amplitude value, generating a target unlocking message according to the vehicle speed reduction amplitude value.
It should be understood that the preset vehicle speed amplitude refers to a set vehicle speed amplitude whether to recover the function of the follow-up steering axle or not, after the vehicle speed reduction amplitude value is obtained, whether the vehicle speed reduction amplitude value is larger than the preset vehicle speed amplitude value or not is judged, if yes, it is indicated that the function of the follow-up steering axle needs to be recovered at the moment, namely, the vehicle-mounted controller generates a target unlocking message, in addition, when the vehicle speed of a target vehicle is increased from the lowest vehicle speed to a preset vehicle speed threshold value, the relay does not act, the two-position three-way electromagnetic valve is in a spring return state, the lock block is in an unlocking position, and the function of the follow-up steering axle is normal.
And S403, sending the target unlocking message to a relay so that the relay generates a target disconnection instruction according to the target unlocking message, disconnecting the electromagnetic air valve according to the target disconnection instruction, pulling out a locking block from a clamping groove inserted between a base and a sliding block through target tension after disconnection to obtain unlocking information of the transverse steering pull rod, and feeding back the unlocking information through the travel switch.
The target unlocking message refers to a message for unlocking a follow-up steering axle, namely, the function of the follow-up steering axle is recovered, the vehicle controller sends the target unlocking message to the relay after generating the target unlocking message, the relay disconnects the two-position three-way electromagnetic air valve through the generated target disconnection command after receiving the target unlocking message, the lockset air chamber at the moment can perform exhaust operation, target tension is generated under the action of the return spring, the locking block is pulled out from a clamping groove inserted between the base and the sliding block through the target tension, then the steering transverse pull rod can be unlocked, and the unlocking information is fed back to the vehicle controller through the travel switch.
And S404, unlocking the follow-up steering axle according to the unlocking information.
It should be understood that, after receiving the unlocking message, it indicates that the tie rod is not locked by the lock block, and the following steering axle is unlocked, i.e. the function of steering of the following steering axle is restored.
The embodiment obtains the speed reduction amplitude value of the target vehicle; when the vehicle speed reduction amplitude value is larger than a preset vehicle speed amplitude value, generating a target unlocking message according to the vehicle speed reduction amplitude value; sending the target unlocking message to a relay so that the relay generates a target disconnection instruction according to the target unlocking message, disconnecting the electromagnetic gas valve according to the target disconnection instruction, pulling out a locking block from a clamping groove inserted between a base and a sliding block through target tension after disconnection to obtain unlocking information of a steering transverse pull rod, and feeding back the unlocking information through a travel switch; unlocking the follow-up steering axle according to the unlocking information; through the mode, whether the speed reduction amplitude value of the target vehicle is larger than the preset speed amplitude value or not is judged, if yes, the generated target unlocking message is sent to the relay, the relay disconnects the electromagnetic air valve through a target disconnection command after receiving the target unlocking message, then pulls out the locking block from the clamping groove inserted between the base and the sliding block according to the target tension, and finally unlocks the follow-up steering axle through unlocking information fed back by the travel switch, so that the accuracy of unlocking the follow-up steering axle can be effectively improved.
Furthermore, an embodiment of the present invention further provides a storage medium, where a control program of a follow-up steer axle is stored on the storage medium, and the control program of the follow-up steer axle, when executed by a processor, implements the steps of the control method of the follow-up steer axle as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
In addition, referring to fig. 7, an embodiment of the present invention further provides a control device for a follow-up steering axle, where the control device for a follow-up steering axle includes:
the acquiring module 10 is used for acquiring the current speed and the driving direction of the target vehicle.
The generating module 20 is configured to generate a target locking message according to the current vehicle speed and the driving direction when the current vehicle speed is greater than a preset vehicle speed threshold or the driving direction is the target direction.
And the control module 30 is used for controlling the follow-up steering axle through the intelligent locking module according to the target locking message.
The embodiment obtains the current speed and the driving direction of the target vehicle; when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is a target direction, generating a target locking message according to the current vehicle speed and the driving direction; controlling a follow-up steering axle through an intelligent locking module according to the target locking message; through the mode, when the current speed of the target vehicle is greater than the preset speed threshold value or the driving direction is the target direction, the follow-up steering axle is controlled through the intelligent locking module according to the target locking message, so that the follow-up steering axle can be intelligently controlled, and the service life of the follow-up steering axle is effectively prolonged.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may be referred to a control method of the follow-up steer axle provided in any embodiment of the present invention, and are not described herein again.
In one embodiment, the control module 30 is further configured such that the intelligent locking module includes a relay, an electromagnetic gas valve, a lock gas chamber, a locking block, a slot inserted between the base and the sliding block, a transverse steering rod, and a travel switch; sending the target locking message to the relay so that the relay generates a target connection instruction according to the target locking message, connecting the electromagnetic gas valve according to the target connection instruction, acquiring the gas quantity of the gas chamber of the lock after connection is completed, calculating a corresponding pushing force according to the gas quantity, pushing the locking block to a clamping groove inserted between the base and the sliding block through the pushing force to obtain locking information of the transverse steering pull rod, and feeding back the locking information through the travel switch; judging whether locking information fed back by the travel switch is received within preset time; and when locking information fed back by the travel switch is received within preset time, locking the follow-up steering axle according to the locking information of the transverse steering pull rod.
In one embodiment, the control module 30 is further configured to obtain a current driving condition of the target vehicle; when the current running working condition is a preset working condition, receiving a starting instruction of a self-reset inching switch; and generating a target locking message according to the starting instruction.
In an embodiment, the control module 30 is further configured to obtain a target locking fault message when the locking information fed back by the travel switch is not received within a preset time; sending the target locking fault message to an instrument and a relay so that the instrument starts a locking fault signal lamp according to the target locking fault message, the relay generates a target connection signal according to the target locking fault message, the relay is communicated with an alarm according to the target connection signal, and early warning is carried out through the alarm; acquiring the speed and the current running direction of a target vehicle in real time; and when the vehicle speed is less than or equal to a preset vehicle speed threshold value or the current driving direction is not the target direction, starting a fault elimination instruction to an instrument and a relay so that the instrument closes the locking fault signal lamp and the relay eliminates the early warning of the alarm.
In an embodiment, the control module 30 is further configured to obtain a target vehicle speed limit when the vehicle speed is greater than a preset vehicle speed threshold or the current driving direction is a target direction; performing difference calculation on the target vehicle speed limit and the vehicle speed to obtain a vehicle speed difference value; generating a corresponding vehicle speed limit message according to the vehicle speed difference; after the target time, the vehicle speed limiting message is sent to an engine controller, so that the engine can forcibly adjust the vehicle speed according to the vehicle speed limiting message and feed back vehicle speed adjusting information; and inquiring a corresponding vehicle maintenance point according to the vehicle speed adjustment information, and detecting the target vehicle through target equipment at the vehicle maintenance point.
In an embodiment, the control module 30 is further configured to determine whether the current driving direction is a target direction if the vehicle speed fluctuates within a preset range of a preset vehicle speed threshold; and if the current driving direction is not the target direction, continuously sending the target locking message to the relay within preset time so that the target locking message continuously sent by the relay generates a target connection instruction, and continuously executing the step of connecting the electromagnetic air valve according to the target connection instruction.
In an embodiment, the control module 30 is further configured to determine whether the current driving direction is a target direction if the vehicle speed fluctuates within a preset range of a preset vehicle speed threshold; and if the current driving direction is not the target direction, continuously sending the target locking message to the relay within preset time so that the target locking message continuously sent by the relay generates a target connection instruction, and continuously executing the step of connecting the electromagnetic air valve according to the target connection instruction.
Other embodiments or methods of implementing the control device for a follow-up steering axle according to the invention are also possible with reference to the above-described method embodiments, and are not to be considered as redundant here.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, an all-in-one platform workstation, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A control method of a follow-up steering axle is characterized by comprising the following steps:
acquiring the current speed and the driving direction of a target vehicle;
when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is a target direction, generating a target locking message according to the current vehicle speed and the driving direction;
controlling a follow-up steering axle through an intelligent locking module according to the target locking message;
the intelligent locking module comprises a relay, an electromagnetic air valve, a lockset air chamber, a locking block, a clamping groove inserted between the base and the sliding block, a steering transverse pull rod and a travel switch;
the controlling the follow-up steering axle through the intelligent locking module according to the target locking message comprises the following steps:
sending the target locking message to the relay so that the relay generates a target connection instruction according to the target locking message, connecting the electromagnetic gas valve according to the target connection instruction, acquiring the gas quantity of the gas chamber of the lock after connection is completed, calculating a corresponding pushing force according to the gas quantity, pushing the locking block to a clamping groove inserted between the base and the sliding block through the pushing force to obtain locking information of the transverse steering pull rod, and feeding back the locking information through the travel switch;
judging whether locking information fed back by the travel switch is received within preset time;
when locking information fed back by the travel switch is received within preset time, locking a follow-up steering axle according to the locking information of the transverse steering pull rod;
when the locking information fed back by the travel switch is not received within the preset time, a target locking fault message is obtained;
sending the target locking fault message to an instrument and a relay so that the instrument starts a locking fault signal lamp according to the target locking fault message, the relay generates a target connection signal according to the target locking fault message, the relay is communicated with an alarm according to the target connection signal, and early warning is carried out through the alarm;
acquiring the speed and the current running direction of a target vehicle in real time;
and when the vehicle speed is less than or equal to a preset vehicle speed threshold value or the current driving direction is not the target direction, starting a fault elimination instruction to an instrument and a relay so that the instrument closes the locking fault signal lamp and the relay eliminates the early warning of the alarm.
2. The method for controlling a follow-up steering axle according to claim 1, wherein before sending the target lock-up message to the relay, the method further comprises:
acquiring the current running condition of a target vehicle;
when the current running working condition is a preset working condition, receiving a starting instruction of a self-reset inching switch;
and generating a target locking message according to the starting instruction.
3. The method for controlling a follow-up steering axle according to claim 1, wherein after acquiring the vehicle speed and the current driving direction of the target vehicle in real time, the method further comprises:
when the vehicle speed is greater than a preset vehicle speed threshold value or the current driving direction is a target direction, acquiring a target vehicle speed limit;
performing difference calculation on the target vehicle speed limit and the vehicle speed to obtain a vehicle speed difference value;
generating a corresponding vehicle speed limit message according to the vehicle speed difference;
after the target time, the vehicle speed limiting message is sent to an engine controller, so that the engine can forcibly adjust the vehicle speed according to the vehicle speed limiting message and feed back vehicle speed adjusting information;
and inquiring a corresponding vehicle maintenance point according to the vehicle speed adjustment information, and detecting the target vehicle through target equipment at the vehicle maintenance point.
4. The method for controlling a follow-up steering axle according to claim 1, wherein after acquiring the vehicle speed and the current driving direction of the target vehicle in real time, the method further comprises:
if the vehicle speed fluctuates within a preset range of a preset vehicle speed threshold value, judging whether the current driving direction is a target direction;
and if the current driving direction is not the target direction, continuously sending the target locking message to the relay within preset time so as to enable the target locking message continuously sent by the relay to generate a target connection instruction, and continuously executing the step of connecting the electromagnetic gas valve according to the target connection instruction.
5. The method for controlling a follow-up steering axle according to any one of claims 1 to 4, wherein after the follow-up steering axle is controlled by the intelligent locking module according to the target locking message, the method further comprises:
acquiring a speed reduction amplitude value of the target vehicle;
when the vehicle speed reduction amplitude value is larger than a preset vehicle speed amplitude value, generating a target unlocking message according to the vehicle speed reduction amplitude value;
sending the target unlocking message to a relay so that the relay generates a target disconnection instruction according to the target unlocking message, disconnecting the electromagnetic air valve according to the target disconnection instruction, pulling out a locking block from a clamping groove inserted between a base and a sliding block through target tension after disconnection to obtain unlocking information of a steering transverse pull rod, and feeding back the unlocking information through a travel switch;
and unlocking the follow-up steering axle according to the unlocking information.
6. A control device for a follow-up steering axle, characterized by comprising:
the acquisition module is used for acquiring the current speed and the driving direction of the target vehicle;
the generation module is used for generating a target locking message according to the current vehicle speed and the driving direction when the current vehicle speed is greater than a preset vehicle speed threshold value or the driving direction is the target direction;
the control module is used for controlling the follow-up steering axle through the intelligent locking module according to the target locking message;
the control module is also used for the intelligent locking module to comprise a relay, an electromagnetic air valve, a lockset air chamber, a locking block, a clamping groove inserted between the base and the sliding block, a steering transverse pull rod and a travel switch; sending the target locking message to the relay so that the relay generates a target connection instruction according to the target locking message, connecting the electromagnetic gas valve according to the target connection instruction, acquiring the gas quantity of the gas chamber of the lock after connection is completed, calculating corresponding driving force according to the gas quantity, driving the locking block to a clamping groove inserted between the base and the sliding block through the driving force to obtain locking information of the transverse steering pull rod, and feeding back the locking information through the travel switch; judging whether locking information fed back by the travel switch is received within preset time; when locking information fed back by the travel switch is received within preset time, locking a follow-up steering axle according to the locking information of the transverse steering pull rod;
the control module is further used for acquiring a target locking fault message when the locking information fed back by the travel switch is not received within a preset time; sending the target locking fault message to an instrument and a relay so that the instrument starts a locking fault signal lamp according to the target locking fault message, the relay generates a target connection signal according to the target locking fault message, the relay is communicated with an alarm according to the target connection signal, and early warning is carried out through the alarm; acquiring the speed and the current running direction of a target vehicle in real time; and when the vehicle speed is less than or equal to a preset vehicle speed threshold value or the current driving direction is not the target direction, starting a fault elimination instruction to an instrument and a relay so that the instrument closes the locking fault signal lamp and the relay eliminates the early warning of the alarm.
7. A control apparatus of a follow-up steering axle, characterized by comprising: memory, a processor and a control program for a follow-up steering axle stored on the memory and executable on the processor, the control program for a follow-up steering axle being configured with a control method implementing a follow-up steering axle according to any one of claims 1 to 5.
8. A storage medium, characterized in that the storage medium has stored thereon a control program of a follow-up steering axle, which when executed by a processor implements a control method of a follow-up steering axle according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210600818.1A CN114906214B (en) | 2022-05-30 | 2022-05-30 | Control method, device and equipment of follow-up steering axle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210600818.1A CN114906214B (en) | 2022-05-30 | 2022-05-30 | Control method, device and equipment of follow-up steering axle and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114906214A CN114906214A (en) | 2022-08-16 |
| CN114906214B true CN114906214B (en) | 2023-03-07 |
Family
ID=82769171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210600818.1A Active CN114906214B (en) | 2022-05-30 | 2022-05-30 | Control method, device and equipment of follow-up steering axle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114906214B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202966415U (en) * | 2012-12-12 | 2013-06-05 | 中通客车控股股份有限公司 | Third axle locking controller |
| CN104002858A (en) * | 2014-05-28 | 2014-08-27 | 安徽安凯汽车股份有限公司 | Tire wear preventing control method for following axle of three-axle passenger car |
| CN206781864U (en) * | 2017-03-24 | 2017-12-22 | 中通客车控股股份有限公司 | A kind of automobile following steering axle lockable mechanism |
| CN109591513A (en) * | 2018-12-28 | 2019-04-09 | 石家庄中博汽车有限公司 | A kind of vehicle follow-up bridge locking structure and its control method, vehicle |
| CN209700301U (en) * | 2018-12-28 | 2019-11-29 | 石家庄中博汽车有限公司 | A kind of vehicle follow-up bridge locking structure, vehicle |
| CN112172918A (en) * | 2020-09-29 | 2021-01-05 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2756470C (en) * | 2010-11-01 | 2015-09-01 | Wheel Monitor Inc. | Monitoring system for controlling liftable and steer axles on trucks or tractor trailers |
| US9248707B2 (en) * | 2013-12-25 | 2016-02-02 | Joe Huayue Zhou | Intelligent tire inflation and deflation system apparatus |
-
2022
- 2022-05-30 CN CN202210600818.1A patent/CN114906214B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202966415U (en) * | 2012-12-12 | 2013-06-05 | 中通客车控股股份有限公司 | Third axle locking controller |
| CN104002858A (en) * | 2014-05-28 | 2014-08-27 | 安徽安凯汽车股份有限公司 | Tire wear preventing control method for following axle of three-axle passenger car |
| CN206781864U (en) * | 2017-03-24 | 2017-12-22 | 中通客车控股股份有限公司 | A kind of automobile following steering axle lockable mechanism |
| CN109591513A (en) * | 2018-12-28 | 2019-04-09 | 石家庄中博汽车有限公司 | A kind of vehicle follow-up bridge locking structure and its control method, vehicle |
| CN209700301U (en) * | 2018-12-28 | 2019-11-29 | 石家庄中博汽车有限公司 | A kind of vehicle follow-up bridge locking structure, vehicle |
| CN112172918A (en) * | 2020-09-29 | 2021-01-05 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114906214A (en) | 2022-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102883917B (en) | Vehicle control device | |
| CN104973052A (en) | Speed bump detection apparatus and navigation data updating apparatus and method using the same | |
| CN107862640A (en) | A kind of pilotless automobile rescue mode | |
| CN107215289B (en) | System and method for idle state determination | |
| WO2011073072A1 (en) | Tire filling assistant | |
| WO2017061197A1 (en) | Regenerative braking control device for electric vehicle | |
| CN104627176A (en) | Control method and system of electric vehicle | |
| DE102016203478A1 (en) | Vehicle parking control device | |
| CN105620459A (en) | Electric vehicle brake pedal diagnosing method and device | |
| CN111661035A (en) | Automatic parking control method and device and vehicle | |
| DE102014225829A1 (en) | VEHICLE CONTROL / CONTROL DEVICE | |
| JP4878923B2 (en) | Automatic braking control device | |
| CN114906214B (en) | Control method, device and equipment of follow-up steering axle and storage medium | |
| CN104105630B (en) | Deceleration parameter estimating device | |
| CN105480297A (en) | Electric steering device | |
| JP2007246023A (en) | Apparatus and method for controlling running of vehicle | |
| CN112277922A (en) | Power supply during vehicle start | |
| CN105523029A (en) | Electric automobile and brake control method and system thereof | |
| CN109606256B (en) | System and method for preventing road vehicle collision | |
| JP7255433B2 (en) | vehicle | |
| CN114537305A (en) | Power control device and vehicle with same | |
| CN115027478A (en) | Vehicle driving mode switching method and system and vehicle | |
| JP2002145046A (en) | Vehicle brake failure diagnostic device | |
| CN114352699B (en) | Differential lock control method, device, off-road vehicle and storage medium | |
| DE10165041B4 (en) | Charge state monitoring arrangement for vehicle starter battery comprises telemetry module with transmission unit to pass warning signal to service station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |