CN207790922U - The control system of intelligent vehicle, intelligent semitrailer and intelligent semitrailer - Google Patents
The control system of intelligent vehicle, intelligent semitrailer and intelligent semitrailer Download PDFInfo
- Publication number
- CN207790922U CN207790922U CN201721855728.8U CN201721855728U CN207790922U CN 207790922 U CN207790922 U CN 207790922U CN 201721855728 U CN201721855728 U CN 201721855728U CN 207790922 U CN207790922 U CN 207790922U
- Authority
- CN
- China
- Prior art keywords
- semitrailer
- energy
- module
- ontology
- intelligent
- 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
Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The utility model discloses a kind of control system of intelligent semitrailer, intelligent semitrailer includes semitrailer ontology, semitrailer ontology includes at least one wheel, and with the one-to-one wheel drive shaft of wheel, semitrailer ontology is equipped with energy converting between mechanical module, energy-storage module, sensor assembly and control module, energy converting between mechanical module distribution formula is set in the axis of wheel rotation of semitrailer ontology, energy-storage module is connect with energy converting between mechanical module, and control module is connect with the sensor assembly, energy-storage module and energy converting between mechanical module.The utility model also provides a kind of intelligent semitrailer and intelligent vehicle.The utility model enhances safety when intelligent semitrailer operation, predicts the transport condition and road conditions environmental information of intelligent semitrailer in advance by the way that control module and sensor assembly are arranged on intelligent semitrailer.
Description
Technical field
The utility model is related to a kind of intelligent vehicle field more particularly to intelligent vehicle, intelligent semitrailer and intelligence half
The control system of trailer.
Background technology
Currently, in communications and transportation, in order to enhance the work capacity of tractor, it will usually use semitrailer bulk junction
Semitrailer ontology is articulated on tractor by structure that is, in transportational process, is completed cargo using the container of semitrailer ontology and is transported
It is defeated.
However, conventionally, as the semitrailer body part of semi-trailer high capacity waggon does not have power, and usually
The outside of intelligent control semitrailer ontology and the operation of induction monitoring vehicle can not be realized to the semitrailer body part of freight
Environment.In the process of moving, when freight encounters zig zag, climbing, freight be easy because half semitrailer ontology compared with
Long, brake deceleration is not easy to control, and asking for traffic accident is caused in the track for being susceptible to overturning, knocking into the back or occupying other vehicles
Topic；Meanwhile in the prior art, freight can not be by the Energy Efficient of the forms such as the mechanical energy generated in operational process, kinetic energy
Ground is converted into electric energy, reduces the performance and capacity usage ratio of vehicle.
Utility model content
The main purpose of the utility model is to provide a kind of control of intelligent vehicle, intelligent semitrailer and intelligent semitrailer
System, it is intended to solve the problems, such as the structure and capacity usage ratio of Intelligent Optimal semitrailer.
To achieve the above object, the utility model proposes a kind of intelligent semitrailer control system, the intelligence semi-mounted
Vehicle includes semitrailer ontology, and the semitrailer ontology includes at least one wheel, and with the one-to-one wheel of the wheel
Drive shaft, the semitrailer ontology are equipped with the energy converting between mechanical mould with two kinds of working conditions of driving condition and generating state
Block, the energy-storage module with two kinds of working conditions of charge and discharge state, sensor assembly and control module, the electromechanics energy
Amount conversion module distribution is set in the axis of wheel rotation of the semitrailer ontology, the energy-storage module and the electromechanical energy
Conversion module connects, and the control module connects with the sensor assembly, energy-storage module and the energy converting between mechanical module
It connects, the control module receives the trip information for the semitrailer ontology that the sensor assembly obtains, and will generate
Control instruction to the energy converting between mechanical module, the switching between charge and discharge state to control the energy-storage module
And the control corresponding switching between driving condition and generating state of at least one energy converting between mechanical module.
Preferably, the sensor assembly includes at least one of lower sensor：
Environment sensing sensor, brake-block temperature sensor, altimeter, barometer, trailer-mounted radar tachymeter, Distance-sensing
Device, acceleration transducer, GPS locator, wheel speed sensor and brake-pedal-travel sensor.
Preferably, the control system further includes for establishing communication connection with external monitoring center or surrounding vehicles
Communication module.
Preferably, the energy converting between mechanical module is one or more groups of, and the energy converting between mechanical module is wheel side electricity
Machine.
Preferably, the energy converting between mechanical module is one or more groups of, and the energy converting between mechanical module is wheel hub electricity
Machine.
Preferably, the energy-storage module is at least one energy type super capacitor or power type battery.
Preferably, the control system further includes the electric quantity monitoring mould for monitoring the electricity that the energy-storage module is stored
Block, the electric quantity monitoring module are connected with the energy-storage module and the control module.
Preferably, an electromechanical energy is correspondingly provided at least one wheel drive shaft of the semitrailer ontology to turn
Change the mold block, wherein the semitrailer ontology further includes the retarder being arranged in a one-to-one correspondence with the electromechanical transformation module.
The utility model also provides a kind of intelligent semitrailer, including car body and control as described in any one of the above embodiments system
System.
The utility model also provides a kind of intelligent vehicle, including tractor head and intelligent semi-mounted as described above
Vehicle.
In the control system of intelligent semitrailer provided by the utility model, including at least one wheel, and with the vehicle
One-to-one wheel drive shaft is taken turns, the semitrailer ontology is equipped with energy converting between mechanical module, energy-storage module, sensor die
Block and control module, the energy converting between mechanical module distribution formula are set to the axis of wheel rotation of the semitrailer ontology
On, the energy-storage module is connect with the energy converting between mechanical module, the control module and the sensor assembly, energy storage mould
Block and energy converting between mechanical module connection, the control module receive the semitrailer that the sensor assembly obtains
The trip information of ontology, and by the control instruction of generation to the energy converting between mechanical module.The control system is simple
It is easy to operate, by the way that control module is arranged on intelligent semitrailer, safety when intelligent semitrailer operation and controllability are enhanced,
At the same time it can also predict the transport condition for predicting intelligent semitrailer in advance in advance according to sensor assembly.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is a kind of stereoscopic schematic diagram of intelligent semitrailer in each embodiment of the utility model；
Fig. 2 is a kind of hardware module structural schematic diagram of intelligent semitrailer in each embodiment of the utility model；
Fig. 3 is the flow chart of the control method first embodiment of the utility model intelligence semitrailer；
Fig. 4 is the flow chart of the control method second embodiment of the utility model intelligence semitrailer；
Fig. 5 is the flow chart of the control method 3rd embodiment of the utility model intelligence semitrailer；
Fig. 6 is the flow chart of the control method fourth embodiment of the utility model intelligence semitrailer；
Fig. 7 is the flow chart of the 5th embodiment of control method of the utility model intelligence semitrailer；
Fig. 8 is the flow chart of the control method sixth embodiment of the utility model intelligence semitrailer.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. should do broad sense reason
Solution, for example, " fixation " may be a fixed connection, may be a detachable connection, or integral；It can be mechanical connection, also may be used
To be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary the connection inside two elements
Or the interaction relationship of two elements, unless otherwise restricted clearly.It for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
In subsequent description, using for indicating that the suffix of such as " module ", " component " or " unit " of element is only
The explanation for being conducive to the utility model, itself does not have a specific meaning.Therefore, " module ", " component " or " unit " can be with
Mixedly use.
In addition, the technical solution between each embodiment of the utility model can be combined with each other, but must be with ability
Domain those of ordinary skill can be implemented as basis, will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of this technical solution is not present, also not within the protection domain of the requires of the utility model.
It please refers to Fig.1 and Fig. 2, a kind of hardware module structural schematic diagram of intelligent semitrailer 100 in each embodiment, institute
It includes semitrailer ontology 10 and car body 20 to state intelligent semitrailer 100, and it includes at least one vehicle to be set to the semitrailer ontology 10
Wheel 11, and with 11 one-to-one wheel drive shaft 12 of the wheel.
Common, when in use, the intelligence semitrailer 100 connect the entire freight vehicle of composition with tractor,
In, tractor provides power, and intelligent semitrailer 100 makees carrying cargo utensil, under the pulling of tractor, the intelligence half
Trailer 100 completes transport task.
Wherein, the control system of the intelligent semitrailer 100 includes：At least one energy converting between mechanical module 13, energy storage
Module 14, sensor assembly 15 and control module 16；13 distribution of energy converting between mechanical module is set to the intelligence
In the axis of wheel rotation 12 of semitrailer 100, the energy-storage module 14 is connect with the energy converting between mechanical module 13, the control
Module 16 is connect with the sensor assembly 15, energy-storage module 14 and the energy converting between mechanical module 13, the control mould
Block 16 receives the trip information of the intelligent semitrailer of the acquisition of the sensor assembly 15, and by the control instruction of generation
To the energy converting between mechanical module 13.
Specifically, at least one energy converting between mechanical module 13 in a distributed manner with the semitrailer ontology 10 at least
One wheel drive shaft 12 is arranged correspondingly, wherein the energy converting between mechanical module 13 is at any driving condition to described
Wheel drive shaft 12 carries out driving output, and the energy converting between mechanical module 13 is under generating state, by the wheel drive shaft
The mechanical energy of wheel drive shaft 12 is converted to electric energy by 12 drive.
It should be noted that the energy converting between mechanical module 13 can have motor function and generator work(simultaneously
The motor of energy or motor group etc., are not specifically limited herein.
Specifically, the energy converting between mechanical module 13 can be used for driving output, to drive the semitrailer ontology 10
Wheel drive shaft 12 drive the vehicle wheel rotation；Or the rotation input of the wheel drive shaft 12 is received, rotation is formed
Mechanical energy be converted to electric energy.The energy converting between mechanical module 13 can be one group or multigroup, the energy converting between mechanical
Electric motor units in module 13 can be wheel motor or wheel hub motor.
It is understood that the energy converting between mechanical module 13 can be used for driving the wheel drive shaft 12
It is dynamic, meanwhile, the driving that the intelligence semitrailer 100 also receives the tractor is advanced or is retreated.
The energy-storage module 14 is electrically connected with the energy converting between mechanical module 13, is used for the energy converting between mechanical
Module 13 exports electric energy and receives the electrical energy for storage that the energy converting between mechanical module 13 exports under generating state.
It is understood that the energy-storage module 14 is connected with the energy converting between mechanical module 13, the energy-storage module
14 can switch between charged state and discharge condition.Specifically, the energy-storage module 14 is according to the electromechanical energy
The operating status of conversion module 13 makes corresponding adjustment, such as：When the energy converting between mechanical module 13 carries out driving output,
The energy-storage module 14 is switched to discharge condition, to provide driving force；In the energy converting between mechanical module 13 by the wheel
The mechanical energy of wheel drive shaft 12 is converted to electric energy by the driving of drive shaft 12, at this point, the energy-storage module 14 is switched to charging
State, to store the electric energy that the energy converting between mechanical module 13 generates.
Wherein, the energy-storage module 14 may include at least one energy type super capacitor or power type battery.Wherein,
The stored energy capacitance of the energy-storage module 14 can be selected according to the requirement of the semitrailer ontology 10.The energy-storage module 14
Further include thering is the electric power management circuit being connect with the energy type super capacitor or power type battery, the electric power management circuit to connect
By the control of the control module 16, to control switching of the energy-storage module 14 between charged state and generating state.
Further, in one embodiment, electric quantity monitoring module can also be installed on the semitrailer ontology 10, it is described
Electric quantity monitoring module is connected with the control module 16 and the energy-storage module 14, is deposited for monitoring the energy-storage module 14
The electricity and remaining capacity of storage, and the electricity and remaining capacity that the energy-storage module 14 is stored are sent to control module
16.The electricity and remaining capacity that the control module 16 can be stored according to the energy-storage module 14, to control energy storage mould
The charge and discharge degree and charging and discharging state of block 14, or the current electric quantity of the energy-storage module 14 and surplus is obtained for user in real time
Remaining electricity.
Sensor assembly 15, the trip information for detecting the semitrailer ontology 10；
It is understood that in the present embodiment, the sensor assembly 15 can be installed on the semitrailer ontology 10
On, the sensor assembly 15 can obtain the semitrailer ontology 10 ambient enviroment when driving, driver itself in real time
The trip information of state and vehicle itself.The sensor assembly 15 includes multiple sensors, each sensor installation
In on the corresponding position of the semitrailer ontology 10, for detecting different parameters；For example, brake-block temperature sensor is installed on
On the brake block of semitrailer ontology 10, with the temperature of detecting real-time brake block；Wheel speed sensor is installed on semitrailer ontology
On 10 wheel, for measuring half semitrailer ontology, 10 vehicle wheel rotational speed.In other embodiments, the sensor assembly 15 may be used also
To be installed on tractor, or utilize original sensor on intelligent driving vehicle.
Specifically, the sensor assembly 15 exports acquired trip information to the control module 16, with
Analyzing processing is carried out for the control module 16.According to the trip information, the half semitrailer ontology 10 is predicted in advance
Running environment and state.
Control module 16 connects with the sensor assembly 15, energy-storage module 14 and the energy converting between mechanical module 13
It connects, the trip information of the semitrailer ontology 10 for being obtained according to the sensor assembly 15 sends and refers to accordingly
It enables to the energy converting between mechanical module 13 and the energy-storage module 14, to control the charge and discharge shape of the energy-storage module 14
Switching between state, and to control the energy converting between mechanical module 13 respectively corresponding between driving condition and generating state
Switching.
Specifically, in the present embodiment, the control module 16 is set on semitrailer ontology 10, the control module 16
The trip information for the semitrailer ontology 10 that receiving sensor module 15 obtains, and according to the trip information, by institute
The operating status for stating semitrailer ontology 10 is determined as driving condition or energy recovery state, then exports corresponding control instruction,
It controls the energy converting between mechanical module 13 and is switched to corresponding operating status, meanwhile, the energy-storage module 14 is switched to and institute
State 13 corresponding operating status of energy converting between mechanical module.In other embodiments, the control module 16 can also be set to
On the tractor, or directly utilize the main control module of the tractor.
For example, when the sensor assembly 15 monitors that the semitrailer ontology 10 is in braking state, by the operation
Information is uploaded to the control module 16, and the control module 16 is according to the electric quantity monitoring module monitors to the energy storage mould
14 electric energy of block is less than, then can determine that the semitrailer ontology 10 is in energy recovery state, and export corresponding control instruction
To the energy converting between mechanical module 13 and energy-storage module 14, the energy converting between mechanical module 13 is switched to generating state, and
The driving for receiving axis of wheel rotation, electric energy, and then the energy storage mould are converted to by the mechanical energy that the semitrailer ontology 10 generates
Block 14 is switched to charged state and receives and stores the electric energy；When the sensor assembly 15 monitors at the semitrailer ontology 10
When braking state, but state control module 16 according to the electric quantity monitoring module monitors to 14 electric energy of the energy-storage module
Full, then the semitrailer ontology 10 cannot be in energy recovery state.In the present embodiment, the control module 16 is according to sensing
The trip information for the semitrailer ontology 10 that device module 15 obtains, realize to the energy of the semitrailer ontology 10 into
Row optimization distribution.
Further, the control system of the semitrailer ontology 10 can also include and external monitoring center or surrounding vehicles
The communication module of communication connection, for the operating status of the semitrailer ontology 10 to be uploaded to the external monitoring center, with
Toilet states the current operating conditions that external monitoring center understands the semitrailer ontology 10 in real time, reduces traffic accident.
In the present embodiment, by semitrailer ontology 10 be arranged control module 16, energy converting between mechanical module 13 with
And sensor assembly 15, the energy of the semitrailer ontology 10 can be effectively recycled, and then improve capacity usage ratio and safety
Property, it is that the traveling of semitrailer ontology 10 is more steady, at the same time it can also the operation ginseng obtained according to the sensor assembly 15
Number information can predict the operating status of the semitrailer ontology 10 in time, to make tune in time to the semitrailer ontology 10
It is whole.
Further, the sensor assembly 15 includes at least one of lower sensor：
Environment sensing sensor, brake-block temperature sensor, altimeter, barometer, trailer-mounted radar tachymeter, Distance-sensing
Device, acceleration transducer, GPS locator, wheel speed sensor and brake-pedal-travel sensor.
In the present embodiment, the sensor assembly 15 may include multiple sensors to obtain the semitrailer ontology 10
All operating parameters in operating status.
Wherein, the environment sensing sensor is to carry out data acquisition to the surrounding enviroment of the semitrailer ontology 10, is obtained
By way of road traffic information for example：The information such as curvature, the gradient, the color change of highway speed-limiting mark, traffic lights of road, with
And the location information that is exported with peripheral obstacle of the semitrailer ontology 10 and the semitrailer ontology 10 and surrounding vehicles
The road environments information such as distance, the speed of equal barriers, wherein the environment sensing sensor mainly has machine vision, radar
Sensor, ultrasonic sensor, infrared sensor etc.；
The brake-block temperature sensor is used to detect the temperature of brake block when the semitrailer ontology 10 enters braking state
Degree；The altimeter can be used for measuring vehicle level height etc.；
The barometer can be used for measuring atmospheric pressure, with the sea of determination 10 present position of semitrailer ontology
Degree of lifting；
The trailer-mounted radar tachymeter can be used for measuring the travel speed of the semitrailer ontology 10；
The range sensor can be used for detecting the distance between the semitrailer ontology 10 and Reference, wherein
The range sensor can be with electrical distance sensor, ultrasonic distance sensor etc.；
The acceleration transducer is used to measure the acceleration of the semitrailer ontology 10, to understand half semitrailer ontology 10
Current motion state；
The GPS locator can be used for positioning the geographical location of the semitrailer ontology 10, movement locus in real time,
In, the GPS locator general built-in GPS module and mobile communication module, by the present bit of the semitrailer ontology 10
Confidence breath is uploaded to server etc.；
The wheel speed sensor can be used for measuring 10 vehicle wheel rotational speed of semitrailer ontology；
Whether the brake block that the brake-pedal-travel sensor can be used for detecting semitrailer ontology 10 is used, and
The stroke trampled the time He trampled of brake pedal, to calculate the state for obtaining the brake block.
It is understood that any of the above specific sensor can be used alone and can also be applied in combination, the environment sense
Under the premise of knowing that identical function may be implemented in the sensor of part in sensor, it can not have to using individual sensor come real
Now to the acquisition of same parameters, it is not specifically limited herein.
Further, it is correspondingly provided with an electromechanical energy on each wheel drive shaft 12 of the semitrailer ontology 10
Conversion module 13, wherein the semitrailer ontology 10 further includes the retarder being arranged in a one-to-one correspondence with the electromechanical transformation module.
Wherein, the semitrailer ontology 10 includes at least one axis of wheel rotation, wherein at least one vehicle wheel rotation
The energy converting between mechanical module 13 and retarder (not shown) are housed, wherein the retarder and the electromechanical energy on axis
Amount conversion module 13 can be separately provided, and can also integrate.
In use, the retarder is matched with the energy converting between mechanical module 13.It is described in driving process
When energy converting between mechanical module 13 is in generating state, decelerating effect is played to the semitrailer ontology 10, meanwhile, by moderating process
The mechanical energy of middle generation is converted to electric energy.
It will be understood by those skilled in the art that the control system of the intelligent semitrailer 100 shown in Fig. 1 and Fig. 2 may be used also
To include either combining certain components or different components arrangement than illustrating more or fewer components.
Based on above-mentioned hardware configuration, each implementation of the control method of the intelligent semitrailer 100 in the utility model is proposed
Example.
Fig. 3 is please referred to, is the control method for intelligent semitrailer 100 in first embodiment provided by the utility model
Method flow Figure 200, the control method includes the following steps：
Step S10 obtains the trip information of the semitrailer ontology 10 of the acquisition of the sensor assembly 15；
In the process of moving, it is installed on the sensor assembly on the semitrailer ontology 10 or being installed on tractor
15 incude trip information in real time, and the trip information is transmitted to control module 16, to adjust described half in time
The operating status of trailer ontology 10.
In the present embodiment, the trip information may include information of vehicles and the outside of the semitrailer ontology 10
Environmental information.Wherein, the trip information of the semitrailer ontology 10 includes at least one of following parameter information：It is described
Between the distance between semitrailer ontology 10 and default road object of reference information, the semitrailer ontology 10 and front truck or rear car
Real-time range information, the speed of operation information of the intelligent semitrailer 100, the intelligent semitrailer 100 travel direction letter
Breath, the current driving location information of the intelligent semitrailer 100, present road curvature information, present road grade information, when
Vehicle in front elevation information, the acceleration information of the semitrailer ontology 10, highway speed-limiting mark information, the temperature of brake block letter
Breath, whether former vehicle brake is activated and the colouring information of traffic lights.
Step S20 judges according to the trip information for the semitrailer ontology 10 that the sensor assembly 15 obtains
Whether the semitrailer ontology 10 is in preset energy recovery state or preset driving condition；
It, can be with it is understood that trip information of the sensor assembly 15 according to the semitrailer ontology 10
The operating status of the semitrailer ontology 10 is divided into preset energy recovery state and driving condition.Specifically, the control
After module 16 receives the trip information of the semitrailer ontology 10 of the acquisition of sensor assembly 15, corresponding control is sent
It instructs to the energy converting between mechanical module 13 and energy-storage module 14, the energy converting between mechanical module 13 and energy-storage module 14
Corresponding adjustment is made according to control instruction.
Specifically, in the present embodiment, the preset energy recovery state includes at least one of the following conditions：It stops
Car state, present road grade information are descending, the road curvature degree more than preset curvature, the semitrailer ontology 10
Current driving speed be more than preset speed or more than the restriction vehicle speed value of highway speed-limiting mark, the semitrailer ontology 10 with
The distance between road object of reference is less than preset distance value, the semitrailer ontology 10 and the distance between front truck or rear car
Less than preset distance value；The brake temperature is more than preset temperature value, the colouring information of the traffic lights is red and institute
It states semitrailer ontology 10 and is less than preset distance value at a distance from the traffic lights；
The preset driving condition includes at least one of the following conditions：The semitrailer ontology 10 is starting shape
State, present road grade information are to go up a slope, and the acceleration of the semitrailer ontology 10 is positive value, and the road curvature degree is less than pre-
If curvature, the current driving speed of the semitrailer ontology 10 be less than preset speed or the limit less than highway speed-limiting mark
The distance between vehicle speed value, the semitrailer ontology 10 and road object of reference are determined more than preset distance value, the semitrailer sheet
Body 10 is more than preset distance value with the distance between front truck or rear car；The colouring information of the traffic lights is green and described
Semitrailer ontology 10 is more than preset distance value at a distance from the traffic lights.
It is understood that the trip information of the semitrailer ontology 10 and the preset energy recovery state it
Between correspondence can be：
Trailer-mounted radar tachymeter in the sensor assembly 15 detect the current vehicle speed of the semitrailer ontology 10 and
Current vehicle speed is reducing, and the brake-pedal-travel sensor detects the brake by use, control module 16 determines
The intelligence semitrailer 100 is in braking state；
Environment sensing sensor detecting in the sensor assembly 15 is ramp section to present road, and GPS is detected
A side to trailer from ramp high-land detects height and is successively decreasing to the low side traveling of topography, the altimeter, controls mould
It is descending state that block 16, which determines that the intelligent semitrailer 100 is in present road grade information,；
The range sensor in the sensor assembly 15 detects the semitrailer ontology 10 and road reference substance
The distance between be less than preset distance value either the semitrailer ontology 10 and the distance between front truck or rear car be less than it is pre-
If distance value, control module 16 can determine that the intelligent semitrailer 100 is in the energy recovery state for needing to slow down；Or
The colouring information of environment sensing sensor detecting to the traffic lights in the sensor assembly 15 is red, and
Range sensor detects the semitrailer ontology 10 and is less than preset distance value, control module 16 at a distance from the traffic lights
It can determine that the intelligent semitrailer 100 is in the energy recovery state for needing to slow down.
It is understood that pair between the trip information of the semitrailer ontology and the preset driving condition
Should be related to be：
The current vehicle speed that trailer-mounted radar tachymeter in the sensor assembly 15 detects the semitrailer ontology 10 is 0
And current vehicle speed increase or wheel speed sensor detect the trailer vehicle wheel rotational speed be 0, GPS positioning instrument detecting
The displacement for not being subjected to displacement or occurring to the movement locus of the intelligent semitrailer 100 is less than preset value, the control mould
Block 16 determines that the intelligent semitrailer 100 is currently at starting state；
Environment sensing sensor detecting in the sensor assembly 15 is ramp section to present road, and GPS is detected
Highly increasing, control mould is detected from the low side of ramp topography to the side of high-land traveling, the altimeter to trailer
It is upward slope state that block 16, which determines that the intelligent semitrailer 100 is in present road grade information,；
The acceleration that acceleration induction device in the sensor assembly 15 detects the semitrailer ontology 10 is positive value,
And the range sensor detects the distance between the semitrailer ontology 10 and road reference substance and is more than preset distance value,
Either the semitrailer ontology 10 is more than preset distance value with the distance between front truck or rear car, and control module 16 can be true
The fixed intelligent semitrailer 100 is in the driving condition that can accelerate；Or
The colouring information of environment sensing sensor detecting to the traffic lights in the sensor assembly 15 is green, and
Range sensor detects the semitrailer ontology 10 and is more than preset distance value, control module 16 at a distance from the traffic lights
It can determine that the intelligent semitrailer 100 is in the driving condition that can accelerate.
Step S30, when the semitrailer ontology 10 is in preset energy recovery state, the control module 16 controls
Energy-storage module 14 is switched to charged state, and controls the energy converting between mechanical module 13 and be switched to generating state；
It is understood that according to the trip information that the sensor assembly 15 obtains, the control module 16 is true
When the fixed semitrailer ontology 10 is in energy recovery state, such as：Between the half semitrailer ontology 10 and front truck away from
When from less than preset distance value, the control module 16 can export control instruction to the energy converting between mechanical module 13,
It controls the energy converting between mechanical module 13 and is switched to generating state, meanwhile, the energy-storage module 14 is accordingly switched to charging
State improves the driving force of the semitrailer ontology 10 to store the electric energy that the energy converting between mechanical module 13 is converted.
Step S40, when the semitrailer ontology 10 is in preset driving condition, the control module 16 controls energy storage
Module 14 is switched to discharge condition, and controls the energy converting between mechanical module 13 and be switched to driving condition.
Wherein, when the operating status of the semitrailer ontology 10 is preset driving condition, the energy-storage module 14 is cut
It is changed to discharge condition, the energy converting between mechanical module 13 carries out driving output to the wheel drive shaft 12, when the electromechanics
When energy conversion module 13 carries out driving output to the wheel drive shaft 12, the energy converting between mechanical module 13 illustrates described
Semitrailer ontology 10 is in driving condition, when the energy converting between mechanical module 13 is by the drive of the wheel drive shaft 12, says
The bright semitrailer ontology 10 is in preset energy recovery state.
In the present embodiment, the control module 16 passes through the half semitrailer ontology that is obtained according to the sensor assembly 15
10 trip information is adjusted the energy converting between mechanical module 13 and energy-storage module 14, can effectively recycle
Energy in driving process improves capacity usage ratio, and the driving force of enhancing semitrailer ontology 10；Meanwhile the control mould
When block 16 controls the energy converting between mechanical module 13 and is switched to charged state, i.e., the described trailer enters energy recovery state, also
It can coordinate and slow down to the semitrailer ontology 10, avoid brake block long because continuing usage time, lead to brake block temperature
Height is spent, to reduce the security performance of trailer, brake pad wear is reduced, improves the safety of semitrailer ontology 10, save
Energy, to reduce the charge and discharge number of energy-storage module, extends at the same time it can also maximally utilize the stored energy capacitance of energy-storage module
The service life of energy-storage module.
Further, referring to FIG. 4, the control method based on intelligent semitrailer 100 in the utility model first embodiment
Method flow Figure 200, propose the method flow diagram of the control method of intelligent semitrailer 100 in second embodiment, it is real second
It applies in example, the step S10~S40 is identical with the first embodiment, and details are not described herein；Its difference is, the step 40
Further include：
Step S410, according to the location information of the semitrailer ontology 10 of the acquisition of the sensor assembly 15 and currently
Road slope information, or the trailer car body according to acquisition current vehicle elevation information, judge the semitrailer ontology
Whether 10 be in upward slope state；
In the process of moving, the sensor assembly 15 can with the operating status of semitrailer ontology 10 described in detecting real-time,
Such as：Altimeter and GPS sensor are called, detects the geographical location information residing for the semitrailer ontology 10, and pass through height
Degree instrument measures the grade information and elevation information of 10 place road of the semitrailer ontology.The control module 16 is to the slope
It spends information and elevation information and carries out analyzing processing, whether slope climbing movement is being carried out with the determination semitrailer ontology 10.
In other embodiments, reference altitude and the gradient can also be set, by analyze and determine present road the gradient and
Height exceeds the model of reference altitude and the gradient whether in the range of reference altitude and the gradient, in current road grade and height
When enclosing interior, the control module 16 can determine that the semitrailer ontology 10 is in upward slope state, in current road grade
When with height in the range of reference altitude and the gradient, the control module 16 can determine the semitrailer ontology 10 not into
Row upslope motion.
Step S420, when the semitrailer ontology 10 is in upward slope state, according to the present road grade information with
And current vehicle elevation information calculates whether the potential variation when semitrailer ontology 10 goes up a slope is more than predetermined threshold value；
In the stage of upward slope, the semitrailer ontology 10 needs to consume a large amount of energy, and the control module 16 controls described
Energy-storage module 14 is switched to discharge condition, to provide driving force for the semitrailer ontology 10, completes upslope motion.
In the descending stage, the control module 16 controls the energy converting between mechanical module 13 and is switched to charged state, together
Shi Suoshu energy-storage modules 14 are switched to charged state to recycle the energy that the semitrailer ontology 10 generates in the descending stage, simultaneously
Vehicle deceleration can also be assisted, brake pad wear and fever are reduced.It is understood that the electric energy consumed in operational process by
The potential energy that the semitrailer ontology 10 operation generates determines, wherein the potential energy can according to present road grade information and
Height of car information is calculated.
Step S430 determines the storage when potential variation when the semitrailer ontology 10 goes up a slope is more than predetermined threshold value
The electric discharge ratio of energy module 14 is that the semitrailer ontology 10 subsequently in descending, prepare by the charging of the energy-storage module 14.
At the stage of upward slope, according to present road grade information and elevation information, the semitrailer ontology 10 is calculated
Potential variation illustrate that the semitrailer ontology 10 needs when the potential variation of the semitrailer ontology 10 is more than predetermined threshold value
A large amount of electricity is consumed, to increase driving force, completes climbing；Meanwhile after the semitrailer ontology 10 completes the upward slope stage,
The descending stage will be entered, at this point, the energy-storage module 14 of the semitrailer ontology 10 can be by fully supplementing during descending
The electric energy of release will be consumed described in the upward slope stage, to reduce the number of 14 charge and discharge of the energy-storage module, extend the energy storage
The service life of module 14, and in the descending stage, the energy converting between mechanical module 13 enters generating state, can be to described
Semitrailer ontology 10 slows down, and avoids persistently braking using brake block in descending and causing brake-block temperature excessively high, influence
The performance of the trailer.
It is understood that when the potential variation of the semitrailer ontology 10 is more than predetermined threshold value, and according to the biography
Sensor module 15, which detects the intelligent semitrailer, will enter the descending stage, illustrate that the current gradient is larger, the energy-storage module
14 can supplement the electricity of consumption in the descending stage, at this point it is possible to determine the electric discharge ratio of the energy-storage module 14, i.e., will
The electric energy of the energy-storage module 14 is all given out light, and to increase driving force, maximally utilises the energy storage of the energy-storage module 14
Capacity reduces the number of 14 charge and discharge of the energy-storage module；Further, it is less than in the potential variation of the semitrailer ontology 10
When predetermined threshold value, illustrating that the gradient of present road is smaller, the gradient in next descending section is smaller, therefore, the semitrailer
The electric energy of the energy-storage module 14 of ontology 10 can be completely used for driving the wheel drive shaft 12, can also only discharge
Partial electricity, because subsequent descending is smaller, there is no the situations that electricity is rapidly filled with.
It, can be by the semitrailer ontology that is obtained according to the sensor assembly 15 in addition, in other embodiments
10 location information and present road grade information, or believed according to the current vehicle height of the trailer car body of acquisition
Whether breath, it is descending to judge the present road next, then controls after the energy-storage module 14 gives out light electricity, with can be
The descending stage is fully supplemented.
Further, referring to FIG. 5, the control method based on intelligent semitrailer 100 in the utility model first embodiment
Method flow Figure 200, the method flow diagram of the control method of intelligent semitrailer 100 in 3rd embodiment is proposed, in third reality
It applies in example, the step S10~S40 is identical with the first embodiment, and details are not described herein；Its difference is, the step S40
Further include：
Step S440, described 10 location information obtained according to the sensor assembly 15 and the present road gradient are believed
Breath, or the trailer car body according to acquisition current vehicle elevation information, whether judge described 10 in descending state；
In the process of moving, 15 detecting real-time of the sensor assembly perceives the operating status of the semitrailer ontology 10,
Such as：Altimeter and GPS sensor are called, detects the geographical location information residing for the semitrailer ontology 10, and pass through height
Degree instrument measures the grade information and elevation information of 10 place road of the semitrailer ontology.The control module 16 is to the slope
It spends information and elevation information and carries out analyzing processing, whether downslope motion is being carried out with the determination semitrailer ontology 10.
Step 450, when the semitrailer ontology 10 is in descending state, the institute of the acquisition of the sensor assembly 15 is obtained
The temperature information of present road grade information and the brake block and the remaining capacity of the energy-storage module 14 are stated, determines half
The former vehicle brake modes and the energy converting between mechanical module 13 of trailer ontology 10 switch between the ways of deceleration of charged state
The interval being used alternatingly.
To avoid the semitrailer ontology 10 from causing the semitrailer ontology 10 to lose control because speed is too fast in descending
System in turn results in traffic accident appearance, can carry out deceleration appropriate to the semitrailer ontology 10；Wherein, the mode of deceleration
It can be slowed down to semitrailer ontology 10 using brake block, can also be turned the electromechanical energy by the control module 16
Mold changing block 13 is switched to charged state to reach deceleration purpose.It is understood that the use of brake block deceleration being to pass through brake block
Frictional resistance between tire is to slow down the travel speed of the semitrailer ontology 10.During brake, by described half
The kinetic energy of trailer ontology 10 is converted to thermal energy, to make the temperature of brake block increase.When the brake block when the temperature is excessively high, hold
Brake block failure is easily led to, causes the semitrailer ontology 10 in the descending stage out of control, and then traffic accident is caused to occur, together
When, when the brake block when the temperature is excessively high, the tire for the semitrailer ontology 10 that is also easy to ignite influences the semitrailer ontology 10
Safety.Therefore, during descending, the temperature for monitoring brake block in real time is needed.
In the present embodiment, the semitrailer ontology 10 is in descending, according to the temperature of present road grade information, brake block
The remaining capacity for spending information and the energy-storage module 14, is used alternatingly the energy converting between mechanical module 13 and brake block pair
The semitrailer ontology 10 slows down.Wherein, the former vehicle brake modes of the semitrailer ontology 10 turn with the electromechanical energy
Mold changing block 13 is switched to the spacing frequency being used alternatingly between the ways of deceleration of charged state can be according to the performance of the vehicle
It is set, it can also be by the control module 16 according to present road grade information, the temperature information of brake block and institute
The analysis result for stating the remaining capacity of energy-storage module 14 is set.
Further, referring to FIG. 6, the control method based on intelligent semitrailer 100 in the utility model 3rd embodiment
Method flow diagram 202, the method flow diagram 203 of the control method of intelligent semitrailer 100 in fourth embodiment is proposed, the 4th
In embodiment, the step S440~S450 is identical as 3rd embodiment, and details are not described herein；Its difference is, the step
Further include after rapid S440：
Step S441 judges whether the temperature of the brake block is big when the semitrailer ontology 10 is in descending state
Whether it is less than default electricity in the remaining capacity of preset temperature and energy-storage module 14；
When the semitrailer ontology 10 is in descending state, to avoid the brake block of the semitrailer ontology 10 from persistently locating
When braking state causes temperature excessively high or 14 long-time of the energy-storage module is in electricity abundance, the energy-storage module
14 cannot store the electric energy of the electromechanical energy gang mould block conversion, to cannot achieve the feelings slowed down to the semitrailer ontology 10
Condition, can also be by monitoring the temperature of the brake block and the remaining capacity of the energy-storage module 14 in real time.
Specifically, in the present embodiment, the sensor assembly 15 can be monitored the temperature of the brake block obtained with it is pre-
If temperature is compared, the remaining capacity of the energy-storage module 14 is compared with default electricity, according to comparison result, is judged
Slow down to the semitrailer ontology 10 if appropriate for brake block is continuing with, and turns if appropriate for by the electromechanical energy
Mold changing block 13 is switched to generating state.
Step S442, the remaining capacity that preset temperature and energy-storage module 14 are more than in the temperature of the brake block are less than in advance
If when electricity, controlling the energy converting between mechanical module 13 and being switched to charged state；
It is understood that when the temperature of the brake block is more than the residue electricity of preset temperature and the energy-storage module 14
When amount is less than default electricity, illustrate that the brake-block temperature of the semitrailer ontology 10 alreadys exceed safe handling range, is not suitable for
It is continuing with, meanwhile, the energy-storage module 14 is in unsaturated state, can store the energy converting between mechanical module 13 and generate
Electric energy therefore cause harmful effect to avoid being continuing with brake block, meanwhile, improve capacity usage ratio, maximally utilize
The energy-storage module 14, the control module 16 of the semitrailer ontology 10 can control the energy converting between mechanical module 13 and switch
For charged state, to slow down travel speed when 10 descending of semitrailer ontology.
Step S443, the remaining capacity that preset temperature and the energy-storage module 14 are less than in the temperature of the brake block are big
It is quantified in default, controls the semitrailer ontology 10 and enable former vehicle brake.
In this step, when the temperature of the brake block is less than the remaining capacity of preset temperature and the energy-storage module 14
When more than default electricity, illustrate that the brake-block temperature of the semitrailer ontology 10 is in normal operating condition, at this point, to reduce electricity
The consumption of energy, and the use for carrying out frequent charge and discharge to the energy-storage module 14 and reducing energy-storage module 14 is avoided to use the longevity
Therefore life can directly enable the former vehicle brake of the semitrailer ontology 10, be subtracted to the semitrailer ontology 10 with reaching
The purpose of speed.
Further, referring to FIG. 7, the control method based on intelligent semitrailer 100 in the utility model first embodiment
Method flow Figure 200, propose the method flow diagram 201 of the control method of intelligent semitrailer 100 in the 5th embodiment, the step
Rapid S10~S40 is identical with the first embodiment, and details are not described herein；Its difference is, further includes after the step S40：
The intelligence that step S50, the traffic information got according to communication module and the sensor assembly 15 obtain
The trip information of energy semitrailer car body 10, to transport condition of the semitrailer ontology 10 in next preset time
And road conditions environmental information is predicted, and according to the prediction result to the semitrailer ontology 10 when next default
Interior energy recovery state or preset driving condition is controlled.
It is understood that in step s 50, in the process of moving, the traffic information that the communication module obtains can be with
Including at least one of following information：Vehicle flowrate, road degree of crowding information, road turning information, the regional traffic of road
Accident information, crossing intersection information, road occupancy information, average speed information, track quantity information.Specifically, in this reality
It applies in example, the fortune for the semitrailer ontology 10 that the traffic information that the communication module is obtained is obtained with the sensor assembly
Row parameter information combines, and predicts whether the semitrailer ontology 10 needs to carry out deceleration processing in next section, right
It controls the energy converting between mechanical module 13 with answering is switched to energy recovery state or driving condition.Such as：When the communication
Module gets front when blocking up, and the sensor assembly 15 gets the front vehicles and the intelligence semitrailer
The distance between 100 is relatively close, predicts that the semitrailer ontology 10 will enter congested traffic area, this illustrates the semitrailer ontology 10
When entering the section within a preset period of time, need to carry out deceleration processing, i.e., when the semitrailer ontology 10 enters the section,
The control module 16 controls the energy converting between mechanical module 13 and is switched to preset energy recovery state；Or when described logical
It is intersection that letter module, which gets front, and it is to go up a slope that the sensor assembly 15, which gets the grade information of the road,
Then predict that the semitrailer ontology 10 will climb, at this point it is possible to control the electromechanical energy within the preset period
Conversion module 13 is switched to driving condition.By the transport condition for predicting the semitrailer ontology 10, it is ensured that semitrailer sheet
The safety of body 10, meanwhile, realize energy-optimised distribution.
Further, referring to FIG. 8, the control method based on intelligent semitrailer 100 in the utility model first embodiment
Method flow Figure 200, propose the method flow diagram 202 of the control method of intelligent semitrailer 100 in sixth embodiment, the step
Rapid S10~S40 is identical with the first embodiment, and details are not described herein；Its difference is, further includes after the step S40：
Step S60 calculates the half semitrailer ontology according to the current driving speed and quality of the semitrailer ontology 10
10 current kinetic energy；
It is understood that in the driving process of the semitrailer ontology 10, energy conversion may be implemented, by described half
Electricity conversion in the energy-storage module 14 of semitrailer ontology 10 is the kinetic energy of the half semitrailer ontology 10.Wherein, described half half
The kinetic energy of trailer ontology 10 can be obtained according to the current driving speed and Mass Calculation of the half semitrailer ontology 10.
Step S70 determines the energy converting between mechanical according to the kinetic energy of the semitrailer ontology 10 and preset condition
Module 13 is in generated output when generating state.
In the present embodiment, according to the semitrailer ontology 10 in transport condition, between the kinetic energy and energy of generation
Transfer efficiency, it may be determined that the energy converting between mechanical module 13 is in generated output when generating state.Such as：In traffic
Crowded section, needs frequently braking, can switch at this point, the control module 16 controls the energy converting between mechanical module 13
For generating state, to recover energy；It is relatively low can certainly to be set as generated output, directly uses service brake control brake, does not make
The traveling of vehicle, aspect driver operation are influenced with energy converting between mechanical module 13；For example, the semitrailer ontology 10 is in
When high-speed travel state, kinetic energy is larger, and usually can carry out energy to the semitrailer ontology 10 in brake or descending
Amount recycling, because in the semitrailer ontology 10 in running at high speed, if when encountering barrier, needs to be subtracted in time
Speed can control its operating power as possible big when at this time the energy converting between mechanical module 13 is in generating state；It can be with
Understand, when the electricity abundance of the energy-storage module 14, can control power is 0, at this point, the energy converting between mechanical module
13 are in generating state, can control its operating power as possible small.
Further, in one optionally embodiment, the control method of the intelligence semitrailer 100 further includes：
Step S80, the present road curvature information, and/or the intelligence half obtained according to the sensor assembly 15
The rotational angle information for the steering wheel that tractor corresponding to trailer 100 is sent, determines the turning side of the semitrailer car body 10
To with speed；
Step 90, according to the turn direction and speed of the determining semitrailer car body 10, the different wheels is controlled
The driving output power of the corresponding energy converting between mechanical module of 11 wheel drive shaft 12 13.
Specifically, the present road curvature information includes but not limited to the information such as road curve radius.The traction
The angular transducer of the angle of turn for detecting steering wheel is also provided on vehicle, wherein tractor is and intelligent semi-mounted
Communication connection is established between vehicle 100, for example, making the intercommunication of the tractor and the control module 16 by bus
Connection, the angle of turn information for the steering wheel that the angular transducer to be set on tractor obtains and turning for tractor
The control module of intelligent semitrailer 100 is sent to lamp information.
In the present embodiment, pass through leading corresponding to present road curvature information, and/or the intelligent semitrailer 100
Draw the rotational angle information of the steering wheel of vehicle transmission and the steering indicating light information of tractor, whether determines the semitrailer ontology 10
The turn condition of the semitrailer ontology 10 is in or predicts, to control the output work of the energy converting between mechanical module 13
Rate, and then control the travel speed and rotational angle of each wheel of the semitrailer 100.
For example, when vehicle enters left-turning pathways, the angular transducer detects the angle of turn of the steering wheel, institute
That states the main control module acquisition left and right turn signal of tractor is turned on and off information, and is sent to intelligent semitrailer；And described half
The curvature of environment sensing sensor detecting on trailer ontology 10 to road；The control module 16 is by analyzing above-mentioned data
The travel direction and travel speed for judging the semitrailer 100 determine the electromechanical transformation module 13 corresponding to each wheel 11
Output power, to keep the travel speed that the right is taken turns faster than left side wheel, and then realize that the assisted diversion of intelligent semitrailer 100 drives
Dynamic function.
Pass through the angle of turn or present road curvature information according to steering wheel, control machine electric energy in the present embodiment
The output power of amount conversion module 13 assists the semitrailer ontology 10 to be turned to provide laterally driven power.
The utility model also provides a kind of intelligent semitrailer 100, including described in car body 20 and any of the above-described embodiment
Control system.
The utility model also provides a kind of intelligent vehicle, including tractor and intelligent semitrailer as described above
100。
The foregoing is merely the optional implementations of the utility model, and it does not limit the scope of the patent of the present invention, all
It is the equivalent structure transformation made based on the specification and figures of the utility model under the design of the utility model, or straight
It connects/is used in other related technical areas indirectly and is included in the scope of patent protection of the utility model.
Claims (10)
1. a kind of control system of intelligence semitrailer, the intelligence semitrailer includes semitrailer ontology, the semitrailer ontology packet
Include at least one wheel, and with the one-to-one wheel drive shaft of the wheel, which is characterized in that on the semitrailer ontology
Equipped with two kinds of working conditions of driving condition and generating state energy converting between mechanical module, with charge and discharge state two
Energy-storage module, sensor assembly and the control module of kind working condition, the energy converting between mechanical module distribution formula are set to
In the axis of wheel rotation of the semitrailer ontology, the energy-storage module is connect with the energy converting between mechanical module, the control
Module is connect with the sensor assembly, energy-storage module and the energy converting between mechanical module, and the control module receives institute
State the trip information of the semitrailer ontology of sensor assembly acquisition, and by the control instruction of generation to the electromechanical energy
Conversion module is measured, the switching between charge and discharge state to control the energy-storage module and control at least one machine
The corresponding switching between driving condition and generating state of electric energy conversion module.
2. control system as described in claim 1, which is characterized in that the sensor assembly include in lower sensor extremely
It is one few：
Environment sensing sensor, brake-block temperature sensor, altimeter, barometer, trailer-mounted radar tachymeter, range sensor,
Acceleration transducer, GPS locator, wheel speed sensor and brake-pedal-travel sensor.
3. control system as claimed in claim 2, which is characterized in that the control system further include for outside monitor in
The heart or surrounding vehicles establish the communication module of communication connection.
4. control system as described in claim 1, which is characterized in that the energy converting between mechanical module be it is one or more groups of,
The energy converting between mechanical module includes wheel motor.
5. control system as described in claim 1, which is characterized in that the energy converting between mechanical module be it is one or more groups of,
The energy converting between mechanical module includes wheel hub motor.
6. the control system as described in any one of claim 1-5, which is characterized in that the energy-storage module includes at least one
Energy type super capacitor or power type battery.
7. control system as claimed in claim 6, which is characterized in that the control system further includes for monitoring the energy storage
The electric quantity monitoring module for the electricity that module is stored, the electric quantity monitoring module and the energy-storage module and the control module phase
Even.
8. control system as claimed in claim 7, which is characterized in that at least one wheel drive shaft of the semitrailer ontology
On be correspondingly provided with an energy converting between mechanical module, wherein the semitrailer ontology further includes and the electromechanical transformation mould
The retarder that block is arranged in a one-to-one correspondence.
9. a kind of intelligence semitrailer, which is characterized in that the control system including car body and as described in any one of claim 1-8
System.
10. a kind of intelligent vehicle, which is characterized in that including tractor head and intelligent semi-mounted as described in claim 9
Vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721855728.8U CN207790922U (en) | 2017-12-26 | 2017-12-26 | The control system of intelligent vehicle, intelligent semitrailer and intelligent semitrailer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721855728.8U CN207790922U (en) | 2017-12-26 | 2017-12-26 | The control system of intelligent vehicle, intelligent semitrailer and intelligent semitrailer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207790922U true CN207790922U (en) | 2018-08-31 |
Family
ID=63279073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721855728.8U Active CN207790922U (en) | 2017-12-26 | 2017-12-26 | The control system of intelligent vehicle, intelligent semitrailer and intelligent semitrailer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207790922U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985440A (en) * | 2017-12-26 | 2018-05-04 | 长沙智能驾驶研究院有限公司 | The control system and its control method of intelligent vehicle, intelligent semitrailer |
| CN109334792A (en) * | 2018-10-15 | 2019-02-15 | 桑顿新能源科技有限公司 | A kind of auxiliary power trailer systems |
| CN111824260A (en) * | 2020-07-31 | 2020-10-27 | 齐鲁工业大学 | Semi-trailer with rear wheels having reversing power and reversing method |
| CN111951605A (en) * | 2020-08-12 | 2020-11-17 | 扬州市伏尔坎机械制造有限公司 | Active safety control system and control method for semitrailer |
| CN111976715A (en) * | 2020-09-04 | 2020-11-24 | 齐鲁工业大学 | Semi-trailer vehicle and method for improving driving stability by utilizing electronic differential of rear wheels |
| WO2021143903A1 (en) * | 2020-01-17 | 2021-07-22 | 长沙智能驾驶研究院有限公司 | Trailer motor control method and corresponding vehicle |
| WO2022142133A1 (en) * | 2020-12-28 | 2022-07-07 | 上海锣响汽车集团有限公司 | Braking energy recovery and auxiliary drive control method and control system |
| CN114852036A (en) * | 2022-04-29 | 2022-08-05 | 宁波众心电子科技有限公司 | Trailer brake emergency method and system thereof |
-
2017
- 2017-12-26 CN CN201721855728.8U patent/CN207790922U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985440A (en) * | 2017-12-26 | 2018-05-04 | 长沙智能驾驶研究院有限公司 | The control system and its control method of intelligent vehicle, intelligent semitrailer |
| CN109334792A (en) * | 2018-10-15 | 2019-02-15 | 桑顿新能源科技有限公司 | A kind of auxiliary power trailer systems |
| WO2021143903A1 (en) * | 2020-01-17 | 2021-07-22 | 长沙智能驾驶研究院有限公司 | Trailer motor control method and corresponding vehicle |
| CN111824260A (en) * | 2020-07-31 | 2020-10-27 | 齐鲁工业大学 | Semi-trailer with rear wheels having reversing power and reversing method |
| CN111824260B (en) * | 2020-07-31 | 2021-08-17 | 齐鲁工业大学 | Semi-trailer with rear wheels having reversing power and reversing method |
| CN111951605A (en) * | 2020-08-12 | 2020-11-17 | 扬州市伏尔坎机械制造有限公司 | Active safety control system and control method for semitrailer |
| CN111976715A (en) * | 2020-09-04 | 2020-11-24 | 齐鲁工业大学 | Semi-trailer vehicle and method for improving driving stability by utilizing electronic differential of rear wheels |
| WO2022142133A1 (en) * | 2020-12-28 | 2022-07-07 | 上海锣响汽车集团有限公司 | Braking energy recovery and auxiliary drive control method and control system |
| CN114852036A (en) * | 2022-04-29 | 2022-08-05 | 宁波众心电子科技有限公司 | Trailer brake emergency method and system thereof |
| CN114852036B (en) * | 2022-04-29 | 2023-02-24 | 宁波众心电子科技有限公司 | Trailer brake emergency method and system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207790922U (en) | The control system of intelligent vehicle, intelligent semitrailer and intelligent semitrailer | |
| CN107985440A (en) | The control system and its control method of intelligent vehicle, intelligent semitrailer | |
| CN105799549B (en) | One kind is for electric wheel truck EPS and DYC integrated control system and its method | |
| KR101713735B1 (en) | Method for controlling output of low voltage DC-DC converter in green car, and low voltage DC-DC converter of green car | |
| CN101332774B (en) | Automobile brake energy regeneration control method | |
| CN106919173A (en) | A kind of braking integrated control method formed into columns based on heavy vehicle | |
| CN104627180A (en) | Semi-active cruise control system and method | |
| CN103640569A (en) | Hybrid electric vehicle energy management system and method based on multi-agent technology | |
| CN202358094U (en) | Anti-collision system of electric motor car | |
| CN107867283A (en) | Integrated form FCW/ACC/AEB systems and vehicle based on forecast model | |
| CN103921889A (en) | Electric bicycle auxiliary riding system and control method | |
| CN103132471A (en) | Piston-type changeable road speed limiting control device | |
| CN103366416A (en) | Vehicle data collecting and transmitting device | |
| CN204506886U (en) | A kind of half cruise active control system | |
| CN107107745B (en) | Control the control system and method for power train | |
| CN201841967U (en) | Motor vehicle brake energy recycle control device | |
| CN107054348A (en) | Automobile energy-saving control method | |
| CN110696632A (en) | Automobile brake feedback method and device and vehicle | |
| CN110435568A (en) | A kind of control system for electric motor coach vehicle | |
| CN104401226A (en) | Integrated control system for four-wheel direct-drive electric automobile | |
| CN112109546A (en) | Freight vehicle speed control system and method | |
| CN111016686A (en) | Unmanned pure electric sanitation vehicle chassis and chassis network system | |
| CN106945666A (en) | Automobile energy-saving control system | |
| CN107458266A (en) | A kind of electric automobile center integrated control system | |
| CN112918468A (en) | Whole vehicle energy management system of unmanned pure electric vehicle and working method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |