WO2019128188A1

WO2019128188A1 - Semi-trailer control system, semi-trailer, smart vehicle, and semi-trailer control method

Info

Publication number: WO2019128188A1
Application number: PCT/CN2018/095351
Authority: WO
Inventors: 马潍; 胡楷
Original assignee: 长沙智能驾驶研究院有限公司
Priority date: 2017-12-26
Filing date: 2018-07-12
Publication date: 2019-07-04

Abstract

Provided are a semi-trailer control system, a semi-trailer, a smart vehicle, and a semi-trailer control method. The control system comprises: an electromechanical energy conversion apparatus, configured to drive the output of the wheel of the semi-trailer in a power assist state, or to convert into electrical energy the mechanical energy of the wheel while being driven by the wheel in a braking state; an energy storage apparatus (50), electrically connected to the electromechanical energy conversion apparatus and configured to output electrical energy to the electromechanical energy conversion apparatus and to receive and store the electrical energy outputted by the electromechanical energy conversion apparatus while in a braking state; and a controller (80), connected to the electromechanical conversion apparatus and the energy storage apparatus (50) and configured to control the switching between charge and discharge states of the energy storage apparatus (50) and to control the switching between the power assist state and the braking state of the electromechanical energy storage apparatus.

Description

Control system for semi-trailer, semi-trailer, intelligent vehicle and control method for semi-trailer

The present application claims the priority of the Chinese Patent Application No. 201711440153.8 filed on Dec. 26, 2017, and the Chinese Patent Application No. 201810361624.4 filed on April 20, 2018, the entire contents of As part of this application.

Technical field

The present disclosure relates to a control system for a semi-trailer, a semi-trailer, an intelligent vehicle, and a control method for a semi-trailer.

Background technique

At present, in transportation, in order to enhance the working ability of the tractor head, the semi-trailer body structure is usually adopted, that is, during the transportation process, the semi-trailer body is attached to the tractor head, and the cargo is transported by the container of the semi-trailer body. .

In heavy-duty trucks, the semi-trailer itself has no power system and needs to be powered by the tractor to drive normally. The semi-trailer itself has a brake braking system, but during the braking process, some of the braking force is still transmitted to the tractor. The semi-trailer faces the following problems in actual operation: 1) The hanging vehicle is heavy, the corresponding braking power is huge, a large amount of braking can become a waste of heat on the brake pad, and in order to ensure the braking effect of the brake pad, It must also be equipped with water tanks and sprinklers to increase the weight and complexity of the car; 2) In heavy truck operation, especially during acceleration and braking, the tractor is subjected to additional acceleration and deceleration caused by semi-trailer and load cargo. Traction, causing a great short-term impact on the dynamic characteristics of the tractor, and even causing the train to fold, very dangerous; 3) The semi-trailer is full of heavy load, all the power required is from the tractor, unable to adapt to the automatic loading and unloading transition, Operation methods such as hanging are not conducive to the automation and intelligence of logistics vehicles, and it is difficult to integrate into modern logistics systems. Semi-trailers rely on tractors to provide low-voltage power, with little power, and can not meet the requirements of refrigeration, dumping, pumping, and mixing. Wait for high-power electricity load.

Summary of the invention

Some embodiments of the present disclosure provide a control system for a semi-trailer, comprising: an electromechanical energy conversion device configured to drive output of a wheel of a semi-trailer in a assisted state, or in a braked state, by the wheel Driving, converting mechanical energy of the wheel into electrical energy; an energy storage device electrically connected to the electromechanical energy conversion device, configured to output electrical energy to the electromechanical energy conversion device and receive the electromechanical energy conversion device in a braking state And outputting the electrical energy; and a controller coupled to the electromechanical energy conversion device and the energy storage device, configured to control switching between a state of charge and a state of discharge of the energy storage device, and to control the electromechanical Switching between the assist state and the braking state of the energy conversion device.

Some embodiments of the present disclosure provide a semi-trailer, including the control system of the semi-trailer described above, further comprising: an axle coupled to the wheel of the semi-trailer, the wheel including a first wheel and a second wheel, respectively disposed at the Said the two ends of the axle.

Some embodiments of the present disclosure provide a smart vehicle including a tractor head and the above-described semi-trailer.

Some embodiments of the present disclosure provide a control method for a semi-trailer, the semi-trailer including: an electromechanical energy conversion device configured to drive output of a wheel of a semi-trailer in a assist state, or in a braking state Driving the wheel to convert mechanical energy of the wheel into electrical energy; an energy storage device electrically connected to the electromechanical energy conversion device, configured to output electrical energy to the electromechanical energy conversion device and receive the electromechanical energy conversion device And outputting electrical energy in a braking state; and a controller coupled to the electromechanical energy conversion device and the energy storage device, configured to control switching between a state of charge and a state of discharge of the energy storage device, and Controlling switching between an assist state and a braking state of the electromechanical energy conversion device, the control method comprising: determining a running state of the semi-trailer; controlling the energy storage device according to a running state of the semi-trailer The electromechanical energy conversion device to switch the energy storage device between a state of charge and a state of discharge Switching means switching between a boosting state and the braking state.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It is obvious that the drawings in the following description relate only to some embodiments of the present disclosure, and are not to limit the disclosure. .

1 is a schematic structural view of a tractor and a semi-trailer according to an embodiment of the present disclosure;

2 is a schematic diagram of a power transmission principle of some embodiments of the present disclosure;

3 is a schematic view showing the connection of a motor and a first wheel in some embodiments of the present disclosure;

4 is a schematic diagram of a power transmission principle of some embodiments of the present disclosure;

5 is a schematic diagram of a power transmission principle of some embodiments of the present disclosure;

6 is a schematic diagram of a power transmission principle of some embodiments of the present disclosure;

7 is a flow chart of some embodiments of a method of controlling a semi-trailer of the present disclosure;

8 is a flow chart of some embodiments of a method of controlling a semi-trailer according to the present disclosure;

9 is a flow chart of some embodiments of a method of controlling a semi-trailer according to the present disclosure;

10 is a schematic structural view of a semi-trailer in some embodiments of the present disclosure;

11 is a schematic structural diagram of a hardware module of a semi-trailer according to some embodiments of the present disclosure;

12 is a flow chart of some embodiments of a method of controlling a semi-trailer according to the present disclosure;

13 is a flow chart of some embodiments of a method of controlling a semi-trailer according to the present disclosure;

14 is a flow chart of some embodiments of a method of controlling a semi-trailer according to the present disclosure;

15 is a flow chart of some embodiments of a method of controlling a semi-trailer according to the present disclosure;

16 is a flow chart of some embodiments of a method of controlling a semi-trailer according to the present disclosure;

17 is a flow chart of some embodiments of a method of controlling a semi-trailer of the present disclosure.

Detailed ways

The technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. It is apparent that the described embodiments are part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the described embodiments of the present disclosure without departing from the scope of the invention are within the scope of the disclosure.

It should be noted that all directional indications (such as up, down, left, right, front, back, ...) in the embodiments of the present disclosure are only used to explain between components in a certain posture (as shown in the drawing). Relative positional relationship, motion situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions in the present disclosure such as "first", "second", and the like are used for descriptive purposes only, and are not to be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include at least one of the features, either explicitly or implicitly. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless specifically defined otherwise.

In the present disclosure, the terms "connected", "fixed" and the like should be understood broadly, unless otherwise explicitly stated and defined. For example, "fixed" may be a fixed connection, a detachable connection, or an integral; It may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be an internal connection of two elements or an interaction relationship of two elements unless explicitly defined otherwise. The specific meanings of the above terms in the present disclosure can be understood by those skilled in the art on a case-by-case basis.

In addition, the technical solutions between the various embodiments of the present disclosure may be combined with each other, but must be based on the realization of those skilled in the art, and the combination of the technical solutions should be considered when the combination of technical solutions is contradictory or impossible to implement. It does not exist and is not covered by the protection required by the present disclosure.

The present disclosure proposes a control system and a control method for a semi-trailer and a semi-trailer, aiming at solving the problem that the existing semi-trailer easily causes a large short-term impact on the dynamic characteristics of the tractor when accelerating or braking.

Referring to FIGS. 1 and 3 , in the embodiment of the present disclosure, the semi-trailer includes a frame 10 , an axle 20 (eg, a transaxle) disposed under the frame 10 , and a first wheel disposed at one end of the axle 20 . 30 and a second wheel 40 provided at the other end of the axle 20. The axle 20 is provided with a brake air chamber 25, a brake air pipe 26 connected to the brake air chamber 25, and a brake friction plate 27 connected to the brake air pipe 26, and the brake friction plate 27 is used for the first wheel 30 and the second wheel 40. Mechanical braking. The semi-trailer is provided with an energy storage device 50, an inverter 60 connected to the energy storage device 50, and a motor 70 connected to the inverter 60. The inverter 60 is for converting direct current into alternating current, and the motor 70 is for assisting driving or braking the first wheel 30 and the second wheel 40. The vehicle controller 80 is also provided on the semi-trailer, and the vehicle controller 80 is used to adjust the working state of the motor 70 according to the running state of the semi-trailer and the remaining power of the energy storage device 50.

For example, the brake air chamber 25, the brake air tube 26, and the brake lining 27 are mechanical brake devices for a semi-trailer, and the semi-trailer is mechanically braked by friction. However, embodiments in accordance with the present disclosure are not limited thereto, and any other suitable mechanical brake device may be employed. In addition, the mechanical brake device here can be regarded as the original vehicle brake device (original vehicle brake device) of the semi-trailer. In addition, the semi-trailer according to an embodiment of the present disclosure also provides another braking mode in which the motor is used to brake the wheel and convert the energy of the motor braking into electrical energy for storage. Accordingly, some embodiments of the present disclosure provide a control system for a semi-trailer including an electromechanical energy conversion device configured to drive output of a wheel of a semi-trailer in a assisted state, or in a braking state Driving the wheel to convert the mechanical energy of the wheel into electrical energy; the energy storage device is electrically connected to the electromechanical energy conversion device, configured to output electrical energy to the electromechanical energy conversion device and receive the electromechanical conversion module And outputting electrical energy in a state of motion; and a controller coupled to the electromechanical energy conversion device and the energy storage device, configured to control switching between a state of charge and a state of discharge of the energy storage device, and a control Switching between the assist state and the brake state of the electromechanical energy conversion module. The semi-trailer according to the present disclosure may include the above-described control system.

In addition, the "motor" herein is merely an example of an electromechanical energy conversion device capable of converting mechanical energy into electrical energy and capable of converting electrical energy into mechanical energy, which may be any other suitable electromechanical energy conversion device in accordance with embodiments of the present disclosure. .

In an embodiment of the present disclosure, the semi-trailer may be provided with a plurality of sensing devices (eg, sensors) on the body of the vehicle, such as a camera, a radar sensor, a speedometer, etc., and the vehicle controller 80 is disposed on the semi-trailer. The sensing device determines the driving state of the semi-trailer. In another embodiment, a semi-trailer (not shown) can be attached to the tractor 9 as a heavy-duty truck, and the vehicle controller 80 can be operated according to the driver in the tractor 9 (stepping on the accelerator or stepping on the brakes) In order to judge the running state of the semi-trailer, in other embodiments, the semi-trailer can also be attached to other mobile devices having the traction function. Here, the "vehicle controller 80" is an example of the "controller" described above.

The energy storage device 50 is, for example, a battery pack, and may be other types of energy storage devices. There may be two or more support bridges (axes) on the semi-trailer. In this embodiment, there are three support bridges on the semi-trailer. For example, in order to avoid the space between the axles, the motor 70 is installed in the first. On a support bridge or a third support bridge, a support bridge with a motor 70 is called a drive axle. In addition, the semi-trailer adopts an air brake device, and the mechanical brake of the brake friction plate 27 can cooperate with the braking state of the motor 70. When the motor 70 cannot satisfy the braking of the first wheel 30 and the second wheel 40, the brake friction The sheet 27 can perform an auxiliary mechanical braking of the first wheel 30 and the second wheel 40.

In the technical solution of the present disclosure, the motor 70 is used to drive or brake the first wheel 30 and the second wheel 40, and the vehicle controller 80 is used to adjust the motor according to the running state of the semi-trailer and the remaining capacity of the energy storage device 50. In the working state of 70, the operating state of the motor 70 includes the assisting state and the braking state. For example, the assist state of the motor corresponds to its drive state, and the brake state of the motor corresponds to its power generation state. When the semi-trailer accelerates or goes uphill, and the remaining capacity of the energy storage device 50 is higher than the discharge threshold, the vehicle controller 80 can control the motor 70 to enter the assist state. At this time, the motor 70 applies the acceleration power to the semi-trailer and will store The power of the device 80 can be released to convert into the mechanical energy required for the semi-trailer. At this time, the motor 70 boosts the semi-trailer to save fuel. When the semi-trailer decelerates or goes downhill, and the remaining capacity of the energy storage device 50 is lower than the charging threshold, the vehicle controller 80 can control the motor 70 to enter the braking state, the motor 70 applies the deceleration braking force to the semi-trailer, and the semi-trailer The mechanical energy is converted into electrical energy stored in the energy storage device 80, which avoids waste of energy.

For example, the “discharge threshold” is a certain remaining power value set for the energy storage device. When the remaining power of the energy storage device is higher than the value, the energy of the energy storage device needs to be released; the “charge threshold” is a pointer to the energy storage device. A certain remaining power value is set, and when the remaining power of the energy storage device is lower than the value, the energy storage device needs to be charged.

When the semi-trailer is attached to the tractor 9, the semi-trailer with the electric motor 70 as the assist is used, and a considerable portion of the traction and braking force is received by the motor 70, and no force is applied to the tractor 9, and the tractor is not applied. The dynamic characteristics cause a large short-term impact, which is beneficial to improve the dynamic characteristics and driving stability of the tractor 9 and the semi-trailer. In addition, the energy storage device 50 and the motor 70 are disposed on the semi-trailer, and the energy storage device 50, the motor 70 and the fuel engine of the tractor 9 are coordinated by the vehicle controller 80 to form a substantially distributed hybrid system. No need to make any changes to the tractor 9 reduces the difficulty of electrification. In addition, the power of the motor 70 does not need to pass through a transmission system such as a gearbox, and the transmission efficiency is higher.

In some examples, when the semi-trailer is hooked on the tractor 9, the operating state of the motor 70 and its switching are determined according to the driver's operation of the tractor 9 and the state of the vehicle itself, and the vehicle controller 80 collects the tractor 9 The operational input and vehicle information determine the operating state of the motor 70. The operating state of the motor 70 is determined, for example, by three pieces of information: accelerator pedal information, brake pedal information, and remaining battery capacity (SOC) information of the battery pack.

When the accelerator pedal in the tractor 9 tends to be deepened, the vehicle controller 80 determines that the semi-trailer is accelerating or going uphill. When the accelerator pedal in the tractor 9 tends to become shallow, the vehicle controller 80 determines that the semi-trailer is decelerating. Or downhill.

When it is determined that the semi-trailer is accelerating or going uphill, if the vehicle controller 80 detects that the battery pack SOC is higher than the discharge threshold, the control motor 70 enters the assist state, and the motor 70 applies the acceleration power to the semi-trailer to charge the battery pack. The mechanical energy required to be converted into a semi-trailer is released; if the vehicle controller 80 detects that the battery pack SOC is lower than the discharge threshold, the control motor 70 does not output power.

When it is determined that the semi-trailer is decelerating or descending, if the vehicle controller 80 detects that the battery pack SOC is higher than the charging threshold, the control motor 70 does not output the braking force or controls the motor 70 to output the braking force, but is generated by the braking. The electric energy is not stored in the battery pack; if the vehicle controller 80 detects that the battery pack SOC is lower than the charging threshold, the control motor 70 enters the braking state, and the motor 70 applies the deceleration braking force to the semi-trailer and converts the mechanical energy of the semi-trailer. The electrical energy is stored in the battery pack.

If the vehicle controller 80 detects that the SOC of the battery pack is lower than the lower limit protection threshold for a long time, when the vehicle is in the cruise state, the vehicle controller 80 can control the motor 70 to enter the braking state, and collect part of the mechanical energy into electrical energy for the battery pack. Charging; when the battery pack SOC is higher than the upper limit protection threshold for a long time, the motor 70 can be controlled to enter the assist state, and the mechanical energy required to convert the electric energy into the semi-trailer is assisted by the tractor 9. The cruising state here refers to a state of traveling at a substantially uniform speed on a substantially flat road surface. For example, the "lower limit protection threshold" and the "upper limit protection threshold" are remaining charge values set for the energy storage device. For example, the lower limit protection threshold may be lower than the charge threshold, and the upper limit protection threshold may be higher than the discharge threshold, but embodiments according to the present disclosure are not limited thereto.

It should be noted that in most of the braking states of the heavy-duty truck (light brake), the braking power is lower than the power of the motor 70, that is, the motor 70 enters the braking state, and the brake of the semi-trailer can be satisfied. The power demand can avoid the intervention of the mechanical brake, so that the wear of the brake pad can be greatly reduced, the heat of the brake pad on the semi-trailer is small, and the cost of replacing the brake pad is saved. Moreover, the brake pads on the semi-trailer do not need to be drained to dissipate heat, and can also reduce the use of the water tank and the spray equipment, reduce the weight of the vehicle and simplify the vehicle body.

Additionally, the power transfer of the motor 70 to the first wheel 30 and the second wheel 40 can take a variety of forms. Referring to FIG. 2, in some embodiments, the axle 20 includes an axle 21 and the number of motors 70 is two. One of the two motors 70 is coupled to the first wheel 30 and the other motor 70 is coupled to the second wheel 40. The motor 70 includes a first stator 71 and a first rotor 72. The first stator 71 is sleeved on the axle 21, and the first rotor 72 is disposed outside the first stator 71, and one end of the first rotor 72 and the axle 21 are provided. In connection, the other end of the first rotor 72 is fixedly coupled to the first wheel 30 or the second wheel 40, and the first rotor 72 is rotatable relative to the axle 21 and the first stator 71. For example, the motor 70 is coupled to the rim 31 of the first wheel 30 or the second wheel 40. In some examples, the axle 20 includes an axle 21 that is coupled to the first wheel 30 at one end and to the second wheel 40 at the other end. The axle 21 has a higher support strength, and the first stator 71 is disposed on the axle 21, making full use of the axle 21 . Also, since there is no transmission structure, the power transmission efficiency of the motor 70 is high.

When the motor 70 is in the assist state, the first rotor 72 directly drives the hub through the rim 31, and the tire rotates; when the motor 70 is in the braking state, the motor applies a deceleration braking force to the semi-trailer, and the mechanical energy of the semi-trailer drives the first through the rim 31. The rotor 72 is rotated to generate electricity and converted into electrical energy for storage in the energy storage device 50.

Referring to FIG. 3, the motor 70 is further provided with a stator bracket 711 and a rotor bearing 721. The first stator 71 is fixedly connected to the axle 21 via the stator bracket 711, and one end of the first rotor 72 is connected to the axle 21 through the rotor bearing 721. The other end of a rotor 72 is fixedly coupled to the first wheel 30 or the second wheel 40. In addition, the stator bracket 711 and the rotor bearing 721 are respectively provided with a passage for the brake air pipe 26 to pass through, and the brake air pipe 26 is connected to the brake friction plate 27 through the passage, and the outer casing of the first rotor 72 is connected to the first wheel 30, for example, by the bolt 32. Or the rim 31 of the second wheel 40 is fixedly connected.

Referring to FIG. 4, in other embodiments, the axle 20 includes a differential (not labeled), the motor 70 is provided with a first output shaft 73, and the differential includes a planet carrier that meshes with the first output shaft 73. 221, two planet wheels 222 meshing with the planet carrier 221, two sun gears 223 meshing with the two planet wheels 222, and two second output shafts 224 connected in one-to-one correspondence with the two sun gears 223, wherein One second output shaft 224 is coupled to the first wheel 30 and the other second output shaft 224 is coupled to the second wheel 40. The axial direction of the first output shaft 73 is parallel to the axial direction of the second output shaft 224. The axial direction of the first output shaft 73 is parallel to the axial direction of the second output shaft 224, which is advantageous for maximizing the recovery of the braking energy of the semi-trailer, and the transmission mode is simple. The differential speed reduction can also be performed by the differential, and the control mode of the motor 70 is relatively simple.

In addition, referring to FIG. 5, in other embodiments, the axle 20 includes two half shafts 23 connected in one-to-one correspondence with the first wheel 30 and the second wheel 40, and an axle housing 24 connecting the two axle shafts 23, The number of the motors 70 is two, and the two motors 70 are disposed one by one on the two half shafts 23. The motor 70 includes a second stator 74 and a second rotor 75. The second rotor 75 is sleeved on the half shaft 23, The two stators 74 are sleeved outside the second rotor 75, and the axle housings 24 are sleeved outside the second stator 74. The second rotor 75 is disposed on the half shaft 23, and the second stator 74 is mounted on the axle housing 24. The motor 70 and the axle 20 are integrated into one body, and the direct output of the power of the motor 70 can be realized, and the efficiency is high.

Further, referring to FIG. 6, in other embodiments, the axle 20 includes two half shafts 23 connected in one-to-one correspondence with the first wheel 30 and the second wheel 40, and a axle housing 24 connecting the two axle shafts 23 The number of the motors 70 is two, the two motors 70 are disposed in one-to-one correspondence with the two half shafts 23, and the motor 70 is provided with a third output shaft 76, and the third output shaft 76 can drive the half shaft 23 to rotate, and the third output The axial direction of the shaft 76 is parallel to the axial direction of the half shaft 23. For example, two motors 70 are connected to the two half shafts 23 in a one-to-one correspondence by gears, and the axial direction of the third output shaft 76 is parallel to the axial direction of the half shaft 23, which is advantageous for maximizing the recovery of the braking energy of the semi-trailer and the transmission. The method is simple, and the design freedom of the motor 70 is high.

Additionally, in other embodiments, the axle 20 includes a through shaft (not shown). For example, the through shaft is a single through shaft as a whole, and the schematic structure can also refer to the axle 21 in FIG. There are two motors 70, one of which is disposed within the first wheel 30 and the other of which is disposed within the second wheel 40. The motor 70 includes a third stator (not shown) and a third rotor (not shown), the third stator is sleeved on the through shaft, the third rotor is sleeved outside the third stator, and the third rotor and the first wheel 30 or the second wheel 40 is fixedly coupled, and the third rotor is rotatable about the through shaft and the third stator. Two axle reducers (not shown) are also provided on the axle 20, and the two motors 70 and the two reducers are, for example, one-to-one corresponding to the space inside the hub of the first wheel 30 and the second wheel 40. When the motor 70 is in the assist state, the third rotor directly drives the hub and the tire to rotate; when the motor 70 is in the braking state, the motor 70 applies a deceleration braking force to the semi-trailer, and the mechanical energy of the semi-trailer drives the third rotor to generate power through the hub. The conversion to electrical energy is stored in the energy storage device 50. By combining the two motors 70 and the two reducers in a hub motor 70 solution that is disposed in the space inside the hub of the first wheel 30 and the second wheel 40, the installation space of the axle 20 can be effectively utilized, and the transmission efficiency can be utilized. high.

Further, an auxiliary power source (not shown) connected to the vehicle controller 80 may be disposed on the semi-trailer. When the energy storage device 50 fails, the auxiliary power source functions to store and release electric energy, thereby further ensuring Normal operation of the motor 70.

Further, the vehicle controller 80 is provided with a communication interface (not shown) for connecting to an external system, and the vehicle controller 80 can receive the control of the external device, and can pass the outside while ensuring that the battery pack SOC is normal. The system controls the motor 70 to be in a boost state or a brake state. Among them, the external system is, for example, a wire control, an electronically controlled brake system, or a smart driving system.

The relationship between the motor and the wheel described in the above embodiments is merely exemplary. For example, an electric machine according to an embodiment of the present disclosure includes a stator and a rotor, one of the stator and the rotor being configured to drive the wheel to rotate or to rotate under the driving of the wheel, the stator and the rotor The wheels are configured to rotate relative to each other such that the electric machine can drive the wheels or generate electricity under the wheels to brake the wheels. The form in which one of the stator and the rotor is configured to drive the wheel to rotate or to rotate under the driving of the wheel is not particularly limited, for example, one of the stator and the rotor may be fixed relative to the wheel, or both There may be some relative motion between the two, for example, the rotational speeds of the two are different.

The present disclosure also provides a method for controlling a semi-trailer. Referring to FIG. 7, in some embodiments of the method for controlling a semi-trailer, the following steps are included:

Step S1: determining the running state of the semi-trailer;

Step S2: determining whether the remaining power in the energy storage device is higher than a discharge threshold when the semi-trailer is accelerating or going uphill;

If so, controlling the motor to apply acceleration power to the semi-trailer, and releasing the electric energy in the energy storage device to convert into mechanical energy required by the semi-trailer;

If not, controlling the motor does not output power, that is, does not output driving power;

Step S3: determining whether the remaining power in the energy storage device is lower than a charging threshold when the semi-trailer is decelerating or descending;

If yes, controlling the motor to apply a deceleration braking force to the semi-trailer, and converting the mechanical energy of the semi-trailer into electrical energy to be stored in the energy storage device;

If not, controlling the motor does not output a braking force or the electrical energy generated by the motor due to braking is not stored in the energy storage device.

For example, the semi-trailer can set a plurality of sensing devices on the body of the vehicle, such as a camera, a radar sensor, a speedometer, etc., and the vehicle controller 80 determines the running state of the semi-trailer by the sensing device disposed on the semi-trailer, half The trailer can also be attached to the tractor 9 or other traction device. When the vehicle controller 80 detects that the accelerator pedal in the tractor 9 tends to be deepened, it is determined that the semi-trailer is in acceleration or uphill, when the vehicle controller When it is detected that the accelerator pedal in the tractor 9 tends to be shallow, it is judged that the semi-trailer is in a deceleration or downhill.

When the semi-trailer is in acceleration or uphill, if the vehicle controller 80 detects that the remaining amount of electricity in the energy storage device 50 is higher than the discharge threshold, the control motor 70 enters the assist state, and the motor 70 applies the acceleration power to the semi-trailer, and The electric energy in the energy storage device 50 is released to be converted into mechanical energy required for the semi-trailer; if the vehicle controller 80 detects that the remaining electric energy in the energy storage device 50 is lower than the discharge threshold, the vehicle controller 80 controls the motor 70 not to Output power.

When the semi-trailer is in a deceleration or downhill, if the vehicle controller 80 detects that the accelerator pedal in the tractor 9 tends to become shallow, it is determined that the semi-trailer is in a deceleration or downhill, if the vehicle controller 80 detects the storage If the remaining power in the energy device 50 is lower than the charging threshold, the motor 70 is controlled to enter the braking state, the motor 70 applies a deceleration braking force to the semi-trailer, and the mechanical energy of the semi-trailer is converted into electrical energy and stored in the energy storage device 50; When the vehicle controller 80 detects that the remaining power in the energy storage device 50 is higher than the charging threshold, the vehicle controller 80 controls the motor 70 not to output the braking force or the electric energy generated by the braking is not stored in the energy storage device 50.

Further, referring to FIG. 8, in other embodiments of the control method of the semi-trailer, the following steps are further included:

Step S4: determining whether the remaining power in the energy storage device is lower than a lower limit protection threshold within a preset time;

If so, the step of controlling the motor to apply a decelerating braking force to the semi-trailer and converting the mechanical energy of the semi-trailer into electrical energy for storage in the energy storage device.

If not, the step of judging the running state of the semi-trailer is entered.

For example, if the remaining power in the energy storage device 50 is below the charging threshold for a long time or below the lower limit protection threshold, the vehicle controller 80 can control the motor 70 to enter the braking state and collect part of the mechanical energy when the vehicle is in the cruise state. The energy storage device 50 is charged by conversion to electrical energy.

Further, referring to FIG. 9, in other embodiments of the control method of the semi-trailer, the following steps are further included:

Step S5: determining whether the remaining power in the energy storage device is higher than the upper limit protection threshold within a preset time;

If yes, the step of controlling the motor to apply acceleration power to the semi-trailer and releasing the electrical energy in the energy storage device into mechanical energy required by the semi-trailer;

If not, the step of judging the running state of the semi-trailer is entered.

When the remaining power in the energy storage device 50 is longer than the discharge threshold or higher than the upper limit protection threshold, the motor 70 can be controlled to enter the assist state, apply the acceleration power to the semi-trailer, and release the electric energy in the energy storage device 50 into The mechanical energy required for the semi-trailer is for the tractor 9 to assist.

In addition, the present disclosure also provides a hybrid vehicle (eg, a smart vehicle) including a tractor 9 and a semi-trailer as described above attached to the tractor, the vehicle controller 80 on the semi-trailer capable of being towed The operation of the driver in the vehicle (stepping on the accelerator or stepping on the brake) determines the running state of the semi-trailer, and adjusts the operating state of the motor 70 according to the running state of the semi-trailer and the remaining capacity of the energy storage device 50. Since the hybrid vehicle adopts all the technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the foregoing embodiments are not repeatedly described herein.

Referring to FIG. 10 and FIG. 11 , a schematic structural diagram of a hardware module of a semi-trailer 100 in some embodiments, the semi-trailer 100 includes a semi-trailer body 101 , the semi-trailer body 101 includes a plurality of wheels 11 , and The axles 11 corresponding to the wheels 11 are described one by one. For example, the semi-trailer of the present disclosure is a smart semi-trailer. For example, the axle can be a wheel drive shaft.

Generally, in use, the semi-trailer 100 is coupled with the tractor head to form an entire freight car vehicle, wherein the tractor head provides power, and the semi-trailer 100 is used as a cargo carrying device. The tractor 70 is completed under the pulling of the tractor head. Transport mission.

The control system of the semi-trailer 100 includes: at least one electromechanical energy conversion module 13, an energy storage module 14, a sensor module 15 and a control module 16; the electromechanical energy conversion module 13 is distributedly disposed on the axle 12 of the semi-trailer 100 on. The energy storage module 14 is connected to the electromechanical energy conversion module 13 , and the control module 16 is connected to the sensor module 15 , the energy storage module 14 and the electromechanical energy conversion module 13 . The control module 16 receives the operating parameter information of the semi-trailer obtained by the sensor module 15 and transmits the generated control command to the electromechanical energy conversion module 13 .

For example, the control module herein may include the vehicle controller described in the above embodiments, or may be other controllers.

In some examples, the at least one electromechanical energy conversion module 13 is disposed in a one-to-one correspondence with at least one axle 12 of the semi-trailer body 101, wherein the electromechanical energy conversion module 13 is in a driving state The axle 12 is driven to output, and the electromechanical energy conversion module 13 is driven by the axle 12 to convert electrical energy of the axle 12 into electrical energy in a power generation state. It should be noted that the electromechanical energy conversion module 13 may be an electromechanical energy conversion device. For example, the electromechanical energy conversion module 13 may be a motor (including a motor group) having a motor function and a generator function, and is not particularly limited herein.

In some examples, the electromechanical energy conversion module 13 can be used to drive an output to drive the axle 12 of the semi-trailer body 101 to drive the wheel to rotate; or to receive a rotational input of the axle 12 to convert the mechanical energy formed by the rotation Converted into electricity. The electromechanical energy conversion module 13 may be one or more groups, and the motor unit in the electromechanical energy conversion module 13 may be a wheel motor or a hub motor.

It can be understood that the electromechanical energy conversion module 13 can be used to drive the axle 12 while the semi-trailer 100 is also driven by the tractor head to advance or retreat.

The energy storage module 14 is electrically connected to the electromechanical energy conversion module 13 for outputting electrical energy to the electromechanical energy conversion module 13 and receiving electrical energy of the electromechanical energy conversion module 13 in a power generation state and storing.

It can be understood that the energy storage module 14 is connected to the electromechanical energy conversion module 13, and the energy storage module 14 can switch between a charging state and a discharging state. For example, the energy storage module 14 performs corresponding adjustment according to the operating state of the electromechanical energy conversion module 13, for example, when the electromechanical energy conversion module 13 performs driving output, the energy storage module 14 switches to a discharging state. To provide a driving force; the electromechanical energy conversion module 13 is driven by the axle 12 to convert the mechanical energy of the axle 12 into electrical energy. At this time, the energy storage module 14 is switched to a charging state to store the electromechanical energy. The electrical energy generated by the conversion module 13.

The energy storage module 14 may be an energy storage device. For example, the energy storage module 14 may include at least one energy type super capacitor or power type battery, or any other suitable type of battery having a charging and discharging function. The energy storage capacity of the energy storage module 14 can be selected according to the requirements of the semi-trailer body 101. For example, the energy storage module 14 may further include a power management circuit connected to the energy type super capacitor or power type battery, and the power management circuit accepts control of the control module 16 to control the energy storage module. 14 switching between the state of charge and the state of power generation.

Further, in an embodiment, a power monitoring module may be installed on the semi-trailer body 101, and the power monitoring module is connected to the control module 16 and the energy storage module 14 for monitoring the storage. The amount of power stored in the module 14 and the remaining amount of power are stored, and the amount of power stored by the energy storage module 14 and the remaining amount of power are transmitted to the control module 16. The control module 16 can control the charge and discharge degree and the charge and discharge state of the energy storage module 14 according to the power stored by the energy storage module 14 and the remaining power, or can obtain the current power of the energy storage module 14 in real time by the user. And remaining battery power. For example, the power detection module can be any suitable electronic device capable of detecting the amount of power of the energy storage module.

The sensor module 15 is configured to detect operation parameter information of the semi-trailer body 101. For example, the sensor module can be a sensor or a combination of multiple sensors. It can be understood that, in this embodiment, the sensor module 15 can be mounted on the semi-trailer body 101, and the sensor module 15 can acquire the surrounding environment information and the driver when the semi-trailer body 101 is traveling in real time. The status of itself (for example, information on the driver's operation of the throttle and/or brake) and the operating parameter information of the vehicle itself. The sensor module 15 may include a plurality of sensors, each of which is mounted at a corresponding position of the semi-trailer body 101 for detecting different parameters; for example, the brake pad temperature sensor is mounted on the brake pad of the semi-trailer body 101. To detect the temperature of the brake pad in real time; the wheel speed sensor is mounted on the wheel of the semi-trailer body 101 for measuring the wheel speed of the semi-trailer body 101. In other embodiments, the sensor module 15 can also be mounted on the tractor head or utilize an existing sensor on the intelligently driven vehicle.

In some examples, the sensor module 15 outputs the acquired operational parameter information to the control module 16 for the control module 16 to perform an analysis process. The operating environment and state of the semi-trailer body 101 are predicted in advance according to the operating parameter information.

The control module 16 is connected to the sensor module 15 , the energy storage module 14 and the electromechanical energy conversion module 13 for transmitting corresponding commands according to the operating parameter information of the semi-trailer body 101 obtained by the sensor module 15 . To the electromechanical energy conversion module 13 and the energy storage module 14 to control switching between the charging and discharging states of the energy storage module 14, and to control the driving state and power generation corresponding to the electromechanical energy conversion module 13 Switching between states.

For example, in the embodiment, the control module 16 is disposed on the semi-trailer body 101, and the control module 16 receives the operating parameter information of the semi-trailer body 101 acquired by the sensor module 15, and according to the operating parameter information, The operating state of the semi-trailer body 101 is determined to be a driving state or an energy recovery state, and then a corresponding control command is output, and the electromechanical energy conversion module 13 is controlled to switch to a corresponding operating state, and the energy storage module 14 is switched to An operating state (eg, a charge and discharge state) corresponding to the electromechanical energy conversion module 13. In other embodiments, the control module 16 can also be disposed on the tractor head or directly utilize the main control module of the tractor head.

For example, when the sensor module 15 detects that the semi-trailer body 101 is in the braking state, the operation information is uploaded to the control module 16, and the control module 16 monitors the storage according to the power quantity monitoring module. If the energy of the energy module 14 is not full, it may be determined that the semi-trailer body 101 is in an energy recovery state, and output corresponding control commands to the electromechanical energy conversion module 13 and the energy storage module 14, and the electromechanical energy conversion module 13 is switched to Generating the state, and receiving the driving of the axle 12, converting the mechanical energy generated by the semi-trailer body 101 into electrical energy, and the energy storage module 14 is switched to the charging state to receive and store the electrical energy; when the sensor module 15 monitors the location When the semi-trailer body 101 is in the braking state, the control module 16 detects that the energy storage module 14 is full according to the power monitoring module, and the semi-trailer body 101 cannot be in the energy recovery state. In the embodiment, the control module 16 implements optimal allocation of energy of the semi-trailer body 101 according to the operating parameter information of the semi-trailer body 101 acquired by the sensor module 15 .

Further, as shown in FIG. 11, the control system of the semi-trailer body 101 may further include a communication module 17 communicably connected to the external monitoring center or the surrounding vehicle for uploading the operating state of the semi-trailer body 101 to the The external monitoring center is described so that the external monitoring center can know the current running condition of the semi-trailer body 101 in real time and reduce traffic accidents. For example, the communication module can employ any suitable communication device that can accept or transmit information.

In this embodiment, by providing the control module 16, the electromechanical energy conversion module 13 and the sensor module 15 on the semi-trailer body 101, the energy of the semi-trailer body 101 can be effectively recovered, thereby improving energy utilization and safety. The semi-trailer body 101 is made to travel more smoothly. At the same time, the operating state of the semi-trailer body 101 can be predicted in time according to the operating parameter information acquired by the sensor module 15 to timely adjust the semi-trailer body 101.

The sensor module 15 includes at least one of the following sensors: an environment sensing sensor, a brake pad temperature sensor, an altimeter, a barometer, a vehicle radar speedometer, a distance sensor, an acceleration sensor, a GPS locator, a wheel speed sensor, and a brake. Pedal stroke sensor. In this embodiment, the sensor module 15 may include various sensors to obtain all operating parameters of the semi-trailer body 101 in an operating state.

The environment-aware sensor collects data about the surrounding environment of the semi-trailer body 101, and acquires road condition information of the road, for example, information such as road curvature, slope, road speed limit sign, color change of the traffic light, and the like. Information on the position of the semi-trailer body 101 and the surrounding obstacles, and the distance, speed, and the like of the obstacles such as the semi-trailer body 101 and surrounding vehicles, wherein the environment-sensing sensor is mainly a machine vision, a radar sensor, an ultrasonic sensor, and an infrared ray. Sensors, etc.

The brake pad temperature sensor is configured to detect the temperature of the brake pad when the semi-trailer body 101 enters a braking state; the altimeter can be used to measure a vehicle level and the like; the barometer can be used to measure atmospheric pressure, Determining an altitude of a location where the semi-trailer body 101 is currently located; the vehicle-mounted radar speedometer can be used to determine a traveling speed of the semi-trailer body 101; the distance sensor can be used to detect the semi-trailer body 101 and a reference a distance between the objects, wherein the distance sensor may be a light distance sensor, an ultrasonic distance sensor, or the like; the acceleration sensor is configured to measure an acceleration of the semi-trailer body 101 to understand a current motion state of the semi-trailer body 101; The GPS locator can be used to locate the geographic location and motion trajectory of the semi-trailer body 101 in real time, wherein the GPS locator generally has a GPS module and a mobile communication module built in to position the current position of the semi-trailer body 101. The information is uploaded to a server or the like; the wheel speed sensor can be used to measure the wheel turn of the semi-trailer body 101 The brake pedal stroke sensor can be used to detect whether the brake pad of the semi-trailer body 101 is used, and the pedaling time and the pedaling stroke of the brake pedal, thereby calculating the state of acquiring the brake pad.

It can be understood that the above specific sensors may be used alone or in combination. Under the premise that some sensors in the environment-aware sensor can achieve the same function, the same parameter can be obtained without using a separate sensor. No specific restrictions are imposed here.

Further, at least one axle 12 of the semi-trailer body 101 is correspondingly provided with one electromechanical energy conversion module 13 . The semi-trailer body 101 further includes a speed reducer disposed in one-to-one correspondence with the electromechanical conversion module.

The semi-trailer body 101 includes at least one axle 12, wherein at least one of the axles 12 is mounted with the electromechanical energy conversion module 13 and a speed reducer (not shown), wherein the reducer and the electromechanical energy The conversion modules 13 can be set individually or integrated. The speed reducer cooperates with the electromechanical energy conversion module 13 during use. During the running, when the electromechanical energy conversion module 13 is in the power generation state, the semi-trailer body 101 is decelerated, and at the same time, the mechanical energy generated during the deceleration is converted into electric energy.

Those skilled in the art will appreciate that the control system of the semi-trailer 100 illustrated in Figures 10 and 11 may also include more or fewer components than those illustrated, or some components may be combined, or different component arrangements.

Based on the above hardware configuration, various embodiments of the control method of the semi-trailer 100 in the present disclosure have been proposed.

Please refer to FIG. 12 , which is a flowchart 200 of a method for controlling a semi-trailer 100 in some embodiments provided by the present disclosure. The control method includes the following steps S10-S40 .

In step S10, the operating parameter information of the semi-trailer body 101 obtained by the sensor module 15 is obtained.

During driving, the sensor module 15 mounted on the semi-trailer body 101 or mounted on the tractor head senses the operating parameter information in real time, and transmits the operating parameter information to the control module 16, and adjusts the semi-trailer in time. The operating state of the body 101.

In this embodiment, the operating parameter information may include vehicle information and external environment information of the semi-trailer body 101. The operating parameter information of the semi-trailer body 101 includes at least one of the following parameter information: position information of the semi-trailer body 101, distance information between the semi-trailer body 101 and a preset road reference object, and the half Real-time distance information between the trailer body 101 and the preceding or following vehicle, the traveling vehicle speed information of the semi-trailer 100, the traveling direction information of the semi-trailer 100, the current traveling position information of the semi-trailer 100, and the current road bending Degree information, current road gradient information, current vehicle height information, acceleration information of the semi-trailer body 101, highway speed limit flag information, temperature information of the brake pad, whether the original vehicle brake is activated, and color information of the traffic light.

In step S20, it is determined whether the semi-trailer body 101 is in a preset energy recovery state or a preset driving state according to the operating parameter information of the semi-trailer body 101 obtained by the sensor module 15.

The sensor module 15 can divide the operating state of the semi-trailer body 101 into a preset energy recovery state and a driving state according to the operating parameter information of the semi-trailer body 101.

For example, in this embodiment, the preset energy recovery state includes at least one of the following conditions: a brake state, a current road gradient information is a downslope, the road curvature is greater than a preset curvature, and the half The current traveling speed of the trailer body 101 is greater than a preset vehicle speed or a limited vehicle speed value greater than the highway speed limit flag, the distance between the semi-trailer body 101 and the road reference object is less than a preset distance value, and the semi-trailer body 101 The distance from the preceding vehicle is less than a preset distance value, the brake temperature is greater than a preset temperature value, the color information of the traffic light is red, and the distance between the semi-trailer body 101 and the traffic light is less than Set the distance value.

The preset driving state includes at least one of the following conditions: the semi-trailer body 101 is in a starting state, the current road gradient information is an uphill, the acceleration of the semi-trailer body 101 is a positive value, and the road is curved. If the degree is less than the preset curvature, the current traveling speed of the semi-trailer body 101 is less than the preset vehicle speed or the limited vehicle speed value of the road speed limit sign, the distance between the semi-trailer body 101 and the road reference object is greater than the preset The distance value, the distance between the semi-trailer body 101 and the front vehicle is greater than a preset distance value, the color information of the traffic light is green, and the distance between the semi-trailer body 101 and the traffic light is greater than a preset Distance value.

It can be understood that the correspondence between the operating parameter information of the semi-trailer body 101 and the preset energy recovery state may be:

The onboard radar speedometer in the sensor module 15 detects the current vehicle speed of the semi-trailer body 101 and the current vehicle speed is decreasing, and the brake pedal stroke sensor detects that the brake is used, the control module 16 determines that the semi-trailer 100 is in a braking state.

The environment sensing sensor in the sensor module 15 detects that the current road is a slope road segment, and the GPS detects that the trailer runs from the side where the slope is high to the side with low ground, and the height meter detects the height. In the decrementing, the control module 16 determines that the semi-trailer 100 is in the downgrade state of the current road gradient information;

The distance sensor in the sensor module 15 detects that the distance between the semi-trailer body 101 and the road reference object is less than a preset distance value, or the distance between the semi-trailer body 101 and the preceding vehicle is less than The preset distance value, the control module 16 may determine that the semi-trailer 100 is in an energy recovery state requiring deceleration; or

The environment sensing sensor in the sensor module 15 detects that the color information of the traffic light is red, and the distance sensor detects that the distance between the semi-trailer body 101 and the traffic light is less than a preset distance value, and controls Module 16 may determine that the semi-trailer 100 is in an energy recovery state that requires deceleration.

It can be understood that the correspondence between the operating parameter information of the semi-trailer body 101 and the preset driving state may be:

The vehicle radar speedometer in the sensor module 15 detects that the current vehicle speed of the semi-trailer body 101 is 0 and the current vehicle speed is increasing, or the wheel speed sensor detects that the wheel speed of the trailer is 0, the GPS locator Detecting that the movement track of the semi-trailer 100 is not displaced or the displacement is less than a preset value, the control module 16 determines that the semi-trailer 100 is currently in a starting state;

The environment sensing sensor in the sensor module 15 detects that the current road is a slope road segment, and the GPS detects that the trailer runs from the side where the slope is low to the side with the high ground, and the height of the altitude detector detects the height. In increment, the control module 16 determines that the semi-trailer 100 is in an uphill state of the current road gradient information;

The acceleration sensor in the sensor module 15 detects that the acceleration of the semi-trailer body 101 is positive, and the distance sensor detects that the distance between the semi-trailer body 101 and the road reference object is greater than a preset. The distance value, or the distance between the semi-trailer body 101 and the preceding vehicle is greater than a preset distance value, and the control module 16 may determine that the semi-trailer 100 is in an accelerated driving state; or

The environment sensing sensor in the sensor module 15 detects that the color information of the traffic light is green, and the distance sensor detects that the distance between the semi-trailer body 101 and the traffic light is greater than a preset distance value, and controls The module 16 can determine that the semi-trailer 100 is in a drive state that can be accelerated.

In step S30, when the semi-trailer body 101 is in a preset energy recovery state, the control module 16 controls the energy storage module 14 to switch to a charging state, and controls the electromechanical energy conversion module 13 to switch to a power generation state.

It can be understood that, according to the operating parameter information acquired by the sensor module 15, the control module 16 determines that the semi-trailer body 101 is in an energy recovery state, such as between the semi-trailer body 101 and the preceding vehicle. When the distance is less than the preset distance value, the control module 16 may output a control instruction to the electromechanical energy conversion module 13 to control the electromechanical energy conversion module 13 to switch to a power generation state, and at the same time, the energy storage module 14 correspondingly Switching to a state of charge to store the electrical energy converted by the electromechanical energy conversion module 13 increases the driving force of the semi-trailer body 101.

In step S40, when the semi-trailer body 101 is in a preset driving state, the control module 16 controls the energy storage module 14 to switch to a discharging state, and controls the electro-mechanical energy conversion module 13 to switch to a driving state.

When the operating state of the semi-trailer body 101 is a preset driving state, the energy storage module 14 is switched to a discharging state, and the electromechanical energy conversion module 13 drives and outputs the axle 12 when the electromechanical energy When the conversion module 13 drives and outputs the axle 12, the electromechanical energy conversion module 13 indicates that the semi-trailer body 101 is in a driving state, and when the electromechanical energy conversion module 13 is driven by the axle 12, The semi-trailer body 101 is in a preset energy recovery state.

For the embodiment described in connection with FIG. 12, the steps can be summarized as follows: 1) determining the running state of the semi-trailer; 2) controlling the energy storage device and the electromechanical device according to the running state of the semi-trailer An energy conversion device to switch the energy storage device between a state of charge and a state of discharge and the electromechanical energy conversion device to switch between a state of assist and a state of braking.

In the present embodiment, the energy during traveling can be efficiently recovered, the energy utilization rate can be improved, and the driving force of the semi-trailer body 101 can be enhanced. At the same time, the control module 16 controls the electromechanical energy conversion module 13 to switch to the charging state, that is, the trailer enters the energy recovery state, and can also cooperate with the semi-trailer body 101 to decelerate, thereby avoiding the brake pad due to continuous use time. Too long, the brake pad temperature is too high, which reduces the safety performance of the trailer, reduces brake pad wear, improves the safety of the semi-trailer body 101, and saves energy. At the same time, the energy storage capacity of the energy storage module can be maximized to reduce the number of charge and discharge cycles of the energy storage module and prolong the service life of the energy storage module.

Further, referring to FIG. 13, a flowchart of a method for controlling the method of the semi-trailer 100 in other embodiments is presented. In these embodiments, the steps S10-S40 are the same as the embodiment of FIG. The difference is that the step 40 further includes steps S410-S430.

Step S410, determining, according to the position information of the semi-trailer body 101 obtained by the sensor module 15 and the current road gradient information, or according to the current vehicle height information of the semi-trailer body 101 obtained by the sensor module 15, Whether the semi-trailer body 101 is in an uphill state.

During the driving process, the sensor module 15 can detect the running state of the semi-trailer body 101 in real time, such as: calling an altimeter and a GPS sensor, detecting the geographical location information of the semi-trailer body 101, and passing The altimeter measures the slope information and the height information of the road where the semi-trailer body 101 is located. The control module 16 analyzes the slope information and the height information to determine whether the semi-trailer body 101 is performing a hill-climbing motion.

In other embodiments, the reference height and the slope may also be set, and the analysis determines whether the slope and height of the current road are within the range of the reference height and the slope, when the current road gradient and height exceed the reference height and the gradient. The control module 16 may determine that the semi-trailer body 101 is in an uphill state, and the control module 16 may determine the semi-trailer body 101 when the current road gradient and height are within a range of reference heights and slopes. There is no uphill movement.

Step S420, when the semi-trailer body 101 is in an uphill state, calculate whether the potential energy change when the semi-trailer body 101 is uphill is greater than the current road gradient information obtained by the sensor module 15 and the current vehicle height information. Preset threshold.

In the uphill phase, the semi-trailer body 101 needs to consume a large amount of energy, and the control module 16 controls the energy storage module 14 to switch to a discharge state to provide a driving force for the semi-trailer body 101 to complete an uphill movement.

In the downhill phase, the control module 16 controls the electromechanical energy conversion module 13 to switch to the energy recovery state, and the energy storage module 14 switches to the charging state to recover the energy generated by the semi-trailer body 101 during the downhill phase. At the same time, it can also assist the vehicle to slow down and reduce the wear and heat of the brake pads. It can be understood that the electric energy consumed during the running process is determined by the potential energy generated by the operation of the semi-trailer body 101, wherein the potential energy can be calculated according to the current road gradient information and the vehicle height information.

In step S430, when the potential energy change when the semi-trailer body 101 is uphill is greater than a preset threshold, the discharge ratio of the energy storage module 14 is determined, and the energy storage module 14 is when the semi-trailer body 101 is subsequently descending. The charge is ready.

In the ascending phase, the potential energy change of the semi-trailer body 101 is calculated according to the current road gradient information and the height information. When the potential energy change of the semi-trailer body 101 is greater than a preset threshold, the semi-trailer body 101 is illustrated. It is necessary to consume a large amount of electric power to increase the driving force and complete the climbing; at the same time, after the semi-trailer body 101 completes the uphill phase, it will enter the downhill phase, at this time, the energy storage module 14 of the semi-trailer body 101 The electric energy released by the consumption in the uphill phase can be sufficiently supplemented during the downhill process to reduce the number of times the energy storage module 14 is charged and discharged, prolong the service life of the energy storage module 14, and in the downhill phase, The electromechanical energy conversion module 13 enters a power generation state, and the semi-trailer body 101 can be decelerated to avoid excessive use of the brake pad brakes when going downhill, thereby causing the brake pad temperature to be too high, affecting the performance of the trailer.

It can be understood that the potential energy change of the semi-trailer body 101 is greater than a preset threshold, and according to the sensor module 15 detecting that the semi-trailer will enter a downhill phase, indicating that the current slope is large, the storage The power module 14 can supplement the consumed power during the downhill phase. At this time, the discharge ratio of the energy storage module 14 can be determined, that is, the power of the energy storage module 14 is completely discharged to increase the driving force and maximize the utilization. The energy storage capacity of the energy storage module 14 reduces the number of times the energy storage module 14 is charged and discharged; when the potential energy change of the semi-trailer body 101 is less than a preset threshold, the slope of the current road is small, and the following The slope of the downhill road section is small. Therefore, the electric energy of the energy storage module 14 of the semi-trailer body 101 can be used to drive the axle 12, or only part of the power can be released, because the subsequent downhill is small. There is no situation where the battery is quickly filled.

In addition, in other embodiments, the location information of the semi-trailer body 101 obtained according to the sensor module 15 and the current road gradient information, or the obtained current vehicle height information of the semi-trailer body 101 may be determined. Whether the current road is downhill next, the energy storage module 14 is controlled to discharge the power to be fully replenished in the downhill phase.

Further, please refer to FIG. 14 , and a flowchart of a method for controlling the method of the semi-trailer 100 in some embodiments is provided. In these embodiments, the steps S10 to S40 are the same as the embodiment of FIG. 12 , and details are not described herein again. The difference is that the step S40 further includes steps S440 and S450.

Step S440, determining, according to the position information of the semi-trailer body 101 obtained by the sensor module 15 and the current road gradient information, or according to the current vehicle height information of the semi-trailer body 101 obtained by the sensor module 15, Whether the semi-trailer body 101 is in a downhill state.

During the driving process, the sensor module 15 detects the running state of the semi-trailer body 101 in real time, for example, calling an altimeter and a GPS sensor, detecting the geographical location information of the semi-trailer body 101, and passing The altimeter measures the slope information and the height information of the road where the semi-trailer body 101 is located. The control module 16 analyzes the slope information and the height information to determine whether the semi-trailer body 101 is performing a downhill motion.

In step 450, when the semi-trailer body 101 is in a downhill state, the current road gradient information obtained by the sensor module 15 and the temperature information of the brake pad, and the remaining power of the energy storage module 14 are obtained. An interval between the original vehicle brake mode of the semi-trailer body 101 and the deceleration mode in which the electromechanical energy conversion module 13 is switched to the power generation state is determined.

In order to prevent the semi-trailer body 101 from being out of control due to the excessively fast speed of the semi-trailer body 101, thereby causing a traffic accident, the semi-trailer body 101 can be appropriately decelerated; The brake motor can be used to decelerate the semi-trailer body 101, and the electromechanical energy conversion module 13 can be switched to the power generation state by the control module 16 to achieve the deceleration purpose. It can be understood that the use of the brake pad deceleration is to reduce the traveling speed of the semi-trailer body 101 by the frictional resistance between the brake pad and the tire. During the braking process, the kinetic energy of the semi-trailer body 101 is converted into thermal energy, thereby increasing the temperature of the brake pad. When the temperature of the brake pad is too high, the brake pad is liable to cause failure, and the semi-trailer body 101 in the downhill phase is out of control, thereby causing a traffic accident, and at the same time, when the temperature of the brake pad is too high, it is easy. The tire that ignites the semi-trailer body 101 affects the safety of the semi-trailer body 101. Therefore, in the downhill process, the temperature of the brake pads needs to be monitored in real time.

In the embodiment, when the semi-trailer body 101 is downhill, the electromechanical energy conversion module 13 and the brake are alternately used according to the current road gradient information, the temperature information of the brake pad, and the remaining power of the energy storage module 14. The sheet decelerates the semi-trailer body 101. The interval frequency between the original vehicle brake mode of the semi-trailer body 101 and the deceleration mode in which the electromechanical energy conversion module 13 is switched to the power generation state may be set according to the performance of the vehicle, or may be The control module 16 performs setting based on the current road gradient information, the temperature information of the brake pads, and the analysis result of the remaining power of the energy storage module 14.

Further, please refer to FIG. 15 , and a flowchart of a method for controlling the method of the semi-trailer 100 in some embodiments is provided. In these embodiments, the steps S440 to S450 are the same as the embodiment of FIG. 14 , and details are not described herein again. The difference is that the step S440 further includes steps S441-S443.

In step S441, when the semi-trailer body 101 is in a downhill state, it is determined whether the temperature of the brake pad is greater than a preset temperature and whether the remaining capacity of the energy storage module 14 is less than a preset power.

When the semi-trailer body 101 is in a downhill state, in order to prevent the brake pads of the semi-trailer body 101 from being in a braking state, the temperature is too high, or the energy storage module 14 is in a sufficient amount of power for a long time, The energy storage module 14 cannot store the electrical energy converted by the electromechanical energy module, so that the deceleration of the semi-trailer body 101 cannot be achieved. In this embodiment, whether the brake pad is used and whether the electromechanical energy conversion module is switched to the power generation state can be determined by monitoring the temperature of the brake pad and the remaining power of the energy storage module 14 in real time.

For example, in this embodiment, the temperature of the brake pad obtained by the sensor module 15 can be compared with the preset temperature, and the remaining power of the energy storage module 14 is compared with the preset power, according to the ratio. As a result, it is judged whether it is suitable to continue to use the brake pad to decelerate the semi-trailer body 101, and whether it is suitable to switch the electromechanical energy conversion module 13 to a power generation state.

Step S442, when the temperature of the brake pad is greater than the preset temperature and the remaining power of the energy storage module 14 is less than the preset power, the electromechanical energy conversion module 13 is controlled to switch to the power generation state.

It can be understood that when the temperature of the brake pad is greater than the preset temperature and the remaining power of the energy storage module 14 is less than the preset power, the brake pad temperature of the semi-trailer body 101 has exceeded the safe use range, It is suitable for continued use. At the same time, the energy storage module 14 is in an unsaturated state, and the electrical energy generated by the electromechanical energy conversion module 13 can be stored. Therefore, in order to avoid the adverse effects caused by continuing to use the brake pad, and at the same time, the energy utilization rate is improved. To maximize the utilization of the energy storage module 14, the control module 16 of the semi-trailer body 101 can control the electromechanical energy conversion module 13 to switch to a power generation state to slow down the traveling speed of the semi-trailer body 101 when going downhill.

Step S443, when the temperature of the brake pad is less than a preset temperature and the remaining power of the energy storage module 14 is greater than a preset power, the semi-trailer body 101 is controlled to enable the original vehicle brake.

In this step, when the temperature of the brake pad is less than the preset temperature and the remaining power of the energy storage module 14 is greater than the preset power, the brake pad temperature of the semi-trailer body 101 is in a normal use state. In order to reduce the consumption of electric energy and avoid frequent charging and discharging of the energy storage module 14 to reduce the service life of the energy storage module 14, the original vehicle brake of the semi-trailer body 101 can be directly activated to achieve The semi-trailer body 101 performs the purpose of deceleration.

Further, please refer to FIG. 16 , and a flowchart of a method for controlling the method of the semi-trailer 100 in some embodiments is provided. The steps S10 to S40 are the same as the embodiment of FIG. 12 , and details are not described herein again. The step S40 further includes a step S50.

Step S50, according to the road condition information acquired by the communication module and the operating parameter information of the semi-trailer body 101 acquired by the sensor module 15, the driving state and the road condition of the semi-trailer body 101 in the next preset time. The environment information is predicted, and the energy recovery state or the preset driving state of the semi-trailer body 101 in the next preset time is controlled according to the prediction result.

It can be understood that, in step S50, during the running, the road condition information acquired by the communication module may include at least one of the following information: traffic flow of the road, road congestion degree information, road turning information, and regional traffic accident information. Cross-section information, road occupancy information, average speed information, and lane number information. For example, in the embodiment, the road condition information acquired by the communication module is combined with the operating parameter information of the semi-trailer body 101 acquired by the sensor module, and the semi-trailer body 101 is predicted to be in the next road segment. Whether deceleration processing is required or not, the electromechanical energy conversion module 13 is correspondingly controlled to switch to an energy recovery state or a driving state. For example, when the communication module acquires a traffic jam in front, and the sensor module 15 acquires a distance between the front vehicle and the semi-trailer 100, it is predicted that the semi-trailer body 101 will enter traffic congestion. The area, which indicates that the semi-trailer body 101 needs to perform deceleration processing when entering the road section within a preset time period, that is, when the semi-trailer body 101 enters the road section, the control module 16 controls the electromechanical energy conversion. The module 13 switches to a preset energy recovery state; or when the communication module acquires an intersection as an intersection and the sensor module 15 acquires the slope information of the road as an uphill slope, predicting the semi-trailer body 101 The hill climbing is about to be performed, and at this time, the electromechanical energy conversion module 13 can be controlled to be switched to the driving state within a preset period of time. By predicting the running state of the semi-trailer body 101, the safety of the semi-trailer body 101 can be ensured, and at the same time, energy-optimized dispensing can be achieved.

Further, referring to FIG. 17, a flowchart 202 of a method for controlling a semi-trailer 100 in some embodiments is provided. The steps S10-S40 are the same as the embodiment of FIG. 12, and are not described herein again. The step S40 further includes steps S60 and S70.

Step S60, calculating the current kinetic energy of the semi-trailer body 101 according to the current traveling speed and quality of the semi-trailer body 101.

It can be understood that during the running of the semi-trailer body 101, energy conversion can be realized, and the electric energy in the energy storage module 14 of the semi-trailer body 101 is converted into the kinetic energy of the semi-trailer body 101. For example, the kinetic energy of the semi-trailer body 101 can be calculated based on the current traveling speed and mass of the semi-trailer body 101.

Step S70, determining the power generation power when the electromechanical energy conversion module 13 is in the power generation state according to the kinetic energy of the semi-trailer body 101 and the preset condition.

In the present embodiment, according to the kinetic energy generated by the semi-trailer body 101 in the running state and the conversion efficiency between the energy, the power generation power when the electromechanical energy conversion module 13 is in the power generation state can be determined. For example, in a traffic congestion section, frequent braking is required. At this time, the control module 16 controls the electromechanical energy conversion module 13 to switch to a power generation state to recover energy; of course, the power generation power can be set to be low, and the power can be directly used. The foot brake controls the brakes, and does not use the electromechanical energy conversion module 13 to affect the travel of the vehicle, facilitating the driver's operation. For example, when the semi-trailer body 101 is in a high-speed running state, the kinetic energy is large, and the semi-trailer body 101 can be energy-recovered normally when braking or downhill because the semi-trailer body 101 is traveling at a high speed. If the obstacle is needed, the deceleration needs to be performed in time. At this time, the electromechanical energy conversion module 13 can control the working power as large as possible while in the power generation state. It can be understood that when the power of the energy storage module 14 is sufficient, the controllable power is 0. At this time, the electromechanical energy conversion module 13 is in a power generation state, and the operating power thereof can be controlled as small as possible.

Further, in an optional embodiment, the control method of the semi-trailer 100 further includes: step S80, according to current road curvature information obtained by the sensor module 15, and/or corresponding to the semi-trailer 100 The rotation angle information of the steering wheel sent by the tractor determines the turning direction and speed of the semi-trailer body 101;

Step 90: Control the driving output power of the electromechanical energy conversion module 13 corresponding to the different wheels 11 according to the determined turning direction and speed of the semi-trailer body 101.

For example, the current road curvature information includes, but is not limited to, information such as a road curve radius. The tractor may further be provided with an angle sensor for detecting a turning angle of the steering wheel, wherein the tractor is established with a communication connection with the semi-trailer 100, for example, the tractor is controlled by the bus and the control The modules 16 are communicatively coupled to each other to transmit the turning angle information of the steering wheel and the steering light information of the tractor obtained by the angle sensor provided on the tractor to the control module of the semi-trailer 100.

In this embodiment, it is determined whether the semi-trailer body 101 is in the present state by the current road curvature information, and/or the rotation angle information of the steering wheel transmitted by the tractor corresponding to the semi-trailer 100, and the steering light information of the tractor. Or, the turning state of the semi-trailer body 101 is predicted to control the output power of the electromechanical energy conversion module 13, thereby controlling the traveling speed and the turning angle of each wheel of the semi-trailer 100.

For example, when the vehicle enters a left turn, the angle sensor detects the turning angle of the steering wheel, and the main control module of the tractor acquires the opening or closing information of the left and right turn signals, and sends the information to the semitrailer; and the half The environment sensing sensor on the trailer body 101 detects the curvature of the road; the control module 16 determines the traveling direction and the traveling speed of the semi-trailer 100 by analyzing the above data, and determines the electromechanical conversion module 13 corresponding to each wheel 11 The output power is such that the right wheel travels faster than the left wheel, thereby enabling the auxiliary steering drive function of the semi-trailer 100.

In the present embodiment, the output power of the electromechanical energy conversion module 13 is controlled according to the turning angle of the steering wheel or the current road curvature information to provide a lateral driving force to assist the semi-trailer body 101 to perform steering.

The present disclosure also provides a semi-trailer 100 comprising a semi-trailer body 101 and a control system as described in any of the above embodiments.

The present disclosure also provides an intelligent vehicle including a tractor head and a semi-trailer 100 as described above.

In the semi-trailer described in the above embodiments, the frame, the semi-trailer body and the like may refer to other components than the control system in the embodiment of the present disclosure, which may increase or decrease the number of components therein according to actual needs. And kind. In addition, since the semi-trailer body occupies most of the overall quality of the semi-trailer, the above description about the operating parameter information (such as driving state, position, etc.) of the traveling state of the semi-trailer body can also be considered as a semi-trailer. Description of the operational parameter information.

The vehicle controller, controller, control module or other modules described in the above embodiments may be implemented in software for execution by various types of processors. For example, an identified executable code module can comprise one or more physical or logical blocks of computer instructions, which can be constructed, for example, as an object, procedure, or function. Nevertheless, the executable code of the identified modules need not be physically located together, but may include different instructions stored in different physicalities. When these instructions are logically combined, they constitute a module and achieve the specified purpose of the module. .

In practice, the executable code module can be a single instruction or a number of instructions, and can even be distributed across multiple different code segments, distributed among different programs, and distributed across multiple memory devices. As such, operational data may be identified within the modules and may be implemented in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed at different locations (including on different storage devices), and may at least partially exist as an electronic signal on a system or network.

For example, the executable code described above can be stored on a memory and can be executed by the processor to perform the corresponding operations. For example, a control system for a semi-trailer according to an embodiment of the present disclosure includes: an electromechanical energy conversion device configured to drive output of a wheel of a semi-trailer in a driving state, or to receive the wheel in a power generation state Driving, converting mechanical energy of the wheel into electrical energy; an energy storage device electrically connected to the electromechanical energy conversion device for outputting electrical energy to the electromechanical energy conversion device and receiving the electromechanical conversion module to output in a power generation state The electrical energy is stored and stored; a processor; a memory; and computer program instructions stored in the memory, the various steps of the control method of the present common embodiments being performed when the computer program instructions are executed by the processor. For the various steps performed, reference may be made to the above control method of the semi-trailer, and details are not described herein again.

When the vehicle controller, controller, control module or other modules can be implemented by software, considering the level of the existing hardware process, the modules that can be implemented in software, regardless of cost, those skilled in the art Corresponding functions can be implemented by constructing corresponding hardware circuits including conventional Very Large Scale Integration (VLSI) circuits or gate arrays and existing semiconductors such as logic chips, transistors, or other discrete components. The modules can also be implemented with programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices, and the like. Therefore, the above vehicle controller, controller or control module may be a control circuit.

Moreover, an implementation of the present disclosure also provides a computer program product comprising a computer readable storage medium having stored thereon computer program instructions executable by a processor The processor is caused to perform some or all of the steps included in the control method of each of the above embodiments.

Some embodiments of the present disclosure provide the following products and methods.

(1) A semi-trailer comprising a frame, an axle disposed under the frame, a first wheel disposed at one end of the axle, and a second wheel disposed at the other end of the axle, The axle is provided with a brake air chamber, a brake air pipe connected to the brake air chamber, and a brake friction plate connected to the brake air pipe, wherein the brake friction plate is used for the first wheel and the first The two wheels are mechanically braked, and the semi-trailer is provided with an energy storage device, an inverter connected to the energy storage device, and a motor connected to the inverter, the motor being used for the first The wheel and the second wheel are assisted driving or braking, and the semi-trailer is further provided with a vehicle controller for using the running state of the semi-trailer and the remaining of the energy storage device The amount of electricity is used to adjust the operating state of the motor.

(2) The semi-trailer according to (1), wherein the axle includes an axle, the number of the motors is two, one of the motors is connected to the first wheel, and the other of the motors is The second wheel is connected, the electric machine includes a first stator and a first rotor, the first stator is sleeved on the axle, and the first rotor is disposed outside the first stator. One end of the first rotor is coupled to the axle, and the other end of the first rotor is fixedly coupled to the first wheel or the second wheel, the first rotor being rotatable relative to the axle and the The first stator rotates.

(3) The semi-trailer according to (2), wherein the motor is further provided with a stator bracket and a rotor bearing, the first stator being fixedly coupled to the axle through a stator bracket, the first rotor One end is coupled to the axle through the rotor bearing, and the other end of the first rotor is fixedly coupled to the first wheel or the second wheel.

(4) The semi-trailer according to (3), wherein the stator bracket and the rotor bearing are each provided with a passage through which the brake air pipe passes.

(5) The semi-trailer according to (1), wherein the axle includes a differential, the motor is provided with a first output shaft, and the differential includes meshing with the first output shaft a planet carrier, two planet wheels meshing with the planet carrier, two sun gears meshing with both of the planet wheels, and two second output shafts connected in one-to-one correspondence with the two sun gears One of the second output shafts is coupled to the first wheel, and the other of the second output shafts is coupled to the second wheel, the axial direction of the first output shaft and the second output shaft Axial parallel.

(6) The semi-trailer according to (1), wherein the axle includes two half shafts that are connected in one-to-one correspondence with the first wheel and the second wheel, and two half shafts that connect the two axles a axle housing, the number of the motors is two, two of the motors are disposed correspondingly on the two half shafts, the motor includes a second stator and a second rotor, and the second rotor is sleeved on On the half shaft, the second stator is sleeved outside the second rotor, and the axle housing is sleeved outside the second stator.

(7) The semi-trailer according to (1), wherein the axle includes two half shafts that are connected in one-to-one correspondence with the first wheel and the second wheel, and two half shafts that connect the two axles a axle housing, the number of the motors is two, two of the motors are disposed in one-to-one correspondence with the two half shafts, and the motor is provided with a third output shaft, and the third output shaft can drive the The shaft rotates, and the axial direction of the third output shaft is parallel to the axial direction of the half shaft.

(8) The semi-trailer according to (1), wherein the axle includes a through shaft, and the number of the motors is two, one of the motors is disposed in the first wheel, and the other is a motor is disposed in the second wheel, the motor includes a third stator and a third rotor, the third stator is sleeved on the through shaft, and the third rotor is sleeved outside the third stator And the third rotor is fixedly coupled to the first wheel or the second wheel, and the third rotor is rotatable about the through shaft and the third stator.

The semi-trailer according to any one of (1) to (8), wherein the semi-trailer is further provided with an auxiliary power source connected to the vehicle controller.

(10) The semi-trailer according to any one of (1), wherein the vehicle controller is provided with a communication interface for connecting with an external system, and the vehicle controller is capable of receiving Control of the external system.

(11) A method of controlling a semi-trailer according to any one of (1) to (10), comprising the steps of: determining a running state of the semi-trailer; when the semi-trailer is accelerating or going uphill Determining whether the remaining amount of electricity in the energy storage device is higher than a discharge threshold; if so, controlling the motor to apply acceleration power to the semi-trailer, and releasing the electric energy in the energy storage device to be converted into the semi-trailer The required mechanical energy; if not, controlling the motor to not output power; when the semi-trailer is decelerating or descending, determining whether the remaining capacity in the energy storage device is lower than a charging threshold; if so, controlling the motor Applying a deceleration braking force to the semi-trailer, and converting the mechanical energy of the semi-trailer into electric energy stored in the energy storage device; if not, controlling the motor not to output a braking force or the motor is generated by braking Electrical energy is not stored in the energy storage device.

(12) The control method of the semi-trailer according to (11), wherein the control method of the semi-trailer further comprises the step of: determining whether the remaining amount of electricity in the energy storage device is lower than a lower limit protection within a preset time a threshold; if yes, a step of controlling the motor to apply a deceleration braking force to the semi-trailer, and converting the mechanical energy of the semi-trailer into electrical energy stored in the energy storage device; if not, entering to determine the semi-trailer The steps of the driving state.

(13) The method for controlling a semi-trailer according to (11), wherein the control method of the semi-trailer further comprises the step of: determining whether a remaining amount of power in the energy storage device is higher than an upper limit protection within a preset time a threshold; if yes, a step of controlling the motor to apply acceleration power to the semi-trailer and releasing the electrical energy in the energy storage device into mechanical energy required by the semi-trailer; The steps of the driving state of the semi-trailer.

(14) A hybrid vehicle comprising a tractor and a semi-trailer according to any one of (1) to (10) attached to the tractor.

(15) A control system for a semi-trailer, comprising: a semi-trailer body, at least one wheel disposed on the semi-trailer body, and an axle corresponding to the wheel one-to-one, characterized in that the control system of the semi-trailer The method includes: at least one electromechanical energy conversion module disposed in a one-to-one correspondence with the axle of the semi-trailer body, wherein the electromechanical energy conversion module drives and outputs the axle in a driving state, and the electromechanical energy conversion The module is driven by the axle to convert mechanical energy of the axle into electrical energy in a power generating state; the energy storage module is electrically connected to the electromechanical energy conversion module for outputting electrical energy to the electromechanical energy conversion module and receiving the And outputting electrical energy of the electromechanical energy conversion module in a power generation state; the sensor module is configured to detect operation parameter information of the semi-trailer body; the control module, the sensor module, the energy storage module, and the electromechanical energy conversion module a connection, configured to send, according to the operating parameter information of the semi-trailer body obtained by the sensor module Corresponding instructions are sent to the electromechanical energy conversion module to control switching between charging and discharging states of the energy storage module and to control switching between the driving state and the power generation state corresponding to the electromechanical energy conversion module.

(16) The control system for a semi-trailer according to (15), wherein the sensor module comprises at least one of the following sensors: an environment-aware sensor, a brake pad temperature sensor, an altimeter, a barometer, an on-board radar velociator, Distance sensor, acceleration sensor, GPS positioner, wheel speed sensor, and brake pedal travel sensor.

(17) A control method for a control system of a semi-trailer according to any one of (15) to (16), comprising the steps of: acquiring operation parameter information of the semi-trailer body obtained by the sensor module; The operation parameter information of the semi-trailer body obtained by the sensor module determines that the state of the semi-trailer body is in a preset energy recovery state or a preset driving state; the preset energy is in the semi-trailer body In the recovery state, the control module controls the energy storage module to switch to the charging state, and controls the electromechanical energy conversion module to switch to the power generation state; when the semi-trailer body is in the preset driving state, the control module controls the storage The energy module is switched to a discharge state, and the electromechanical energy conversion module is controlled to be switched to a driving state.

(18) The control method of (17), wherein the operating parameter information of the semi-trailer body comprises at least one of the following parameter information: position information of the semi-trailer body, the semi-trailer body and a preset Distance information between road reference objects, real-time distance information between the semi-trailer body and the preceding or following vehicle, traveling speed information of the semi-trailer body, current road curvature information, current road gradient information, current vehicle Height information, acceleration information of the semi-trailer body, highway speed limit flag information, temperature information of the brake pad, and color information of the traffic light; the preset energy recovery state includes at least one of the following conditions: The position information of the semi-trailer body, the braking state, the current road gradient information is downhill, the road curvature is greater than a preset curvature, the current traveling speed of the semi-trailer body is greater than a preset vehicle speed, or greater than a highway speed limit flag. Defining a vehicle speed value, a distance between the semi-trailer body and a road reference object is less than a preset distance value, the semi-trailer body and the front The distance between the distance is less than a preset distance value, the brake temperature is greater than a preset temperature value, the color information of the traffic light is red, and the distance between the semi-trailer body and the traffic light is less than a preset distance value. The preset driving state includes at least one of the following conditions: the semi-trailer body is in a starting state, the current road gradient information is an uphill, the acceleration of the semi-trailer body is a positive value, and the road curvature is Less than a preset curvature, a current traveling speed of the semi-trailer body is less than a preset vehicle speed or a limited vehicle speed value smaller than a highway speed limit flag, and a distance between the semi-trailer body and a road reference object is greater than a preset distance value The distance between the semi-trailer body and the front vehicle is greater than a preset distance value, the color information of the traffic light is green, and the distance between the semi-trailer body and the traffic light is greater than a preset distance value.

(19) The control method according to (18), further comprising the steps of: obtaining, according to the position information of the semi-trailer body obtained by the sensor module, current road gradient information, or the semi-trailer obtained according to the sensor module The current vehicle height information of the body determines whether the semi-trailer body is in an uphill state; when the semi-trailer body is in an uphill state, calculating according to the current road gradient information obtained by the sensor module and current vehicle height information Whether the potential energy change when the semi-trailer body is uphill is greater than a preset threshold; when the potential energy change when the semi-trailer body is uphill is greater than a preset threshold, determining a discharge ratio of the energy storage module is the semi-trailer The body is subsequently prepared for charging of the energy storage module when going downhill.

(20) The control method according to (18), further comprising the steps of: obtaining, according to the position information of the semi-trailer body obtained by the sensor module, current road gradient information, or the semi-trailer obtained according to the sensor module The current vehicle height information of the body determines whether the semi-trailer body is in a downhill state; when the semi-trailer body is in a downhill state, acquiring the current road gradient information obtained by the sensor module and the brake pad The temperature information, and the remaining power of the energy storage module, determine an interval between the original vehicle brake mode of the semi-trailer body and the deceleration mode of the electromechanical energy conversion module being switched to the charging state.

(21) The control method according to (20), wherein the determining whether the semi-trailer body is based on position information of the semi-trailer body, current road gradient information, and current vehicle height information obtained by the sensor module After the step of the downslope state, the method further includes: determining whether the temperature of the brake pad is greater than a preset temperature and whether the remaining capacity of the energy storage module is less than a preset power amount when the semi-trailer body is in a downhill state; Controlling the electromechanical energy conversion module to switch to a charging state when the temperature of the brake pad is greater than a preset temperature and the remaining power of the energy storage module is less than a preset power; the temperature of the brake pad is less than a preset temperature and the energy storage The remaining power of the module is greater than the preset amount, and the main body brake is controlled by the semi-trailer body.

(22) The control method according to (21), wherein the semi-trailer is further provided with a communication module for communicating with an external monitoring center or a surrounding vehicle, the control method further comprising: according to the communication module Obtaining the road condition information and the operating parameter information of the semi-trailer body acquired by the sensor module, predicting a running state of the semi-trailer body in a next preset time and road environment information, and according to the The prediction result controls the energy recovery state or the preset driving state of the semi-trailer body in the next preset time.

(23) The control method according to (17), further comprising the step of: calculating a current kinetic energy of the semi-trailer body according to a current traveling speed and quality of the semi-trailer body; a condition for determining a power generation power when the electromechanical energy conversion module is in a power generation state; or a step of: transmitting current road curvature information obtained by the sensor module, and/or a tractor corresponding to the semi-trailer Determining the turning direction and speed of the semi-trailer body by controlling the turning angle information of the steering wheel and the turning lamp information; controlling the electromechanical energy conversion corresponding to the different wheels according to the determined turning direction and speed of the semi-trailer body The drive output power of the module.

(24) An intelligent vehicle comprising a tractor head and a semi-trailer, wherein the semi-trailer includes a semi-trailer body and a control system of the semi-trailer according to any one of (15)-(16).

In the technical solution of the present disclosure, the semi-trailer can be attached to a tractor or other mobile device having a traction function, and the motor can be used for assisting driving or braking the first wheel and the second wheel, and the vehicle controller can be driven according to the traction. The driver's operation in the car (stepping on the accelerator or stepping on the brake) to determine the running state of the semi-trailer, and adjusting the working state of the motor according to the driving state of the semi-trailer and the remaining capacity of the energy storage device, the working state of the motor including the assisting state And the braking state, when the semi-trailer accelerates or goes uphill, and the remaining capacity of the energy storage device is higher than the discharge threshold, the vehicle controller can control the motor to enter the assist state, at this time, the motor applies the acceleration power to the semi-trailer, and The energy of the energy storage device is released and converted into the mechanical energy required for the semi-trailer. The motor assists the semi-trailer to improve the power performance of the tractor, reduce the power demand of the fuel engine in the tractor, save fuel, and slow down in the semi-trailer. When the downhill is down and the remaining capacity of the energy storage device is lower than the charging threshold, the vehicle controller can control the motor to enter the braking state. , The deceleration braking force is applied to the motor trailer, semi-trailer and the mechanical energy is converted to electrical energy stored in the energy storage device, it is possible to avoid waste of energy. Moreover, with the semi-trailer with the electric motor as the assist, a considerable part of the traction and braking force is absorbed by the motor, and no longer exerts a force on the tractor, which will not cause a great short-term impact on the dynamic characteristics of the tractor, which is beneficial to Improve the dynamic characteristics and driving stability of tractors and semi-trailers. In addition, the energy storage device and the motor are arranged on the semi-trailer, and the fuel-storage device of the energy storage device, the motor and the tractor is coordinated by the vehicle controller to form a substantially parallel hybrid system, without any need for the tractor. The modification reduces the difficulty of motorization, and the motor power does not need to pass through a transmission system such as a gearbox, and the transmission efficiency is higher.

The control system and the control method of the semi-trailer provided by the present disclosure are simple and easy to implement, and the electromechanical energy module can be controlled to switch between the driving state and the power generation state according to the operating parameter information of the semi-trailer body acquired by the sensor module. In order to improve the energy utilization rate, at the same time, the running state of the semi-trailer can be predicted in advance according to the sensor module.

The above description is only an exemplary embodiment of the present disclosure, and is not intended to limit the scope of the disclosure. The scope of the disclosure is determined by the appended claims.

Claims

A semi-trailer control system comprising:

An electromechanical energy conversion device configured to drive output of a wheel of a semi-trailer in a assist state or, in a braking state, to convert mechanical energy of the wheel into electric energy by being driven by the wheel;

An energy storage device electrically coupled to the electromechanical energy conversion device, configured to output electrical energy to the electromechanical energy conversion device and to receive and store electrical energy output by the electromechanical energy conversion device in a braking state;

a controller coupled to the electromechanical energy conversion device and the energy storage device, configured to control switching between a state of charge and a state of discharge of the energy storage device, and to control a state of assist and operation of the electromechanical energy conversion device Switching between dynamic states.
The control system for a semi-trailer according to claim 1, further comprising: a sensor configured to detect operation parameter information of the semi-trailer, wherein the controller is coupled to the sensor to obtain the sensor according to the sensor The operating parameter information of the semi-trailer controls the energy storage device and the electromechanical energy conversion device.
The control system for a semi-trailer according to claim 2, wherein said sensor comprises at least one of the following sensors:

Environmental sensing sensors, brake pad temperature sensors, altimeters, barometers, vehicle radar speedometers, distance sensors, acceleration sensors, GPS positioners, wheel speed sensors, and brake pedal travel sensors.
A control system for a semi-trailer according to any one of claims 1 to 3, wherein said controller is provided with a communication interface for connecting with an external system, and is configured to be capable of receiving a control command of said external system.
A semi-trailer comprising the control system of the semi-trailer according to any one of claims 1 to 4, further comprising: an axle connected to the wheel of the semi-trailer, the wheel comprising a first wheel and a second wheel, respectively Provided at both ends of the axle.
The semi-trailer according to claim 5, wherein said electromechanical energy conversion device comprises a motor, said motor comprising a stator and a rotor, one of said stator and said rotor being configured to drive said wheel to rotate or Rotating under the driving of the wheel, the stator and the rotor are configured to rotate relative to each other, the electric machine being configured to drive the wheel to rotate or generate electricity under the driving of the wheel to brake the wheel .
A semi-trailer according to claim 5 or 6, wherein said electromechanical energy conversion device comprises two motors, one of said two motors being coupled to said first wheel, and the other of said two motors Said second wheel connection;

The electric machine includes a first stator and a first rotor, the first stator is sleeved on the axle, the first rotor is disposed outside the first stator, and the first rotor is One end is fixedly coupled to the first wheel or the second wheel to be rotatable relative to the axle and the first stator.
The semi-trailer according to claim 7, wherein the motor is further provided with a stator bracket and a rotor bearing, and the first stator is fixedly connected to the axle through the stator bracket, and the first rotor An opposite end of one end of the first wheel or the second wheel fixedly connected is coupled to the axle through the rotor bearing.
A semi-trailer according to claim 5, further comprising: a differential, said electromechanical energy conversion device comprising a motor, said motor having a first output shaft, said differential including said first output shaft An engaged planet carrier, two planet wheels meshing with the planet carrier, two sun gears meshing with both of the planet wheels, and two seconds connected in one-to-one correspondence with the two sun gears An output shaft, wherein one of the second output shafts is coupled to the first wheel, and the other of the second output shafts is coupled to the second wheel, an axial direction of the first output shaft and the second output The axial direction of the shaft is parallel.
A semi-trailer according to claim 5 or 6, wherein said electromechanical energy conversion device comprises two motors, said axle comprising two half shafts connected in one-to-one correspondence with said first wheel and said second wheel, and Connecting two axle shells of the half shaft, the two motors are disposed correspondingly on the two axle shafts, the motor includes a second stator and a second rotor, and the second rotor is sleeved in the On the half shaft, the second stator is sleeved outside the second rotor, and the axle housing is sleeved outside the second stator.
A semi-trailer according to claim 5 or 6, wherein said electromechanical energy conversion device comprises two motors, said axle comprising two half shafts connected in one-to-one correspondence with said first wheel and said second wheel, and Connecting two axle shells of the half shaft, the two motors are disposed in one-to-one correspondence with the two half shafts, and the motor is provided with a third output shaft, and the third output shaft is configured to drive The half shaft is rotated, and the axial direction of the third output shaft is parallel to the axial direction of the half shaft.
A semi-trailer according to claim 5 or 6, wherein said electromechanical energy conversion device comprises two motors, said axle comprising a through shaft, wherein one of said motors is disposed within said first wheel and the other of said motors Provided in the second wheel, the electric machine includes a third stator and a third rotor, the third stator is sleeved on the through shaft, and the third rotor is sleeved outside the third stator. And the third rotor is fixedly coupled to the first wheel or the second wheel, and the third rotor is configured to rotate about the through shaft and the third stator.
A semi-trailer according to any of claims 5-12, further comprising a mechanical brake device configured to mechanically brake the first wheel and the second wheel.
The semi-trailer according to claim 13, wherein said mechanical brake device includes a brake air chamber, a brake air tube connected to said brake air chamber, and a brake friction plate coupled to said brake air tube.
A semi-trailer according to any of claims 5-14, further comprising an auxiliary power source coupled to said controller.
A smart vehicle comprising a tractor head and the semi-trailer of any of claims 5-15.
A semi-trailer control method, the semi-trailer comprising: an electromechanical energy conversion device configured to drive output of a wheel of a semi-trailer in a assist state, or in a brake state, driven by the wheel, The mechanical energy of the wheel is converted into electrical energy; the energy storage device is electrically connected to the electromechanical energy conversion device, configured to output electrical energy to the electromechanical energy conversion device and receive the output of the electromechanical energy conversion device in a braking state And a controller coupled to the electromechanical energy conversion device and the energy storage device, configured to control switching between a state of charge and a state of discharge of the energy storage device, and to control the electromechanical energy conversion device Switch between the assist state and the brake state,

The control method includes:

Determining the driving state of the semi-trailer;

Controlling the energy storage device and the electromechanical energy conversion device according to the running state of the semi-trailer to switch the energy storage device between a charging state and a discharging state and the electromechanical energy conversion device in a power assist state Switch between braking states.
The control method according to claim 17, wherein the controlling the energy storage device and the electromechanical energy conversion device according to the running state of the semi-trailer comprises:

When the semi-trailer is accelerating or going uphill, determining whether the remaining amount of electricity in the energy storage device is higher than a discharge threshold;

If so, controlling the electromechanical energy conversion device to apply acceleration power to the semi-trailer, and releasing the electric energy in the energy storage device to convert into mechanical energy required by the semi-trailer;

If not, controlling the electromechanical energy conversion device does not output power;

When the semi-trailer is decelerating or descending, determining whether the remaining capacity in the energy storage device is lower than a charging threshold;

If yes, controlling the electromechanical energy conversion device to apply a deceleration braking force to the semi-trailer, and converting the mechanical energy of the semi-trailer into electrical energy stored in the energy storage device;

If not, the electromechanical energy conversion device is controlled not to output a braking force or the electrical energy generated by the electromechanical energy conversion device due to braking is not stored in the energy storage device.
The control method according to claim 18, further comprising:

When the semi-trailer is in a cruise state, determining whether the remaining power in the energy storage device is lower than a lower limit protection threshold within a preset time;

If yes, controlling the electromechanical energy conversion device to apply a deceleration braking force to the semi-trailer, and converting the mechanical energy of the semi-trailer into electrical energy stored in the energy storage device;

If not, the running state of the semi-trailer is judged.
The control method according to claim 18, further comprising:

When the semi-trailer is in a cruise state, determining whether the remaining power in the energy storage device is higher than an upper limit protection threshold within a preset time;

If so, controlling the electromechanical energy conversion device to apply acceleration power to the semi-trailer, and releasing the electric energy in the energy storage device to convert into mechanical energy required by the semi-trailer;

If not, the running state of the semi-trailer is judged.
The control method according to claim 17, wherein said semi-trailer further comprises a sensor configured to detect operation parameter information of said semi-trailer, said judging said driving state of said semi-trailer comprising acquiring said by said sensor The operating parameter information of the semi-trailer,

Controlling the energy storage device and the electromechanical energy conversion device according to the running state of the semi-trailer includes:

Determining, according to the operating parameter information of the semi-trailer obtained by the sensor, that the semi-trailer is in a preset energy recovery state or a preset driving state;

When the semi-trailer is in a preset energy recovery state, the controller controls the energy storage device to switch to a charging state, and controls the electromechanical energy conversion device to switch to a braking state;

The controller controls the energy storage device to switch to a discharge state when the semi-trailer is in a preset driving state, and controls the electromechanical energy conversion device to switch to a power-assisted state.
The control method according to claim 21, wherein

The operation parameter information of the semi-trailer includes at least one of the following parameter information: position information of the semi-trailer, distance information between the semi-trailer and a preset road reference object, the semi-trailer and the preceding vehicle or the rear Real-time distance information between vehicles, traveling speed information of the semi-trailer, current road curvature information, current road gradient information, current vehicle height information, acceleration information of the semi-trailer, road speed limit flag information, brake pads Temperature information, and color information of traffic lights;

The preset energy recovery state includes at least one of the following conditions: a brake state, a current road gradient information is a downslope, the road curvature is greater than a preset curvature, and the current traveling speed of the semi-trailer is greater than a preset The vehicle speed is greater than the limited vehicle speed value of the highway speed limit sign, the distance between the semi-trailer and the road reference object is less than a preset distance value, and the distance between the semi-trailer and the preceding vehicle is less than a preset distance value, The temperature of the brake pad is greater than a preset temperature value, the color information of the traffic light is red, and the distance between the semi-trailer and the traffic light is less than a preset distance value;

The preset driving state includes at least one of the following conditions: the semi-trailer is in a starting state, the current road gradient information is an uphill, the acceleration of the semi-trailer is a positive value, and the road curvature is less than a preset. Curvature, the current traveling speed of the semi-trailer is less than a preset vehicle speed or a limited vehicle speed value less than a highway speed limit sign, a distance between the semi-trailer and a road reference object is greater than a preset distance value, the semi-trailer The distance from the preceding vehicle is greater than a preset distance value, the color information of the traffic light is green, and the distance between the semi-trailer and the traffic light is greater than a preset distance value.
The control method according to claim 22, further comprising:

Determining whether the semi-trailer is in an uphill state according to the position information of the semi-trailer obtained by the sensor and current road gradient information, or according to current vehicle height information of the semi-trailer obtained by the sensor;

When the semi-trailer is in an uphill state, whether the potential energy change when the semi-trailer is going uphill is greater than a preset threshold according to the current road gradient information obtained by the sensor and the current vehicle height information;

When the potential energy change when the semi-trailer is going uphill is greater than a preset threshold, determining a discharge ratio of the energy storage device prepares for charging of the energy storage device when the semi-trailer is subsequently downhill.
The control method according to claim 22, further comprising:

Determining whether the semi-trailer is in a downhill state according to the position information of the semi-trailer obtained by the sensor and current road gradient information, or according to current vehicle height information of the semi-trailer body obtained by the sensor;

When the semi-trailer is in a downhill state, acquiring the current road gradient information obtained by the sensor and the temperature information of the brake pad, and the remaining power of the energy storage device, determining the original car of the semi-trailer The interval between the braking mode and the deceleration mode in which the electromechanical energy conversion device is switched to the braking state.
The control method according to claim 24, wherein

The determining, according to the position information of the semi-trailer obtained by the sensor, the current road gradient information, and the current vehicle height information, whether the semi-trailer is in a downhill state, further includes:

When the semi-trailer is in a downhill state, determining whether the temperature of the brake pad is greater than a preset temperature and whether the remaining capacity of the energy storage device is less than a preset power;

Controlling the electromechanical energy conversion device to switch to a braking state when a temperature of the brake pad is greater than a preset temperature and a remaining amount of the energy storage device is less than a preset power amount;

The semi-trailer is controlled to activate the original vehicle brake when the temperature of the brake pad is less than a preset temperature and the remaining power of the energy storage device is greater than a preset power.
The control method according to claim 25, wherein

The communication device is further provided with a communication device, which is configured to communicate with an external monitoring center or a surrounding vehicle. The control method further includes:

Determining, according to the road condition information acquired by the communication device and the operating parameter information of the semi-trailer acquired by the sensor, the driving state of the semi-trailer in the next preset time and the road environment information, and according to The prediction result controls the energy recovery state or the preset driving state of the semi-trailer in the next preset time.
The control method according to claim 21, further comprising:

Calculating a current kinetic energy of the semi-trailer according to a current traveling speed and quality of the semi-trailer;

Determining, according to the kinetic energy of the semi-trailer and a preset condition, a power generation power when the electromechanical energy conversion device is in a braking state;

Or also include:

Determining a turning direction and a speed of the semi-trailer according to current road curvature information obtained by the sensor, and/or rotation angle information of a steering wheel transmitted by the tractor corresponding to the semi-trailer, and turn signal information;

Controlling the driving output power of the electromechanical energy conversion device corresponding to the different wheels according to the determined turning direction and speed of the semi-trailer body.