CN116394691B - Trailer control method and device and vehicle - Google Patents

Trailer control method and device and vehicle Download PDF

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Publication number
CN116394691B
CN116394691B CN202310444643.4A CN202310444643A CN116394691B CN 116394691 B CN116394691 B CN 116394691B CN 202310444643 A CN202310444643 A CN 202310444643A CN 116394691 B CN116394691 B CN 116394691B
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vehicle
dynamic load
load
front wheel
trailer
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CN116394691A (en
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金成�
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Xiaomi Automobile Technology Co Ltd
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Xiaomi Automobile Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/914—Height Control System
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The disclosure relates to a trailer control method, a device and a vehicle, wherein the method comprises the following steps: acquiring a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of the vehicle when the vehicle is in a trailer mode; the first dynamic load is determined according to acceleration data of the vehicle; acquiring a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load is measured by a pressure sensor on an air spring of the corresponding wheel on the front axle suspension; determining whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel; when the vehicle is in an abnormal trailer state, the suspension height adjustment processing is carried out on the vehicle, so that the front wheels of the vehicle are prevented from being lifted off the ground or the tail is prevented from being thrown off the ground in a trailer mode, the front wheels and the rear wheels of the vehicle are prevented from being lifted off the ground, and the running safety of the vehicle in the trailer process is further improved.

Description

Trailer control method and device and vehicle
Technical Field
The disclosure relates to the technical field of vehicle control, and in particular relates to a trailer control method and device and a vehicle.
Background
Currently, in the case of a vehicle in trailer mode, the vehicle is subjected to trailer treatment by other vehicles through ropes, i.e., the vehicle is a towed rear vehicle; the other vehicle is the front vehicle that towed the vehicle. If the height of the rope fixing point on the front vehicle is higher than that of the rope fixing point on the rear vehicle, the front wheels of the rear vehicle are easily lifted off and thrown off in a trailer mode, and the driving safety is poor. If the height of the rope fixing point on the front vehicle is lower than that of the rope fixing point on the rear vehicle, the front vehicle and the rear wheel are easily lifted off in the trailer mode, and the driving safety is poor.
Disclosure of Invention
The disclosure provides a trailer control method, a trailer control device and a vehicle.
According to a first aspect of embodiments of the present disclosure, there is provided a trailer control method, the method comprising: acquiring a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of a vehicle when the vehicle is in a trailer mode; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to the acceleration data of the vehicle; acquiring a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of corresponding wheels on a front axle suspension; determining whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel; and when the vehicle is in an abnormal trailer state, performing suspension height adjustment processing on the vehicle.
In one embodiment of the present disclosure, the acquiring the first dynamic load of the left front wheel and the first dynamic load of the right front wheel of the vehicle includes: acquiring acceleration data of the vehicle, the acceleration data comprising: longitudinal acceleration and lateral acceleration; acquiring a front axle static load when the vehicle is stationary; determining a front axle dynamic load of the vehicle according to the front axle static load, the longitudinal acceleration and first attribute data of the vehicle; and determining the first dynamic load of the left front wheel and the first dynamic load of the right front wheel according to the front axle dynamic load, the lateral acceleration and the second attribute data of the vehicle.
In one embodiment of the present disclosure, the first attribute data includes a vehicle static mass, a centroid height, a wheelbase between the front axle suspension and the rear axle suspension; the determining the front axle dynamic load of the vehicle according to the front axle static load, the longitudinal acceleration and the first attribute data of the vehicle comprises: determining a load transfer amount according to a vehicle static mass of the vehicle, the longitudinal acceleration, a centroid height of the vehicle, and a wheelbase between a front axle suspension and a rear axle suspension of the vehicle; and taking the difference value between the static load of the front axle and the load transfer amount as the dynamic load of the front axle.
In one embodiment of the present disclosure, the second attribute data includes a centroid height, a wheelbase between the front axle suspension and the rear axle suspension; the determining the first dynamic load of the left front wheel and the first dynamic load of the right front wheel according to the front axle dynamic load, the lateral acceleration and the second attribute data of the vehicle comprises: determining a load transfer duty cycle according to a centroid height of the vehicle, the lateral acceleration, a wheelbase between a front axle suspension and a rear axle suspension of the vehicle; determining a difference value and a sum value of a preset load duty ratio and the load transfer duty ratio; taking the product of the sum and the dynamic load of the front axle as the first dynamic load of the right front wheel; and taking the product of the difference value and the dynamic load of the front axle as a first dynamic load of the left front wheel.
In one embodiment of the present disclosure, the determining whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel includes: determining a first load differential between a first dynamic load of the left front wheel and a second dynamic load of the left front wheel; determining a second load differential between a first dynamic load of the right front wheel and a second dynamic load of the right front wheel; and determining whether the vehicle is in an abnormal trailer state according to the first load difference value and the second load difference value.
In one embodiment of the disclosure, the determining whether the vehicle is in an abnormal trailer state according to the first load difference value and the second load difference value includes: determining that the vehicle is in a first abnormal trailer state if the first load difference is greater than a first difference threshold and the second load difference is greater than the first difference threshold; the first abnormal trailer state being indicative of the vehicle being at too low a height; determining that the vehicle is in a second abnormal trailer state if the first load difference is less than a second difference threshold and the second load difference is less than the second difference threshold; the second abnormal trailer state being indicative of the vehicle being at too high a height; and determining that the vehicle is in a normal trailer state under the condition that the first load difference value is larger than or equal to the second difference value threshold and smaller than or equal to the first difference value threshold or under the condition that the second load difference value is larger than or equal to the second difference value threshold and smaller than or equal to the first difference value threshold.
In one embodiment of the present disclosure, the abnormal trailer state includes: a first abnormal trailer state for indicating that the vehicle is too low in height, and a second abnormal trailer state for indicating that the vehicle is too high in height; when the vehicle is in an abnormal trailer state, the suspension height adjustment processing is performed on the vehicle, and the suspension height adjustment processing comprises the following steps: when the vehicle is in the first abnormal trailer state, adjusting the front axle suspension and the rear axle suspension of the vehicle; and when the vehicle is in the second abnormal trailer state, performing a lowering process on a front axle suspension and a rear axle suspension of the vehicle.
According to a second aspect of embodiments of the present disclosure, there is also provided a trailer control device, the device comprising: the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of a vehicle under the condition that the vehicle is in a trailer mode; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to the acceleration data of the vehicle; the second acquisition module is used for acquiring the second dynamic load of the left front wheel and the second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of corresponding wheels on a front axle suspension; the determining module is used for determining whether the vehicle is in an abnormal trailer state or not according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel; and the adjusting processing module is used for adjusting the suspension height of the vehicle when the vehicle is in an abnormal trailer state.
According to a third aspect of embodiments of the present disclosure, there is also provided a vehicle including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to: the steps of the trailer control method as described above are implemented.
According to a fourth aspect of embodiments of the present disclosure, there is also provided a non-transitory computer readable storage medium, which when executed by a processor, causes the processor to perform the trailer control method as described above.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
acquiring a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of the vehicle when the vehicle is in a trailer mode; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to acceleration data of the vehicle; acquiring a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of the corresponding wheels on the front axle suspension; determining whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel; when the vehicle is in an abnormal trailer state, the suspension height adjustment processing is carried out on the vehicle, so that the front wheels of the vehicle are prevented from being lifted off the ground or the tail is prevented from being thrown off the ground in a trailer mode, the front wheels and the rear wheels of the vehicle are prevented from being lifted off the ground, and the running safety of the vehicle in the trailer process is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure and do not constitute an undue limitation on the disclosure.
FIG. 1 is a flow chart of a trailer control method of one embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a vehicle in a first abnormal trailer condition;
FIG. 3 is a schematic illustration of the vehicle in a second abnormal trailer condition;
FIG. 4 is a flow chart of a trailer control method according to another embodiment of the present disclosure;
FIG. 5 is a schematic structural view of a trailer control device according to one embodiment of the present disclosure;
fig. 6 is a block diagram of a vehicle according to an exemplary embodiment of the present disclosure.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
Currently, in the case of a vehicle in trailer mode, the vehicle is subjected to trailer treatment by other vehicles through ropes, i.e., the vehicle is a towed rear vehicle; the other vehicle is the front vehicle that towed the vehicle. If the height of the rope fixing point on the front vehicle is higher than that of the rope fixing point on the rear vehicle, the front wheels of the rear vehicle are easily lifted off and thrown off in a trailer mode, and the driving safety is poor. If the height of the rope fixing point on the front vehicle is lower than that of the rope fixing point on the rear vehicle, the front vehicle and the rear wheel are easily lifted off in the trailer mode, and the driving safety is poor.
FIG. 1 is a flow chart of a trailer control method according to one embodiment of the present disclosure. It should be noted that, the trailer control method of the present embodiment may be applied to a trailer control device, and the device may be configured in an electronic apparatus, so that the electronic apparatus may perform a trailer control function.
The electronic device may be an in-vehicle device in the vehicle, a controller in the vehicle, or the like that can be used to control the vehicle, or the electronic device may be a device that communicates with the vehicle and controls the vehicle. The following embodiments will be described with reference to an example in which the execution subject is a controller in a vehicle.
As shown in fig. 1, the method comprises the steps of:
step 101, acquiring a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of a vehicle under the condition that the vehicle is in a trailer mode; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to the acceleration data of the vehicle.
In an embodiment of the disclosure, in a case that the vehicle is in a trailer mode, a controller in the vehicle may communicate with a sensor on the vehicle for measuring acceleration data, and acquire the acceleration data acquired by the sensor; and determining the first dynamic load of the left front wheel and the first dynamic load of the right front wheel by combining the acceleration data and the attribute data of the vehicle in real time.
Wherein the attribute data of the vehicle may include at least one of: the front axle static load when the vehicle is stationary, the vehicle static mass, the vehicle centroid height, the wheelbase between the front axle suspension and the rear axle suspension of the vehicle, and the like.
102, acquiring a second dynamic load of a left front wheel and a second dynamic load of a right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on the air springs of the respective wheels on the front axle suspension.
In an embodiment of the present disclosure, a suspension is provided on a vehicle, the suspension being used to connect a body of the vehicle and wheels. The suspension comprises a front axle suspension and a rear axle suspension. The front axle suspension is connected with the left front wheel through an air spring arranged on the left front wheel of the vehicle; the front axle suspension is connected with the right front wheel through an air spring arranged on the right front wheel of the vehicle. The rear axle suspension is connected with the left rear wheel through an air spring arranged on the left rear wheel of the vehicle; the rear axle suspension is connected with the right rear wheel through an air spring arranged on the right rear wheel of the vehicle.
The air springs on the wheels are provided with pressure sensors for detecting the loads of the corresponding wheels.
The second dynamic load of the left front wheel is detected by a pressure sensor arranged on an air spring on the left front wheel; the second dynamic load of the right front wheel is detected by a pressure sensor arranged on an air spring on the right front wheel. A controller in the vehicle may communicate with the two pressure sensors to obtain load data measured by the two pressure sensors.
Step 103, determining whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel.
In the embodiment of the disclosure, the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to the acceleration data of the vehicle and are not influenced by the towing angle of the trailer rope. The second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by the pressure sensor, and when the trailer rope is inclined, a force in the vertical direction is applied to the vehicle, so that the measurement result of the pressure sensor is easily influenced by the towing force of the trailer rope, and accurate dynamic load data cannot be measured. Thus, it is possible to determine whether the vehicle is in an abnormal trailer state based on the first dynamic load and the second dynamic load of the left front wheel, and the first dynamic load and the second dynamic load of the right front wheel.
For example, if the difference of the dynamic load data measured in two modes is too large, the vehicle is in an abnormal trailer state; if the dynamic load data measured in the two modes has smaller difference, the vehicle is in a normal trailer state.
In the disclosed embodiment, the controller in the vehicle performs the process of step 103 may be, for example, determining a first load difference between a first dynamic load of the front left wheel and a second dynamic load of the front left wheel; determining a second load differential between the first dynamic load of the right front wheel and the second dynamic load of the right front wheel; and determining whether the vehicle is in an abnormal trailer state according to the first load difference value and the second load difference value.
The process of determining whether the vehicle is in the abnormal trailer state by the controller in the vehicle according to the first load difference value and the second load difference value may be, for example, determining that the vehicle is in the first abnormal trailer state when the first load difference value is greater than a first difference threshold value and the second load difference value is greater than the first difference threshold value; a first abnormal trailer state for indicating that the vehicle is at too low a height; determining that the vehicle is in a second abnormal trailer state when the first load difference is less than a second difference threshold and the second load difference is less than the second difference threshold; a second abnormal trailer state for indicating that the vehicle is at too high a height; and determining that the vehicle is in a normal trailer state under the condition that the first load difference value is greater than or equal to the second difference value threshold value and less than or equal to the first difference value threshold value or under the condition that the second load difference value is greater than or equal to the second difference value threshold value and less than or equal to the first difference value threshold value.
Wherein the first difference threshold may be, for example, a positive value; the second difference threshold may be, for example, a negative value.
The normal trailer state may be a state in which the towing rope is horizontal or in which the inclination angle of the towing rope with respect to the ground is too small. An abnormal trailer condition may refer to a condition in which the angle of inclination of the towing rope relative to the ground is too large. As shown in fig. 2, a schematic diagram of a vehicle in a first abnormal trailer state is shown. In fig. 2, the vehicle in the trailer mode is the rear vehicle in fig. 2, and the vehicle that pulls the vehicle by a rope is the front vehicle. In fig. 2, the height of the rope fixing point on the front vehicle is higher than the height of the rope fixing point on the rear vehicle.
As shown in fig. 3, a schematic diagram of the vehicle in a second abnormal trailer state is shown. In fig. 3, the vehicle in the trailer mode is the rear vehicle in fig. 3, and the vehicle that pulls the vehicle by a rope is the front vehicle. In fig. 3, the height of the rope fixing point on the front vehicle is lower than the height of the rope fixing point on the rear vehicle.
And 104, when the vehicle is in an abnormal trailer state, performing suspension height adjustment processing on the vehicle.
In the disclosed embodiments, the abnormal trailer state may include: a first abnormal trailer state for indicating that the height of the vehicle is too low, and a second abnormal trailer state for indicating that the height of the vehicle is too high. Correspondingly, the controller in the vehicle may perform the process of step 104, for example, by performing a leveling process on the front axle suspension and the rear axle suspension of the vehicle when the vehicle is in the first abnormal trailer state; and in the case that the vehicle is in the second abnormal trailer state, performing a turndown process on the front axle suspension and the rear axle suspension of the vehicle.
The process of the controller in the vehicle for raising the front axle suspension and the rear axle suspension of the vehicle may be, for example, performing control processing on air springs on each wheel of the vehicle, and raising the air pressure in each air spring to raise the front axle suspension and the rear axle suspension until the vehicle is in a normal trailer state, or the front axle suspension and the rear axle suspension are raised to a maximum value.
The process of the controller in the vehicle for adjusting the front axle suspension and the rear axle suspension of the vehicle to be low may be, for example, performing control processing on air springs on each wheel of the vehicle, and reducing the air pressure in each air spring to adjust the front axle suspension and the rear axle suspension until the vehicle is in a normal trailer state, or adjusting the front axle suspension and the rear axle suspension to be minimum.
In the trailer control method of the embodiment of the disclosure, under the condition that a vehicle is in a trailer mode, a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of the vehicle are obtained; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to acceleration data of the vehicle; acquiring a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of the corresponding wheels on the front axle suspension; determining whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel; when the vehicle is in an abnormal trailer state, the suspension height adjustment processing is carried out on the vehicle, so that the front wheels of the vehicle are prevented from being lifted off the ground or the tail is prevented from being thrown off the ground in a trailer mode, the front wheels and the rear wheels of the vehicle are prevented from being lifted off the ground, and the running safety of the vehicle in the trailer process is further improved.
Fig. 4 is a flow chart of a trailer control method according to another embodiment of the present disclosure. It should be noted that, the trailer control method of the present embodiment may be applied to a trailer control device, and the device may be configured in an electronic apparatus, so that the electronic apparatus may perform a trailer control function.
The electronic device may be an in-vehicle device in the vehicle, a controller in the vehicle, or the like that can be used to control the vehicle, or the electronic device may be a device that communicates with the vehicle and controls the vehicle. The following embodiments will be described with reference to an example in which the execution subject is a controller in a vehicle.
As shown in fig. 4, the method comprises the steps of:
step 401, acquiring acceleration data of the vehicle in a case that the vehicle is in a trailer mode, the acceleration data including: longitudinal acceleration and lateral acceleration.
In embodiments of the present disclosure, a controller in a vehicle may communicate with a sensor on the vehicle for measuring acceleration data, acquiring acceleration data acquired by the sensor, with the vehicle in a trailer mode.
Step 402, a front axle static load is obtained when the vehicle is stationary.
In the embodiment of the present disclosure, the controller in the vehicle performs the process of step 402, for example, may be to obtain load data measured by a pressure sensor on an air spring of a left front wheel when the vehicle is stationary, and load data measured by a pressure sensor on an air spring of a right front wheel when the vehicle is stationary, that is, a static load of the left front wheel and a static load of the right front wheel; and adding the static load of the left front wheel and the static load of the right front wheel to obtain the static load of the front axle when the vehicle is stationary.
Step 403, determining a front axle dynamic load of the vehicle according to the front axle static load, the longitudinal acceleration and the first attribute data of the vehicle.
In the disclosed embodiments, the first attribute data may include a vehicle static mass, a center of mass height, a wheelbase between the front axle suspension and the rear axle suspension. Correspondingly, the controller in the vehicle may perform the process of step 403 by, for example, determining the load transfer amount according to the vehicle static mass, the longitudinal acceleration, the centroid height of the vehicle, the wheelbase between the front axle suspension and the rear axle suspension of the vehicle; and taking the difference value between the static load of the front axle and the load transfer amount as the dynamic load of the front axle.
The static vehicle mass can be determined according to the static vehicle load when the vehicle is stationary. The vehicle static load may be the product of the vehicle static mass and the gravitational acceleration. Wherein, the static load of the vehicle can be the addition result of the static load of each wheel on the vehicle.
Wherein the formula of determining the load transfer amount and the formula of determining the front axle dynamic load by the controller in the vehicle may be shown as the following formula (1) and formula (2), respectively.
X＝m(vehicle total)×ax×h/L (1)
m(front)×g-X＝F(front) (2)
Wherein X represents a load transfer amount; m (vehicle total) the vehicle static mass; ax represents the longitudinal acceleration; h represents the centroid height of the vehicle; l represents the wheelbase between the front axle suspension and the rear axle suspension of the vehicle; m (front) represents the front axle static mass; m (front) ×g represents the front axle static load; g represents gravitational acceleration; f (front) represents front axle dynamic load.
In addition, the dynamic load of the rear axle may be specifically the sum of the static load of the front axle and the load transfer amount.
Step 404, determining a first dynamic load of the left front wheel and a first dynamic load of the right front wheel according to the front axle dynamic load, the lateral acceleration and the second attribute data of the vehicle.
In the disclosed embodiment, the second attribute data may include a centroid height, a wheelbase between the front axle suspension and the rear axle suspension. Correspondingly, the controller in the vehicle may perform the process of step 404 by, for example, determining a load transfer duty cycle based on the vehicle's center of mass height, lateral acceleration, wheelbase between the front axle suspension and the rear axle suspension of the vehicle; determining a difference value and a sum value of a preset load duty ratio and a load transfer duty ratio; taking the product result of the sum and the dynamic load of the front axle as the first dynamic load of the right front wheel; and taking the product of the difference and the dynamic load of the front axle as the first dynamic load of the left front wheel.
Wherein the formula of determining the load transfer ratio, the formula of determining the first dynamic load of the left front wheel, and the formula of determining the first dynamic load of the right front wheel by the controller in the vehicle may be shown as the following formula (3), formula (4), and formula (5), respectively.
Y＝h×ay/(g×L) (3)
FL＝F(front)×(0.5-Y) (4)
FR＝F(front)×(0.5+Y) (5)
Wherein Y represents a load transfer duty cycle; ay represents lateral acceleration; FL represents the first dynamic load of the front left wheel; FR represents the first dynamic load of the right front wheel.
In addition, the front axle dynamic load in the formulas (4) and (5) is replaced with the rear axle dynamic load, and the formulas for determining the first dynamic load of the left rear wheel and the first dynamic load of the right rear wheel can be obtained.
Step 405, acquiring a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on the air springs of the respective wheels on the front axle suspension.
Step 406, determining whether the vehicle is in an abnormal trailer state based on the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel.
Step 407, when the vehicle is in an abnormal trailer state, performing a suspension height adjustment process for the vehicle.
In the trailer control method of the embodiment of the disclosure, by acquiring acceleration data of a vehicle in a condition that the vehicle is in a trailer mode, the acceleration data includes: longitudinal acceleration and lateral acceleration; acquiring a front axle static load when the vehicle is stationary; determining a front axle dynamic load of the vehicle according to the front axle static load, the longitudinal acceleration and the first attribute data of the vehicle; determining a first dynamic load of the left front wheel and a first dynamic load of the right front wheel according to the dynamic load of the front axle, the lateral acceleration and second attribute data of the vehicle; acquiring a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of the corresponding wheels on the front axle suspension; determining whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel; when the vehicle is in an abnormal trailer state, the suspension height adjustment processing is carried out on the vehicle, so that the front wheels of the vehicle are prevented from being lifted off the ground or the tail is prevented from being thrown off the ground in a trailer mode, the front wheels and the rear wheels of the vehicle are prevented from being lifted off the ground, and the running safety of the vehicle in the trailer process is further improved.
Fig. 5 is a schematic structural view of a trailer control device according to an embodiment of the present disclosure.
As shown in fig. 5, the trailer control apparatus may include: a first acquisition module 501, a second acquisition module 502, a determination module 503, and an adjustment processing module 504.
The first acquiring module 501 is configured to acquire, when the vehicle is in a trailer mode, a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of the vehicle; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to the acceleration data of the vehicle;
a second acquiring module 502, configured to acquire a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of corresponding wheels on a front axle suspension;
a determining module 503, configured to determine whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel, and the first dynamic load and the second dynamic load of the right front wheel;
and the adjustment processing module 504 is used for performing suspension height adjustment processing on the vehicle when the vehicle is in an abnormal trailer state.
In one embodiment of the present disclosure, the first obtaining module 501 includes: the device comprises a first acquisition unit, a second acquisition unit, a first determination unit and a second determination unit; the first acquisition unit is configured to acquire acceleration data of the vehicle, the acceleration data including: longitudinal acceleration and lateral acceleration; the second acquisition unit is used for acquiring the front axle static load when the vehicle is stationary; the first determining unit is used for determining a front axle dynamic load of the vehicle according to the front axle static load, the longitudinal acceleration and first attribute data of the vehicle; the second determining unit is configured to determine a first dynamic load of the left front wheel and a first dynamic load of the right front wheel according to the front axle dynamic load, the lateral acceleration, and second attribute data of the vehicle.
In one embodiment of the present disclosure, the first attribute data includes a vehicle static mass, a centroid height, a wheelbase between the front axle suspension and the rear axle suspension; the first determining unit is specifically configured to determine a load transfer amount according to a vehicle static mass of the vehicle, the longitudinal acceleration, a centroid height of the vehicle, a wheelbase between a front axle suspension and a rear axle suspension of the vehicle; and taking the difference value between the static load of the front axle and the load transfer amount as the dynamic load of the front axle.
In one embodiment of the present disclosure, the second attribute data includes a centroid height, a wheelbase between the front axle suspension and the rear axle suspension; the second determining unit is specifically configured to determine a load transfer duty ratio according to a centroid height of the vehicle, the lateral acceleration, and a wheelbase between a front axle suspension and a rear axle suspension of the vehicle; determining a difference value and a sum value of a preset load duty ratio and the load transfer duty ratio; taking the product of the sum and the dynamic load of the front axle as the first dynamic load of the right front wheel; and taking the product of the difference value and the dynamic load of the front axle as a first dynamic load of the left front wheel.
In one embodiment of the present disclosure, the determining module 503 is specifically configured to determine a first load difference between a first dynamic load of the front left wheel and a second dynamic load of the front left wheel; determining a second load differential between a first dynamic load of the right front wheel and a second dynamic load of the right front wheel; and determining whether the vehicle is in an abnormal trailer state according to the first load difference value and the second load difference value.
In one embodiment of the disclosure, the determining module 503 is specifically further configured to determine that the vehicle is in a first abnormal trailer state when the first load difference is greater than a first difference threshold and the second load difference is greater than the first difference threshold; the first abnormal trailer state being indicative of the vehicle being at too low a height; determining that the vehicle is in a second abnormal trailer state if the first load difference is less than a second difference threshold and the second load difference is less than the second difference threshold; the second abnormal trailer state being indicative of the vehicle being at too high a height; and determining that the vehicle is in a normal trailer state under the condition that the first load difference value is larger than or equal to the second difference value threshold and smaller than or equal to the first difference value threshold or under the condition that the second load difference value is larger than or equal to the second difference value threshold and smaller than or equal to the first difference value threshold.
In one embodiment of the present disclosure, the abnormal trailer state includes: a first abnormal trailer state for indicating that the vehicle is too low in height, and a second abnormal trailer state for indicating that the vehicle is too high in height; the adjustment processing module 504 is specifically configured to perform an adjustment process on a front axle suspension and a rear axle suspension of the vehicle when the vehicle is in the first abnormal trailer state; and when the vehicle is in the second abnormal trailer state, performing a lowering process on a front axle suspension and a rear axle suspension of the vehicle.
In the trailer control device of the embodiment of the disclosure, under the condition that a vehicle is in a trailer mode, a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of the vehicle are obtained; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to acceleration data of the vehicle; acquiring a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of the corresponding wheels on the front axle suspension; determining whether the vehicle is in an abnormal trailer state according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel; when the vehicle is in an abnormal trailer state, the suspension height adjustment processing is carried out on the vehicle, so that the front wheels of the vehicle are prevented from being lifted off the ground or the tail is prevented from being thrown off the ground in a trailer mode, the front wheels and the rear wheels of the vehicle are prevented from being lifted off the ground, and the running safety of the vehicle in the trailer process is further improved.
According to a third aspect of embodiments of the present disclosure, there is also provided a vehicle including: a processor; a memory for storing processor-executable instructions, wherein the processor is configured to: the trailer control method as described above is implemented.
In order to implement the above-described embodiments, the present disclosure also proposes a storage medium.
Wherein the instructions in the storage medium, when executed by the processor, enable the processor to perform the trailer control method as described above.
To achieve the above embodiments, the present disclosure also provides a computer program product.
Wherein the computer program product, when executed by a processor of a vehicle, enables the vehicle to perform the method as above.
Fig. 6 is a block diagram of a vehicle 600, according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
Referring to fig. 6, a vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Wherein the vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 600 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.
The perception system 620 may include several sensors for sensing information of the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
Decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and memory 652, the processor 651 may execute instructions 653 stored in the memory 652.
The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.
The memory 652 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 652 may be used by computing platform 650.
In an embodiment of the present disclosure, the processor 651 can execute instructions 653 to perform all or part of the steps of the trailer control method described above.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (14)

1. A method of trailer control, the method comprising:
acquiring a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of a vehicle when the vehicle is in a trailer mode; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to the acceleration data of the vehicle;
acquiring a second dynamic load of the left front wheel and a second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of corresponding wheels on a front axle suspension;
determining a first load differential between a first dynamic load of the left front wheel and a second dynamic load of the left front wheel;
determining a second load differential between a first dynamic load of the right front wheel and a second dynamic load of the right front wheel;
Determining that the vehicle is in a first abnormal trailer state if the first load difference is greater than a first difference threshold and the second load difference is greater than the first difference threshold; the first abnormal trailer state being indicative of the vehicle being at too low a height;
and when the vehicle is in an abnormal trailer state, performing suspension height adjustment processing on the vehicle.
2. The method of claim 1, wherein the acquiring the first dynamic load of the left front wheel and the first dynamic load of the right front wheel of the vehicle comprises:
acquiring acceleration data of the vehicle, the acceleration data comprising: longitudinal acceleration and lateral acceleration;
acquiring a front axle static load when the vehicle is stationary;
determining a front axle dynamic load of the vehicle according to the front axle static load, the longitudinal acceleration and first attribute data of the vehicle;
and determining the first dynamic load of the left front wheel and the first dynamic load of the right front wheel according to the front axle dynamic load, the lateral acceleration and the second attribute data of the vehicle.
3. The method of claim 2, wherein the first attribute data includes a vehicle static mass, a centroid height, a wheelbase between a front axle suspension and a rear axle suspension; the determining the front axle dynamic load of the vehicle according to the front axle static load, the longitudinal acceleration and the first attribute data of the vehicle comprises:
Determining a load transfer amount according to a vehicle static mass of the vehicle, the longitudinal acceleration, a centroid height of the vehicle, and a wheelbase between a front axle suspension and a rear axle suspension of the vehicle;
and taking the difference value between the static load of the front axle and the load transfer amount as the dynamic load of the front axle.
4. The method of claim 2, wherein the second attribute data includes a centroid height, a wheelbase between the front axle suspension and the rear axle suspension; the determining the first dynamic load of the left front wheel and the first dynamic load of the right front wheel according to the front axle dynamic load, the lateral acceleration and the second attribute data of the vehicle comprises:
determining a load transfer duty cycle according to a centroid height of the vehicle, the lateral acceleration, a wheelbase between a front axle suspension and a rear axle suspension of the vehicle;
determining a difference value and a sum value of a preset load duty ratio and the load transfer duty ratio;
taking the product of the sum and the dynamic load of the front axle as the first dynamic load of the right front wheel;
and taking the product of the difference value and the dynamic load of the front axle as a first dynamic load of the left front wheel.
5. The method according to claim 1, wherein the method further comprises:
determining that the vehicle is in a second abnormal trailer state if the first load difference is less than a second difference threshold and the second load difference is less than the second difference threshold; the second abnormal trailer state being indicative of the vehicle being at too high a height;
and determining that the vehicle is in a normal trailer state under the condition that the first load difference value is larger than or equal to the second difference value threshold and smaller than or equal to the first difference value threshold or under the condition that the second load difference value is larger than or equal to the second difference value threshold and smaller than or equal to the first difference value threshold.
6. The method of claim 1, wherein the abnormal trailer state comprises: a first abnormal trailer state for indicating that the vehicle is too low in height, and a second abnormal trailer state for indicating that the vehicle is too high in height;
when the vehicle is in an abnormal trailer state, the suspension height adjustment processing is performed on the vehicle, and the suspension height adjustment processing comprises the following steps:
when the vehicle is in the first abnormal trailer state, adjusting the front axle suspension and the rear axle suspension of the vehicle;
And when the vehicle is in the second abnormal trailer state, performing a lowering process on a front axle suspension and a rear axle suspension of the vehicle.
7. A trailer control device, the device comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first dynamic load of a left front wheel and a first dynamic load of a right front wheel of a vehicle under the condition that the vehicle is in a trailer mode; the first dynamic load of the left front wheel and the first dynamic load of the right front wheel are determined according to the acceleration data of the vehicle;
the second acquisition module is used for acquiring the second dynamic load of the left front wheel and the second dynamic load of the right front wheel; the second dynamic load of the left front wheel and the second dynamic load of the right front wheel are measured by pressure sensors on air springs of corresponding wheels on a front axle suspension;
the determining module is used for determining whether the vehicle is in an abnormal trailer state or not according to the first dynamic load and the second dynamic load of the left front wheel and the first dynamic load and the second dynamic load of the right front wheel;
the adjusting processing module is used for adjusting the suspension height of the vehicle when the vehicle is in an abnormal trailer state;
The determination module is particularly adapted to,
determining a first load differential between a first dynamic load of the left front wheel and a second dynamic load of the left front wheel;
determining a second load differential between a first dynamic load of the right front wheel and a second dynamic load of the right front wheel;
determining whether the vehicle is in an abnormal trailer state according to the first load difference value and the second load difference value;
the determination module is in particular also adapted to,
determining that the vehicle is in a first abnormal trailer state if the first load difference is greater than a first difference threshold and the second load difference is greater than the first difference threshold; the first abnormal trailer state is used for indicating that the height of the vehicle is too low.
8. The apparatus of claim 7, wherein the first acquisition module comprises: the device comprises a first acquisition unit, a second acquisition unit, a first determination unit and a second determination unit;
the first acquisition unit is configured to acquire acceleration data of the vehicle, the acceleration data including: longitudinal acceleration and lateral acceleration;
the second acquisition unit is used for acquiring the front axle static load when the vehicle is stationary;
The first determining unit is used for determining a front axle dynamic load of the vehicle according to the front axle static load, the longitudinal acceleration and first attribute data of the vehicle;
the second determining unit is configured to determine a first dynamic load of the left front wheel and a first dynamic load of the right front wheel according to the front axle dynamic load, the lateral acceleration, and second attribute data of the vehicle.
9. The apparatus of claim 8, wherein the first attribute data comprises a vehicle static mass, a centroid height, a wheelbase between a front axle suspension and a rear axle suspension; the first determining unit is specifically adapted to,
determining a load transfer amount according to a vehicle static mass of the vehicle, the longitudinal acceleration, a centroid height of the vehicle, and a wheelbase between a front axle suspension and a rear axle suspension of the vehicle;
and taking the difference value between the static load of the front axle and the load transfer amount as the dynamic load of the front axle.
10. The apparatus of claim 8, wherein the second attribute data comprises a centroid height, a wheelbase between a front axle suspension and a rear axle suspension; the second determination unit is in particular adapted to,
Determining a load transfer duty cycle according to a centroid height of the vehicle, the lateral acceleration, a wheelbase between a front axle suspension and a rear axle suspension of the vehicle;
determining a difference value and a sum value of a preset load duty ratio and the load transfer duty ratio;
taking the product of the sum and the dynamic load of the front axle as the first dynamic load of the right front wheel;
and taking the product of the difference value and the dynamic load of the front axle as a first dynamic load of the left front wheel.
11. The apparatus of claim 7, wherein the determining means is further operable to,
determining that the vehicle is in a second abnormal trailer state if the first load difference is less than a second difference threshold and the second load difference is less than the second difference threshold; the second abnormal trailer state being indicative of the vehicle being at too high a height;
and determining that the vehicle is in a normal trailer state under the condition that the first load difference value is larger than or equal to the second difference value threshold and smaller than or equal to the first difference value threshold or under the condition that the second load difference value is larger than or equal to the second difference value threshold and smaller than or equal to the first difference value threshold.
12. The apparatus of claim 7, wherein the abnormal trailer condition comprises: a first abnormal trailer state for indicating that the vehicle is too low in height, and a second abnormal trailer state for indicating that the vehicle is too high in height; the adjustment processing module is specifically used for adjusting the adjustment processing module,
when the vehicle is in the first abnormal trailer state, adjusting the front axle suspension and the rear axle suspension of the vehicle;
and when the vehicle is in the second abnormal trailer state, performing a lowering process on a front axle suspension and a rear axle suspension of the vehicle.
13. A vehicle, characterized by comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to:
a step of implementing a trailer control method as claimed in any one of claims 1 to 6.
14. A non-transitory computer readable storage medium, which when executed by a processor, causes the processor to perform the trailer control method of any one of claims 1 to 6.
CN202310444643.4A 2023-04-23 2023-04-23 Trailer control method and device and vehicle Active CN116394691B (en)

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