CN107985440A - The control system and its control method of intelligent vehicle, intelligent semitrailer - Google Patents

Abstract

The invention discloses a control system for an intelligent semi-trailer, which includes: an electromechanical energy conversion module arranged in a one-to-one correspondence with at least one wheel drive shaft of the semi-trailer body in a distributed manner, and has two working states: driving state and power generation state mode; the energy storage module is connected with the electromechanical energy conversion module; the sensor module is used to detect the operating parameter information of the semi-trailer body; the control module controls the charging of the energy storage module according to the operating parameter information of the semi-trailer body obtained by the sensor module Switching between the discharging state and controlling the switching between the driving state and the generating state corresponding to the electromechanical energy conversion module. The invention also provides a control method for the control system of the intelligent vehicle and the intelligent semi-trailer. The present invention realizes energy optimization distribution by predicting the driving state and road condition environment information of the intelligent semi-trailer in advance, and effectively improves the energy utilization rate of the intelligent semi-trailer.

Description

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

technical field

The invention relates to the field of intelligent vehicles, in particular to a control system and a control method for an intelligent vehicle and an intelligent semi-trailer.

Background technique

At present, in transportation, in order to enhance the working ability of the tractor head, a semi-trailer body structure is usually used, that is, during the transportation process, the semi-trailer body is mounted on the tractor head, and the cargo box of the semi-trailer body is used to complete the cargo transportation. .

However, in the prior art, since the semi-trailer body part of a large semi-trailer truck has no power, it is usually impossible to intelligently control the semi-trailer body part of the truck body and sense the external environment in which the vehicle operates. During the driving process, when the freight vehicle encounters sharp turns, climbing, etc., the freight vehicle is prone to rollover, rear-end collision or occupying the lane of other vehicles, resulting in traffic accidents At the same time, in the prior art, the freight car cannot effectively convert the energy in the form of mechanical energy and kinetic energy generated during operation into electric energy, which reduces the performance and energy utilization of the vehicle.

Contents of the invention

The main purpose of the present invention is to provide an intelligent vehicle, a control system of an intelligent semi-trailer and a control method thereof, aiming at solving the problems of optimizing the structure and energy utilization rate of the intelligent semi-trailer.

In order to achieve the above object, the present invention provides a control system for an intelligent semi-trailer. The intelligent semi-trailer includes a semi-trailer body, at least one wheel arranged on the semi-trailer book and a wheel drive shaft corresponding to the wheels one by one. The control system of the semi-trailer includes: at least one electromechanical energy conversion module arranged in a distributed one-to-one correspondence with the wheel drive shaft of the semi-trailer body, wherein the electromechanical energy conversion module controls the wheel drive shaft in the driving state. For driving output, the electromechanical energy conversion module is driven by the wheel drive shaft to convert the mechanical energy of the wheel drive shaft into electrical energy in the power generation state; the energy storage module is electrically connected to the electromechanical energy conversion module for Output electric energy to the electromechanical energy conversion module and receive and store the electric energy output by the electromechanical energy conversion module in the power generation state; the sensor module is used to detect the operating parameter information of the semi-trailer body; the control module is connected with the The sensor module, the energy storage module and the electromechanical energy conversion module are connected, and are used to send corresponding instructions to the electromechanical energy conversion module according to the operating parameter information of the semi-trailer body obtained by the sensor module, so as to control the Switching between the charging and discharging states of the energy storage module and controlling the corresponding switching between the driving state and the generating state of the electromechanical energy conversion module.

Preferably, the sensor module includes at least one of the following sensors: environmental perception sensor, brake pad temperature sensor, altimeter, barometer, vehicle radar speedometer, distance sensor, acceleration sensor, GPS locator, wheel speed sensor and brake Pedal travel sensor.

The present invention also provides a control method for the control system of the intelligent semi-trailer described in any one of the above, including the steps of: obtaining the operating parameter information of the semi-trailer body obtained by the sensor module; According to the operating parameter information of the semi-trailer body, it is judged whether the state of the semi-trailer body is in the preset energy recovery state or the preset driving state; when the semi-trailer body is in the preset energy recovery state, the 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 energy storage module to switch to the discharging state. state, and controlling the electromechanical energy conversion module to switch to a driving state.

Preferably, the operating parameter information of the semi-trailer body includes at least one of the following parameter information: distance information between the semi-trailer body and a preset road reference object, distance information between the semi-trailer body and the vehicle in front or behind. The real-time distance information between the semi-trailer body, the driving speed information of the semi-trailer body, the current road curvature information, the current road slope information, the current vehicle height information, the acceleration information of the semi-trailer body, the highway speed limit sign information, and the brake pad information. Temperature information, and color information of traffic lights;

The preset energy recovery state includes at least one of the following conditions: braking state, the current road gradient information is downhill, the curvature of the road is greater than the preset curvature, and the current driving speed of the semi-trailer body is greater than the preset The set vehicle speed is greater than the limited speed value of the road speed limit sign, the distance between the semi-trailer body and the road reference object is less than the preset distance value, and the distance between the semi-trailer body and the front or rear vehicle is less than A preset distance value; the brake temperature is greater than the 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 smaller than the 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 uphill, the acceleration of the semi-trailer body is a positive value, and the road curvature is less than The preset curvature, the current driving speed of the semi-trailer body is less than the preset speed or the limited speed value of the road speed limit sign, the distance between the semi-trailer body and the road reference object is greater than the preset distance value, The distance between the semi-trailer body and the vehicle in front or behind 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 .

Preferably, it further includes the step of: judging whether the semi-trailer body is In the uphill state; when the semi-trailer body is in the uphill state, calculate whether the potential energy change of the semi-trailer body when going uphill is greater than a preset threshold according to the current road gradient information and current vehicle height information; When the potential energy change of the semi-trailer body when going uphill is greater than the preset threshold, the discharge ratio of the energy storage module is determined to prepare for the subsequent charging of the energy storage module when the semi-trailer body is going downhill.

Preferably, it further includes the step of: judging whether the semi-trailer body is is in a downhill state; when the semi-trailer body is in a downhill state, obtain the current road gradient information obtained by the sensor module and the temperature information of the brake pads, as well as the remaining power of the energy storage module, and determine The interval used alternately between the original vehicle braking mode of the semi-trailer body and the deceleration mode in which the electromechanical energy conversion module switches to the charging state.

Preferably, after the step of judging whether the semi-trailer body is in a downhill state according to the position information of the semi-trailer body obtained by the sensor module, the current road gradient information and the current vehicle height information, it further includes: When the semi-trailer body is in a downhill state, it is judged whether the temperature of the brake pad is greater than the preset temperature and whether the remaining power of the energy storage module is less than the preset power; When the remaining power of the module is less than the preset power, control the electromechanical energy conversion module to switch to the charging state; when the temperature of the brake pad is lower than the preset temperature and the remaining power of the energy storage module is greater than the preset amount, control the The semi-trailer body activates the original vehicle brake.

Preferably, the semi-trailer is also provided with a communication module for communicating with an external monitoring center or surrounding vehicles, and the control method further includes: according to the road condition information obtained by the communication module and the information obtained by the sensor module The operating parameter information of the semi-trailer body predicts the driving state and road condition environment information of the semi-trailer body in the next preset time, and predicts the semi-trailer body in the next preset time according to the prediction result. Control the energy recovery state or the preset driving state within a preset time.

Preferably, the control method further includes: calculating the current kinetic energy of the semi-trailer body according to the current driving speed and mass of the semi-trailer body; determining the The power generated by the electromechanical energy conversion module when it is in the power generation state; or it also includes the step of: according to the current road curvature information obtained by the sensor module, and/or the steering wheel rotation angle information sent by the tractor corresponding to the smart semi-trailer And turn signal information, determine the turning direction and speed of the semi-trailer body; according to the determined turning direction and speed of the semi-trailer body, control the electromechanical energy conversion corresponding to the wheel drive shaft of the different wheels The drive output power of the module.

The present invention also provides an intelligent vehicle, which includes a tractor head and a semi-trailer, and the semi-trailer includes a vehicle body and the control system of the intelligent semi-trailer according to any one of the above.

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

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings that are required in the description of the embodiments or the prior art.

Fig. 1 is the three-dimensional schematic diagram of a kind of intelligent semi-trailer in each embodiment of the present invention;

A schematic diagram of the hardware module structure of a smart semi-trailer in various embodiments of the present invention in Fig. 2;

Fig. 3 is the flow chart of the first embodiment of the control method of the intelligent semi-trailer of the present invention;

Fig. 4 is the flow chart of the second embodiment of the control method of the intelligent semi-trailer of the present invention;

Fig. 5 is the flowchart of the third embodiment of the control method of the intelligent semi-trailer of the present invention;

Fig. 6 is the flowchart of the fourth embodiment of the control method of the intelligent semi-trailer of the present invention;

Fig. 7 is the flowchart of the fifth embodiment of the control method of the intelligent semi-trailer of the present invention;

Fig. 8 is a flow chart of the sixth embodiment of the control method of the intelligent semi-trailer of the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

In addition, the technical solutions of the various embodiments of the present invention can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered as a combination of technical solutions. Does not exist, nor is it within the scope of protection required by the present invention.

Please refer to Fig. 1 and Fig. 2, the hardware module structure schematic diagram of a kind of intelligent semi-trailer 100 in each embodiment, described intelligent semi-trailer 100 comprises semi-trailer body 10 and car body 20, is arranged on described semi-trailer body 10 and includes A plurality of wheels 11 and wheel drive shafts 12 corresponding to the wheels 11 one by one.

Usually, when in use, the smart semi-trailer 100 is connected with the tractor head to form the entire freight vehicle, wherein the tractor head provides power, and the smart semi-trailer 100 is used as a cargo carrier. Under the pull of the tractor head, the smart semi-trailer The trailer 100 completes the transport task.

Wherein, the control system of the intelligent 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 distributed in the intelligent semi-trailer 100 on the wheel rotation shaft 12, the energy storage module 14 is connected to the electromechanical energy conversion module 13, 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 smart semi-trailer obtained by the sensor module 15 , and sends the generated control instructions to the electromechanical energy conversion module 13 .

Specifically, the at least one electromechanical energy conversion module 13 is set in a one-to-one correspondence with the at least one wheel drive shaft 12 of the semi-trailer body 10 in a distributed manner, wherein the electromechanical energy conversion module 13 is configured for all The wheel drive shaft 12 performs drive output, and the electromechanical energy conversion module 13 is driven by the wheel drive shaft 12 to convert the mechanical energy of the wheel drive shaft 12 into electrical energy in the power generation state. It should be noted that the electromechanical energy conversion module 13 may be a motor or a motor unit having functions of both a motor and a generator, and there is no specific limitation here.

Specifically, the electromechanical energy conversion module 13 can be used for drive output to drive the wheel drive shaft 12 of the semi-trailer body 10 to drive the wheels to rotate; or receive the rotation input of the wheel drive shaft 12 to form the rotation mechanical energy into electrical energy. The electromechanical energy conversion modules 13 may be in one or more groups, and the motor units in the electromechanical energy conversion modules 13 may be in-wheel motors or in-wheel motors.

It can be understood that the electromechanical energy conversion module 13 can be used to drive the wheel drive shaft 12, and at the same time, the smart semi-trailer 100 can also be driven forward or backward by the traction head.

The energy storage module 14 is electrically connected with the electromechanical energy conversion module 13, and is used for outputting electric energy to the electromechanical energy conversion module 13 and receiving and storing the electric energy of the electromechanical energy conversion module 13 in a generating state.

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 be switched between a charging state and a discharging state. Specifically, the energy storage module 14 makes corresponding adjustments according to the operating state of the electromechanical energy conversion module 13, for example: when the electromechanical energy conversion module 13 performs drive output, the energy storage module 14 switches to the discharge state , to provide driving force; when the electromechanical energy conversion module 13 is driven by the wheel drive shaft 12 and converts the mechanical energy of the wheel drive shaft 12 into electrical energy, at this time, the energy storage module 14 is switched to a charging state to The electrical energy generated by the electromechanical energy conversion module 13 is stored.

Wherein, the energy storage module 14 may include at least one energy type supercapacitor or power type battery. The energy storage capacity of the energy storage module 14 can be selected according to the requirements of the semi-trailer body 10 . The energy storage module 14 also includes a power management circuit connected to the energy type supercapacitor or power battery, and the power management circuit is controlled by the control module 16 to control the energy storage module 14 when charging Toggle between state and generating state.

Further, in an embodiment, a power monitoring module can also be installed on the semi-trailer body 10, and the power monitoring module is connected with the control module 16 and the energy storage module 14 for monitoring the The power stored in the energy storage module 14 and the remaining power, and the power stored in the energy storage module 14 and the remaining power are sent to the control module 16 . The control module 16 can control the charging and discharging degree and the charging and discharging state of the energy storage module 14 according to the electric quantity and remaining electric quantity stored in the energy storage module 14, or provide the user with real-time acquisition of the current electric quantity of the energy storage module 14 and remaining power.

The sensor module 15 is used to detect the operating parameter information of the semi-trailer body 10; it can be understood that, in this embodiment, the sensor module 15 can be installed on the semi-trailer body 10, and the sensor module 15 can acquire the surrounding environment when the semi-trailer body 10 is running, the state of the driver itself, and the operating parameter information of the vehicle itself in real time. Described sensor module 15 comprises a plurality of sensors, and each sensor is installed on the corresponding position of described semi-trailer body 10, is used for detecting different parameters; For example, brake pad temperature sensor is installed on the brake pad of semi-trailer body 10, To detect the temperature of the brake pads in real time; the wheel speed sensor is installed on the wheel of the semi-trailer body 10 for measuring the wheel speed of the semi-trailer body 10 . In other embodiments, the sensor module 15 can also be installed on the tractor head, or use the existing sensors on the intelligent driving vehicle.

Specifically, the sensor module 15 outputs the acquired operating parameter information to the control module 16 for analysis and processing by the control module 16 . According to the operating parameter information, the operating environment and state of the semi-trailer body 10 are predicted in advance.

The control module 16 is connected with the sensor module 15, the energy storage module 14 and the electromechanical energy conversion module 13, and is used to send corresponding instructions according to the operating parameter information of the semi-trailer body 10 obtained by the sensor module 15 To the electromechanical energy conversion module 13 and the energy storage module 14, to control the switching between the charging and discharging states of the energy storage module 14, and to control the corresponding driving state and power generation of the electromechanical energy conversion module 13 switch between states.

Specifically, in this embodiment, the control module 16 is arranged on the semi-trailer body 10, the control module 16 receives the operating parameter information of the semi-trailer body 10 acquired by the sensor module 15, and according to the operating parameter information, Determine the operating state of the semi-trailer body 10 as the driving state or the energy recovery state, and then output the corresponding control command to control the electromechanical energy conversion module 13 to switch to the corresponding operating state, and at the same time, the energy storage module 14 switches to the corresponding operating state. is the operating state corresponding to the electromechanical energy conversion module 13 . In other embodiments, the control module 16 can also be set on the tractor head, or directly use the main control module of the tractor head.

For example, when the sensor module 15 detects that the semi-trailer body 10 is in a braking state, the running information is uploaded to the control module 16, and the control module 16 detects that the stored energy is detected by the power monitoring module. If the electric energy of the energy module 14 is not full, it can be determined that the semi-trailer body 10 is in the energy recovery state, and output corresponding control instructions to the electromechanical energy conversion module 13 and the energy storage module 14, and the electromechanical energy conversion module 13 is switched to power generation state, and receive the drive of the wheel rotation shaft, convert the mechanical energy generated by the semi-trailer body 10 into electric energy, and then the energy storage module 14 switches to the charging state to receive and store the electric energy; when the sensor module 15 detects When the semi-trailer body 10 is in the braking state, but the control module 16 detects that the power of the energy storage module 14 is full according to the power monitoring module, the semi-trailer body 10 cannot be in the energy recovery state. In this embodiment, the control module 16 implements optimal distribution of energy of the semi-trailer body 10 according to the operating parameter information of the semi-trailer body 10 acquired by the sensor module 15 .

Further, the control system of the semi-trailer body 10 may also include a communication module (not shown) that communicates with an external monitoring center or surrounding vehicles, for uploading the operating status of the semi-trailer body 10 to the An external monitoring center, so that the external monitoring center can understand the current operating conditions of the semi-trailer body 10 in real time, so as to reduce traffic accidents.

In this embodiment, by setting the control module 16, the electromechanical energy conversion module 13 and the sensor module 15 on the semi-trailer body 10, the energy of the semi-trailer body 10 can be effectively recovered, thereby improving energy utilization and safety. The semi-trailer body 10 can run more smoothly, and at the same time, the operating state of the semi-trailer body 10 can be predicted in time according to the operating parameter information obtained by the sensor module 15, so as to make timely adjustments to the semi-trailer body 10 .

The sensor module 15 includes at least one of the following sensors: environmental perception sensor, brake pad temperature sensor, altimeter, barometer, vehicle radar speedometer, distance sensor, acceleration sensor, GPS locator, wheel speed sensor, and brake Pedal travel sensor. In this embodiment, the sensor module 15 may include various sensors to obtain all operating parameters of the semi-trailer body 10 in an operating state.

Wherein, the environmental perception sensor is to collect data on the surrounding environment of the semi-trailer body 10, and obtain road condition information such as: road curvature, slope, road speed limit signs, color changes of traffic lights and other information, and The position information of the semi-trailer body 10 and surrounding obstacles, and the distance and speed between the semi-trailer body 10 and surrounding vehicles and other obstacles, wherein the environmental perception sensors mainly include machine vision, radar sensors, and ultrasonic sensors. , infrared sensor, etc.;

The brake pad temperature sensor is used to detect the temperature of the brake pad when the semi-trailer body 10 enters the braking state; the altimeter can be used to measure the level of the vehicle; the barometer can be used to measure the atmospheric pressure to Determine the altitude of the current location of the semi-trailer body 10; the vehicle radar speedometer can be used to measure the running speed of the semi-trailer body 10; the distance sensor can be used to detect the distance between the semi-trailer body 10 and the reference The distance between objects, wherein the distance sensor can be an optical distance sensor, an ultrasonic distance sensor, etc.; the acceleration sensor is used to measure the acceleration of the semi-trailer body 10 to understand the current state of motion of the semi-trailer body 10; The GPS locator can be used to locate the geographic location and motion track of the semi-trailer body 10 in real time, wherein, the GPS locator generally has a built-in GPS module and a mobile communication module to obtain the current position of the semi-trailer body 10 The information is uploaded to the server etc.; the wheel speed sensor can be used to measure the wheel speed of the semi-trailer body 10; the brake pedal stroke sensor can be used to detect whether the brake pads of the semi-trailer body 10 are used, and the The stepping time and the stepping distance are used to calculate and acquire the state of the brake pads.

It can be understood that the above various specific sensors can be used alone or in combination. Under the premise that some of the sensors in the environment sensing sensor can achieve the same function, it is not necessary to use a separate sensor to achieve the acquisition of the same parameter. No specific limitation is made here.

Further, at least one wheel drive shaft 12 of the semi-trailer body 10 is correspondingly provided with an electromechanical energy conversion module 13, wherein the semi-trailer body 10 also includes a one-to-one corresponding arrangement with the electromechanical conversion modules. reducer.

The semi-trailer body 10 includes at least one wheel rotation shaft, wherein at least one of the wheel rotation shafts 12 is equipped with the electromechanical energy conversion module 13 and a speed reducer (not shown), wherein the speed reducer and the The above electromechanical energy conversion modules 13 can be set separately or integrated together. During use, the speed reducer cooperates with the electromechanical energy conversion module 13 . During driving, when the electromechanical energy conversion module 13 is in the power generation state, it decelerates the semi-trailer body 10 and at the same time converts the mechanical energy generated during the deceleration into electrical energy.

Those skilled in the art can understand that the control system of the intelligent semi-trailer 100 shown in Fig. 1 and Fig. 2 may also include more or less components than those shown in the illustration, or combine certain components, or arrange different components.

Based on the above hardware structure, various embodiments of the control method of the intelligent semi-trailer 100 in the present invention are proposed.

Please refer to FIG. 3 , which is a flow chart 200 of the control method for the intelligent semi-trailer 100 in the first embodiment provided by the present invention, and the control method includes the following steps:

Step S10, obtaining the operating parameter information of the semi-trailer body 10 obtained by the sensor module 15;

During driving, the sensor module 15 installed on the semi-trailer body 10 or on the tractor head senses the operating parameter information in real time, and transmits the operating parameter information to the control module 16 to adjust the semi-trailer in time. The running state of the main body 10.

In this embodiment, the operating parameter information may include vehicle information and external environment information of the semi-trailer body 10 . Wherein, the operating parameter information of the semi-trailer body 10 includes at least one of the following parameter information: the distance information between the semi-trailer body 10 and the preset road reference object, the distance information between the semi-trailer body 10 and the vehicle in front or behind. The real-time distance information between vehicles, the driving speed information of the intelligent semi-trailer 100, the driving direction information of the intelligent semi-trailer 100, the current driving position information of the intelligent semi-trailer 100, the current road curvature information, the current road Slope information, current vehicle height information, acceleration information of the semi-trailer body 10, highway speed limit sign information, brake pad temperature information, whether the original vehicle brake is activated, and traffic light color information.

Step S20, according to the operating parameter information of the semi-trailer body 10 obtained by the sensor module 15, determine whether the semi-trailer body 10 is in a preset energy recovery state or a preset driving state;

According to the operating parameter information of the semi-trailer body 10, the sensor module 15 can divide the operating state of the semi-trailer body 10 into a preset energy recovery state and a driving state.

Specifically, in this embodiment, the preset energy recovery state includes at least one of the following conditions: the braking state, the current road slope information is downhill, the road curvature is greater than the preset curvature, the The current driving speed of the semi-trailer body 10 is greater than the preset vehicle speed or greater than the limited speed value of the highway speed limit sign, the distance between the semi-trailer body 10 and the road reference object is less than the preset distance value, and the semi-trailer body The distance between 10 and the vehicle in front or behind is less than the preset distance value; the brake temperature is greater than the preset temperature value, the color information of the traffic light is red, and the semi-trailer body 10 and the traffic light The distance is less than the preset distance value;

The preset driving state includes at least one of the following conditions: the semi-trailer body 10 is in a starting state, the current road gradient information is uphill, the acceleration of the semi-trailer body 10 is a positive value, and the road is curved. The degree of curvature is less than the preset curvature, the current driving speed of the semi-trailer body 10 is less than the preset speed or the limited speed value of the highway speed limit sign, and the distance between the semi-trailer body 10 and the road reference object is greater than the preset The distance value between the semi-trailer body 10 and the vehicle in front or behind is greater than the preset distance value; the color information of the traffic light is green and the distance between the semi-trailer body 10 and the traffic light greater than the preset distance value.

It can be understood that the correspondence between the operating parameter information of the semi-trailer body 10 and the preset energy recovery state may be:

The vehicle-mounted radar speedometer in the sensor module 15 detects the current vehicle speed of the semi-trailer body 10 and the current vehicle speed is decreasing, and when the brake pedal stroke sensor detects that the brake is used, the control module 16. Determine that the smart semi-trailer 100 is in a braking state;

The environmental perception sensor in the sensor module 15 detects that the current road is a slope road section, and the GPS detects that the trailer travels from the high side of the slope to the low side of the terrain, and the altimeter detects the altitude In decrement, the control module 16 determines that the intelligent semi-trailer 100 is in the downhill state of the current road gradient information;

The distance sensor in the sensor module 15 detects that the distance between the semi-trailer body 10 and the road reference object is less than a preset distance value, or that the distance between the semi-trailer body 10 and the front vehicle or the rear vehicle is less than a preset distance. If the distance is less than the preset distance value, the control module 16 can determine that the smart semi-trailer 100 is in an energy recovery state that needs to be decelerated; or

The environment perception 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 10 and the traffic light is less than a preset distance value, and the control The module 16 may determine that the smart 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 10 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 10 is 0 and the current vehicle speed is increasing, or the wheel speed sensor detects that the wheel speed of the trailer is 0, and the GPS locator Detecting that the trajectory of the intelligent semi-trailer 100 has no displacement or the displacement is less than a preset value, the control module 16 determines that the intelligent semi-trailer 100 is currently in the starting state;

The environmental perception sensor in the sensor module 15 detects that the current road is a slope road section, and the GPS detects that the trailer travels from the low side of the slope to the high side of the terrain, and the altimeter detects the altitude. In increments, the control module 16 determines that the intelligent semi-trailer 100 is in the 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 10 is a positive value, and the distance sensor detects that the distance between the semi-trailer body 10 and the road reference object is greater than a preset or the distance between the semi-trailer body 10 and the front vehicle or the rear vehicle is greater than the preset distance value, the control module 16 can determine that the intelligent semi-trailer 100 is in a driving state that can be accelerated; or

The environmental perception 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 10 and the traffic light is greater than a preset distance value, and the control The module 16 can determine that the smart semi-trailer 100 is in a driving state that can be accelerated.

Step S30, when the semi-trailer body 10 is in the preset energy recovery state, the control module 16 controls the energy storage module 14 to switch to the charging state, and controls the electromechanical energy conversion module 13 to switch to the 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 10 is in the energy recovery state, for example: the distance between the semi-trailer body 10 and the front vehicle When the distance is less than the preset distance value, the control module 16 can output a control command to the electromechanical energy conversion module 13 to control the electromechanical energy conversion module 13 to switch to the power generation state, and at the same time, the energy storage module 14 correspondingly Switch to the charging state to store the electric energy converted by the electromechanical energy conversion module 13 and increase the driving force of the semi-trailer body 10 .

Step S40, when the semi-trailer body 10 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 electromechanical energy conversion module 13 to switch to a driving state.

Wherein, when the operating state of the semi-trailer body 10 is the preset driving state, the energy storage module 14 is switched to a discharging state, and the electromechanical energy conversion module 13 performs drive output to the wheel drive shaft 12, when When the electromechanical energy conversion module 13 performs drive output to the wheel drive shaft 12, the electromechanical energy conversion module 13 indicates that the semi-trailer body 10 is in a driving state, and when the electromechanical energy conversion module 13 is driven by the wheels The driving of the shaft 12 indicates that the semi-trailer body 10 is in a preset energy recovery state.

In this embodiment, the energy during driving can be effectively recovered, the energy utilization rate can be improved, and the driving force of the semi-trailer body 10 can be enhanced; at the same time, the control module 16 controls the electromechanical energy conversion module 13 to switch to the charging state When the trailer enters the energy recovery state, it can also cooperate with the deceleration of the semi-trailer body 10 to prevent the brake pads from being used for too long, resulting in excessive temperature of the brake pads and reducing the safety performance of the trailer, reducing the brake pressure. wear and tear, improve the safety of the semi-trailer body 10, and save energy. At the same time, it can also maximize the use of the energy storage capacity of the energy storage module to reduce the number of charging and discharging of the energy storage module and prolong the service life of the energy storage module.

Further, please refer to FIG. 4 , which presents a method flow chart of the control method of the intelligent semi-trailer 100 in the second embodiment. In the second embodiment, the steps S10 to S40 are the same as those in the first embodiment, and are not described here. Repeat it again; the difference is that the step 40 also includes:

Step S410, according to the position information of the semi-trailer body 10 obtained by the sensor module 15 and the current road gradient information, or according to the obtained current vehicle height information of the trailer body, it is judged whether the semi-trailer body 10 is in the Uphill state;

During driving, the sensor module 15 can detect the operating state of the semi-trailer body 10 in real time, such as: calling an altimeter and a GPS sensor to detect the geographic location information of the semi-trailer body 10, and pass The altimeter measures the slope information and height information of the road where the semi-trailer body 10 is located. The control module 16 analyzes and processes the slope information and height information to determine whether the semi-trailer body 10 is climbing a slope.

In other embodiments, it is also possible to set a reference height and slope, and determine whether the slope and height of the current road are within the range of the reference height and slope through analysis. When the current road slope and height exceed the range of the reference height and slope , the control module 16 can determine that the semi-trailer body 10 is in an uphill state, and when the current road gradient and height are within the range of the reference height and gradient, the control module 16 can determine that the semi-trailer body 10 is in an uphill state. No uphill movement was performed.

Step S420, when the semi-trailer body 10 is in an uphill state, calculate whether the potential energy change of the semi-trailer body 10 when going uphill is greater than a preset threshold according to the current road gradient information and current vehicle height information;

In the uphill phase, the semi-trailer body 10 needs to consume a lot of energy, and the control module 16 controls the energy storage module 14 to switch to a discharge state to provide driving force for the semi-trailer body 10 to complete the uphill movement.

In the downhill phase, the control module 16 controls the electromechanical energy conversion module 13 to switch to the energy recovery state, while the energy storage module 14 switches to the charging state, so as to recover the energy generated by the semi-trailer body 10 in the downhill phase, At the same time, it can also assist the vehicle to decelerate, reduce brake pad wear and heat. 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 10, wherein the potential energy can be calculated according to the current road gradient information and vehicle height information.

Step S430, when the potential energy change of the semi-trailer body 10 when it goes uphill is greater than a preset threshold, determine the discharge ratio of the energy storage module 14, which is used for the energy storage module 14 when the semi-trailer body 10 is going downhill. ready for charging.

During the uphill phase, according to the current road gradient information and height information, the potential energy change of the semi-trailer body 10 is calculated, and when the potential energy change of the semi-trailer body 10 is greater than a preset threshold, it indicates that the semi-trailer body 10 It needs to consume a large amount of electricity to increase the driving force and complete climbing; at the same time, after the semi-trailer body 10 completes the uphill phase, it will enter the downhill phase. At this time, the energy storage module 14 of the semi-trailer body 10 The electric energy that will be consumed and released during the uphill phase can be fully supplemented during the downhill process to reduce the number of charging and discharging of the energy storage module 14 and prolong the service life of the energy storage module 14, and during the downhill phase, The electromechanical energy conversion module 13 enters the power generation state, which can decelerate the semi-trailer body 10, so as to avoid excessive use of the brake pads when going downhill, resulting in excessive temperature of the brake pads and affecting the performance of the trailer.

It can be understood that the change in the potential energy of the semi-trailer body 10 is greater than a preset threshold, and the sensor module 15 detects that the semi-trailer will enter a downhill stage, indicating that the current slope is relatively large, and the storage The energy module 14 can replenish the consumed electricity during the downhill stage. At this time, the discharge ratio of the energy storage module 14 can be determined, that is, all the electric energy of the energy storage module 14 is released, so as to increase the driving force and maximize the utilization The energy storage capacity of the energy storage module 14 reduces the number of charging and discharging times of the energy storage module 14; when the potential energy change of the semi-trailer body 10 is less than a preset threshold, it indicates that the current road has a small slope, and the next The slope of the downhill road section is small, therefore, the electric energy of the energy storage module 14 of the semi-trailer body 10 can be used to drive the wheel drive shaft 12, or only part of the electricity can be released, because the subsequent downhill is more difficult. Small, there will be no situation where the battery will be fully charged quickly.

In addition, in other embodiments, it can be determined according to the position information of the semi-trailer body 10 obtained by the sensor module 15 and the current road gradient information, or according to the obtained current vehicle height information of the semi-trailer body 10 Whether the current road is going downhill next, the energy storage module 14 is controlled to discharge the electricity so that it can be fully replenished during the downhill phase.

Further, please refer to FIG. 5 , which presents a method flow chart of the control method of the intelligent semi-trailer 100 in the third embodiment. In the third embodiment, the steps S10 to S40 are the same as those in the first embodiment, and are not described here. Repeat it again; the difference is that the step S40 also includes:

Step S440, according to the position information of the semi-trailer body 10 obtained by the sensor module 15 and the current road gradient information, or according to the obtained current vehicle height information of the trailer body, it is judged whether the semi-trailer body 10 is in the Downhill state;

During driving, the sensor module 15 detects and perceives the operating state of the semi-trailer body 10 in real time, such as: calling an altimeter and a GPS sensor to detect the geographic location information of the semi-trailer body 10, and pass The altimeter measures the slope information and height information of the road where the semi-trailer body 10 is located. The control module 16 analyzes and processes the slope information and height information to determine whether the semi-trailer body 10 is moving downhill.

Step 450, when the semi-trailer body 10 is in a downhill state, obtain the current road gradient information obtained by the sensor module 15, the temperature information of the brake pads, and the remaining power of the energy storage module 14, Determine the interval between the original vehicle braking mode of the semi-trailer body 10 and the deceleration mode in which the electromechanical energy conversion module 13 switches to the power generation state.

In order to avoid the loss of control of the semi-trailer body 10 due to the excessive speed of the vehicle when going downhill, thereby causing traffic accidents, the semi-trailer body 10 can be properly decelerated; wherein, the deceleration method The brake pads can be used to decelerate the semi-trailer body 10 , and the electromechanical energy conversion module 13 can be switched to a charging state through the control module 16 to achieve the purpose of deceleration. It can be understood that using the brake pads to decelerate is to slow down the running speed of the semi-trailer body 10 through the frictional resistance between the brake pads and the tires. During the braking process, the kinetic energy of the semi-trailer body 10 is converted into heat energy, thereby increasing the temperature of the brake pads. When the temperature of the brake pads is too high, it is easy to cause the brake pads to fail, causing the semi-trailer body 10 in the downhill stage to lose control, thereby causing traffic accidents. At the same time, when the temperature of the brake pads is too high, it is easy to The tires of the semi-trailer body 10 are ignited, affecting the safety of the semi-trailer body 10 . Therefore, during the downhill process, it is necessary to monitor the temperature of the brake pads in real time.

In this embodiment, when the semi-trailer body 10 is going downhill, according to the current road gradient information, the temperature information of the brake pads, and the remaining power of the energy storage module 14, the electromechanical energy conversion module 13 and the brake pad are used alternately. The disc decelerates the body 10 of the semi-trailer. Wherein, the interval frequency used alternately between the original vehicle braking mode of the semi-trailer body 10 and the deceleration mode in which the electromechanical energy conversion module 13 switches to the charging state can be set according to the performance of the vehicle, or can be set by the The control module 16 is set according to 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. 6 , which presents the method flowchart of the control method of the intelligent semi-trailer 100 in the fourth embodiment. In the fourth embodiment, the steps S440-S450 are the same as those in the third embodiment, and are not described here. Repeat it again; the difference is that after the step S440, it also includes:

Step S441, when the semi-trailer body 10 is in a downhill state, it is judged whether the temperature of the brake pad is greater than a preset temperature and whether the remaining power of the energy storage module 14 is less than a preset power;

When the semi-trailer body 10 is in a downhill state, in order to prevent the brake pads of the semi-trailer body 10 from continuing to be in the braking state and cause the temperature to be too high, or when the energy storage module 14 is in sufficient power for a long time, the The energy storage module 14 cannot store the electric energy converted by the electromechanical energy connection module, so that the deceleration of the semi-trailer body 10 cannot be realized. electricity.

Specifically, in this embodiment, the temperature of the brake pads obtained by monitoring the sensor module 15 can be compared with the preset temperature, and the remaining power of the energy storage module 14 can be compared with the preset power. Comparing the results, it is judged whether it is suitable to continue to use the brake pads to decelerate the semi-trailer body 10, and whether it is suitable to switch the electromechanical energy conversion module 13 to the 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, control the electromechanical energy conversion module 13 to switch to the charging state;

It can be understood that when the temperature of the brake pads is greater than the preset temperature and the remaining power of the energy storage module 14 is less than the preset power, it means that the temperature of the brake pads of the semi-trailer body 10 has exceeded the safe use range, and it is not necessary to It is suitable for continuous use. At the same time, the energy storage module 14 is in a non-saturated state and can store the electric energy generated by the electromechanical energy conversion module 13. Therefore, in order to avoid adverse effects caused by the continued use of the brake pads, and to improve energy utilization, By maximizing the use of the energy storage module 14, the control module 16 of the semi-trailer body 10 can control the electromechanical energy conversion module 13 to switch to a charging state, so as to slow down the driving speed of the semi-trailer body 10 when going downhill.

Step S443, when the temperature of the brake pads is lower than a preset temperature and the remaining power of the energy storage module 14 is greater than a preset amount, control the semi-trailer body 10 to activate the original vehicle brake.

In this step, when the temperature of the brake pads is less than the preset temperature and the remaining power of the energy storage module 14 is greater than the preset power, it means that the temperature of the brake pads of the semi-trailer body 10 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 and reduce the service life of the energy storage module 14, therefore, the original vehicle brake of the semi-trailer body 10 can be directly activated to achieve The purpose of the deceleration of the semi-trailer body 10 .

Further, please refer to FIG. 7 , a method flow chart 201 of the control method of the intelligent semi-trailer 100 in the fifth embodiment is proposed, and the steps S10 to S40 are the same as those in the first embodiment, and will not be repeated here; the difference is that , after the step S40 also includes:

Step S50, according to the road condition information obtained by the communication module and the operating parameter information of the semi-trailer body 10 obtained by the sensor module 15, the driving state of the semi-trailer body 10 in the next preset time and The road condition environment information is predicted, and the energy recovery state or preset driving state of the semi-trailer body 10 in the next preset time is controlled according to the prediction result.

It can be understood that, in step S50, during driving, the road condition information acquired by the communication module may include at least one of the following information: road traffic volume, road congestion level information, road turning information, regional traffic accident information , intersection information, road occupancy information, average vehicle speed information, and lane number information. Specifically, in this embodiment, the road condition information obtained by the communication module is combined with the operating parameter information of the semi-trailer body 10 obtained by the sensor module, and the next road section of the semi-trailer body 10 is predicted. Whether it is necessary to perform deceleration processing, the electromechanical energy conversion module 13 is correspondingly controlled to switch to the energy recovery state or the driving state. For example: when the communication module obtains that there is a traffic jam ahead, and the sensor module 15 obtains that the distance between the vehicle in front and the intelligent semi-trailer 100 is relatively short, it is predicted that the semi-trailer body 10 will enter the traffic Congested area, which means that when the semi-trailer body 10 enters the road section within a preset time period, deceleration processing is required, that is, when the semi-trailer body 10 enters the road section, the control module 16 controls the electromechanical energy The conversion module 13 switches to the preset energy recovery state; or when the communication module obtains that the front is an intersection, and the sensor module 15 obtains the slope information of the road as uphill, then predicts that the semi-trailer body 10 is about to climb a slope, at this time, the electromechanical energy conversion module 13 can be controlled to switch to a driving state within a preset time period. By predicting the running state of the semi-trailer body 10, the safety of the semi-trailer body 10 can be ensured, and at the same time, energy optimal distribution can be realized.

Further, please refer to FIG. 8 , which presents a method flow chart 202 of the control method of the intelligent semi-trailer 100 in the sixth embodiment. The steps S10 to S40 are the same as those in the first embodiment, and will not be repeated here; the difference is that , after the step S40 also includes:

Step S60, calculating the current kinetic energy of the semi-trailer body 10 according to the current driving speed and mass of the semi-trailer body 10;

It can be understood that, during the running process of the semi-trailer body 10 , energy conversion can be realized, and the electricity in the energy storage module 14 of the semi-trailer body 10 can be converted into the kinetic energy of the semi-trailer body 10 . Wherein, the kinetic energy of the semi-trailer body 10 can be calculated according to the current driving speed and mass of the semi-trailer body 10 .

Step S70, according to the kinetic energy of the semi-trailer body 10 and preset conditions, determine the generating power when the electromechanical energy conversion module 13 is in the generating state.

In this embodiment, according to the kinetic energy generated by the semi-trailer body 10 in the running state, and the conversion efficiency between energies, the power generated when the electromechanical energy conversion module 13 is in the power generation state can be determined. For example: in a road section with heavy traffic, frequent braking is required. At this time, the control module 16 controls the electromechanical energy conversion module 13 to switch to the power generation state to recover energy; The brake is controlled by the foot brake, and the electromechanical energy conversion module 13 is not used to affect the progress of the vehicle, so as to facilitate the driver's operation; Carry out energy recovery on the semi-trailer body 10, because when the semi-trailer body 10 is running at high speed, if it encounters an obstacle, it needs to slow down in time, when the electromechanical energy conversion module 13 is in the power generation state It can control its working power to be as large as possible; 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 the power generation state, and its work can be controlled The power should be as small as possible.

Further, in an optional embodiment, the control method of the intelligent semi-trailer 100 further includes: Step S80, according to the current road curvature information obtained by the sensor module 15, and/or the intelligent semi-trailer 100 The steering wheel rotation angle information sent by the corresponding tractor determines the turning direction and speed of the semi-trailer body 10;

Step 90 , according to the determined turning direction and speed of the semi-trailer body 10 , control the drive output power of the electromechanical energy conversion module 13 corresponding to the wheel drive shaft 12 of the different wheels 11 .

Specifically, the current road curvature information includes, but is not limited to, road curve radius and other information. The tractor can also be provided with an angle sensor for detecting the turning angle of the steering wheel, wherein a communication connection is established between the tractor and the intelligent semi-trailer 100, for example, the tractor and the The control modules 16 are connected to each other by communication, so as to send the steering wheel's turning angle information acquired by the angle sensor on the tractor and the turn signal information of the tractor to the control module of the intelligent semi-trailer 100 .

In this embodiment, it is determined whether the semi-trailer body 10 is connected by the current road curvature information and/or the rotation angle information of the steering wheel sent by the tractor corresponding to the intelligent semi-trailer 100 and the turn signal information of the tractor. The turning state of the semi-trailer body 10 is in or predicted, so as to control the output power of the electromechanical energy conversion module 13 , and then control the driving speed and rotation angle of each wheel of the semi-trailer 100 .

For example, when the vehicle enters a left-turn curve, the angle sensor detects the turning angle of the steering wheel, the main control module of the tractor obtains the opening or closing information of the left and right turn signals, and sends it to the smart semi-trailer; and the The environment sensing sensor on the semi-trailer body 10 detects the curvature of the road; the control module 16 judges the driving direction and driving speed of the semi-trailer 100 by analyzing the above data, and determines the electromechanical conversion module corresponding to each wheel 11 13 output power, so that the driving speed of the right wheel is faster than that of the left wheel, and then realize the auxiliary steering driving function of the intelligent semi-trailer 100.

In this 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 lateral driving force and assist the steering of the semi-trailer body 10 .

The present invention also provides an intelligent semi-trailer 100, including a vehicle body 20 and the control system described in any one of the above-mentioned embodiments.

The present invention also provides an intelligent vehicle, including a tractor head and the above-mentioned intelligent semi-trailer 100 .

The above description is only an optional implementation of the present invention, and does not limit the patent scope of the present invention. Under the concept of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly/indirectly used in Other relevant technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. A control system of an intelligent semi-trailer, the intelligent semi-trailer comprises a semi-trailer body, at least one wheel arranged on the semi-trailer body and a wheel drive shaft corresponding to the wheels one by one, it is characterized in that the intelligent semi-trailer The control system of the trailer includes: At least one electromechanical energy conversion module is arranged in a one-to-one correspondence with the wheel drive shafts of the semi-trailer body in a distributed manner, wherein the electromechanical energy conversion module drives and outputs the wheel drive shafts in the driving state, and the electromechanical The energy conversion module converts the mechanical energy of the wheel drive shaft into electrical energy driven by the wheel drive shaft in the power generation state; The energy storage module is electrically connected to the electromechanical energy conversion module, and is used to output electric energy to the electromechanical energy conversion module and receive and store the electric energy output by the electromechanical energy conversion module in the power generation state; The sensor module is used to detect the operating parameter information of the semi-trailer body; The control module is connected with the sensor module, the energy storage module and the electromechanical energy conversion module, and is used to send corresponding instructions to the electromechanical energy conversion module according to the operating parameter information of the semi-trailer body obtained by the sensor module. The module is used to control the switching between the charging and discharging states of the energy storage module and to control the corresponding switching between the driving state and the generating state of the electromechanical energy conversion module. 2. The control system of an intelligent semi-trailer as claimed in claim 1, wherein said sensor module comprises at least one of the following sensors: Environmental perception sensor, brake pad temperature sensor, altimeter, barometer, vehicle radar speedometer, distance sensor, acceleration sensor, GPS locator, wheel speed sensor, and brake pedal travel sensor. 3. A control method for the control system of an intelligent semi-trailer according to any one of claims 1-2, characterized in that it comprises the steps of: Obtain the operating parameter information of the semi-trailer body obtained by the sensor module; According to the operating parameter information of the semi-trailer body obtained by the sensor module, it is judged whether the state of the semi-trailer body is in a preset energy recovery state or a preset driving state; When the semi-trailer body is in the preset energy 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 a preset driving state, the control module controls the energy storage module to switch to a discharging state, and controls the electromechanical energy conversion module to switch to a driving state. 4. control method as claimed in claim 3 is characterized in that, The operating parameter information of the semi-trailer body includes at least one of the following parameter information: the distance information between the semi-trailer body and the preset road reference object, the real-time distance between the semi-trailer body and the front vehicle or the rear vehicle. Distance information, driving speed information of the semi-trailer body, current road curvature information, current road slope information, current vehicle height information, acceleration information of the semi-trailer body, highway speed limit sign information, temperature information of brake pads, and the color information of traffic lights; The preset energy recovery state includes at least one of the following conditions: braking state, the current road gradient information is downhill, the curvature of the road is greater than the preset curvature, and the current driving speed of the semi-trailer body is greater than the preset The set vehicle speed is greater than the limited speed value of the road speed limit sign, the distance between the semi-trailer body and the road reference object is less than the preset distance value, and the distance between the semi-trailer body and the front or rear vehicle is less than A preset distance value; the brake temperature is greater than the 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 smaller than the 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 uphill, the acceleration of the semi-trailer body is a positive value, and the road curvature is less than The preset curvature, the current driving speed of the semi-trailer body is less than the preset speed or the limited speed value of the road speed limit sign, the distance between the semi-trailer body and the road reference object is greater than the preset distance value, The distance between the semi-trailer body and the vehicle in front or behind 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 . 5. control method as claimed in claim 4, is characterized in that, also comprises the step: According to the position information of the semi-trailer body and the current road slope information obtained by the sensor module, or according to the obtained current vehicle height information of the trailer body, it is judged whether the semi-trailer body is in an uphill state; When the semi-trailer body is in an uphill state, calculate whether the potential energy change of the semi-trailer body when going uphill is greater than a preset threshold according to the current road gradient information and current vehicle height information; When the potential energy change of the semi-trailer body when going uphill is greater than a preset threshold, the discharge ratio of the energy storage module is determined to prepare for the subsequent charging of the energy storage module when the semi-trailer body is going downhill. 6. control method as claimed in claim 4, is characterized in that, also comprises the step: According to the position information of the semi-trailer body and the current road slope information obtained by the sensor module, or according to the obtained current vehicle height information of the trailer body, it is judged whether the semi-trailer body is in a downhill state; When the semi-trailer body is in a downhill state, obtain the current road gradient information obtained by the sensor module, the temperature information of the brake pads, and the remaining power of the energy storage module, and determine the original state of the semi-trailer body. The interval used alternately between the vehicle braking mode and the deceleration mode in which the electromechanical energy conversion module switches to the charging state. 7. The control method according to claim 6, characterized in that, according to the position information of the semi-trailer body obtained by the sensor module, the current road slope information and the current vehicle height information, it is judged that the semi-trailer body is After the step of whether it is in a downhill state, it also includes: When the semi-trailer body is in a downhill state, it is judged whether the temperature of the brake pad is greater than the preset temperature and whether the remaining power of the energy storage module is less than the preset power; 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, control the electromechanical energy conversion module to switch to a charging state; When the temperature of the brake pad is lower than the preset temperature and the remaining power of the energy storage module is greater than the preset amount, the semi-trailer body is controlled to activate the original vehicle brake. 8. The control method according to claim 7, wherein the intelligent semi-trailer is also provided with a communication module for communicating with an external monitoring center or surrounding vehicles, and the control method also includes: According to the road condition information acquired by the communication module and the operating parameter information of the semi-trailer body acquired by the sensor module, predict the driving state and road condition environment information of the semi-trailer body in the next preset time, And according to the prediction result, the energy recovery state or the preset driving state of the semi-trailer body in the next preset time is controlled. 9. control method as claimed in claim 3 is characterized in that, described control method also comprises the step: Calculate the current kinetic energy of the semi-trailer body according to the current driving speed and mass of the semi-trailer body; According to the kinetic energy of the semi-trailer body and preset conditions, determine the power generation when the electromechanical energy conversion module is in the power generation state; Or also include steps: Determine the turning direction and speed of the semi-trailer body according to the current road curvature information obtained by the sensor module and/or the steering wheel rotation angle information and turn signal information sent by the tractor corresponding to the smart semi-trailer ; According to the determined turning direction and speed of the semi-trailer body, the drive output power of the electromechanical energy conversion module corresponding to the wheel drive shaft of the different wheels is controlled. 10. An intelligent vehicle, comprising a tractor head and an intelligent semi-trailer, characterized in that the intelligent semi-trailer comprises a vehicle body and the control system of the intelligent semi-trailer according to any one of claims 1-2.