CN116945826B - Power supply trailer control method, system, storage medium and intelligent terminal - Google Patents
Power supply trailer control method, system, storage medium and intelligent terminal Download PDFInfo
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- CN116945826B CN116945826B CN202311038351.7A CN202311038351A CN116945826B CN 116945826 B CN116945826 B CN 116945826B CN 202311038351 A CN202311038351 A CN 202311038351A CN 116945826 B CN116945826 B CN 116945826B
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- 238000000034 method Methods 0.000 title claims abstract description 72
- 238000004146 energy storage Methods 0.000 claims description 81
- 230000008859 change Effects 0.000 claims description 58
- 239000013598 vector Substances 0.000 claims description 47
- 230000005611 electricity Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
- B60D1/04—Hook or hook-and-hasp couplings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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Abstract
The application relates to a power supply trailer control method, a system, a storage medium and an intelligent terminal, and relates to the field of automobile charging equipment, which comprises the steps of obtaining current image information; determining the size information of a hook in the graph and the coordinate information of the hook in the graph; determining the coordinate information of the current hook; determining approach path information according to the current hook coordinate information; the power supply trailer runs according to the information of the path close to, and is connected with the power supply trailer hook and the traction hook after running, the power supply of the power supply trailer and the power supply of the traction vehicle are electrically connected, the practical position of the hook is determined through the image, the power supply trailer moves to achieve the butt joint of the hook, a user is not required to personally reverse and align, labor cost is saved, and the effect of power supply efficiency of the power supply trailer is improved.
Description
Technical Field
The application relates to the field of automobile charging equipment, in particular to a power supply trailer control method, a system, a storage medium and an intelligent terminal.
Background
An electric vehicle (BEV) is a vehicle that uses a vehicle-mounted power supply as power and uses a motor to drive wheels to run, and meets various requirements of road traffic and safety regulations. The environmental impact is smaller than that of the traditional automobile, and the prospect is widely seen. The drive power for the motor is derived from an on-board rechargeable battery or other energy storage device.
Because of the limitation of the energy density of the power battery, the endurance mileage of the pure electric vehicle has a certain disadvantage compared with that of the fuel vehicle, so that a power supply trailer currently exists and comprises a vehicle body, a power supply battery pack and a power supply cable, wherein the power supply battery pack is arranged on the vehicle body and is used for providing electric energy for the electric vehicle; one end of the power supply cable is connected with an output electrode of the power supply battery pack, and the other end of the power supply cable is connected with a charging interface of the electric automobile.
In the prior art, the problem that a user needs to move a traction electric automobile to a corresponding position when a power supply trailer is connected, and then the power supply trailer hook is connected is solved, and the process not only needs to move the hook behind the tractor to a rough position by the user, but also needs to manually pull the hook of the power supply trailer to move by a small extent, so that the user is inconvenient to drag and align, and the improvement space is provided.
Disclosure of Invention
In order to solve the problem that a user is inconvenient to drag and align when a power supply trailer is connected, the application provides a power supply trailer control method, a power supply trailer control system, a storage medium and an intelligent terminal.
In a first aspect, the present application provides a power supply trailer control method, which adopts the following technical scheme:
a power supply trailer control method comprising:
Acquiring current image information in front of a power supply trailer;
determining hook size information in the graph and hook coordinate information in the graph based on the current image information and preset hook feature information;
according to the relative position information of the hooks stored in the preset azimuth database, the size information of the hooks in the graph and the coordinate information of the hooks in the graph, carrying out matching analysis to determine the size information of the hooks in the graph and the coordinate of the hooks corresponding to the coordinate information of the hooks in the graph, and defining the coordinate of the hooks as current coordinate information of the hooks;
determining approach path information according to the current hook coordinate information;
and the power supply trailer runs according to the information of the approach path, and after the power supply trailer runs, the power supply trailer hook is connected with the traction hook, so that the power supply of the power supply trailer is electrically connected with the power supply of the traction vehicle.
Through adopting above-mentioned technical scheme, the power supply trailer has appeared behind the couple characteristic through the power supply trailer place ahead and has been confirmed the actual position of couple according to the size of couple characteristic in the image and the position in the image automatically, then the power supply trailer moves and realize the butt joint of couple according to the couple position automatically, simultaneously only need insert the power cord on the power supply trailer on the interface of tractor can accomplish the power supply trailer and supply power to the tractor, need not the user and backs a car and aim at personally, the human cost has been practiced thrift, the power efficiency of power supply trailer has been improved.
Optionally, the method for driving the power supply trailer after the power supply trailer is electrically connected with the power supply of the tractor further comprises the following steps:
acquiring forward speed information and running operation information of the tractor when receiving preset hook connection success information;
according to the speed change vector information, the driving operation information and the forward speed information of the tractor stored in a preset tractor change database, carrying out matching analysis to determine the speed change vector corresponding to the driving operation information and the forward speed information of the tractor, and defining the speed change vector as current speed change vector information;
determining overall route information according to the current speed change vector information and the forward speed information of the tractor;
calculating differential speed change vector information according to the current speed change vector information, the whole route information, the preset tractor shape information and the power supply trailer shape information;
carrying out matching analysis according to power supply trailer running operation information, difference speed change vector information, current speed change vector information and tractor forward speed information stored in a preset power supply trailer change database so as to determine running operation corresponding to the difference speed change vector information, the current speed change vector information and the tractor forward speed information, and defining the running operation as power supply trailer running operation information;
And operating the power supply trailer according to the power supply trailer running operation information.
Through adopting above-mentioned technical scheme, the change of rear power supply trailer is controlled through confirming the running state change of preceding car for remain the position and the couple is connected and is kept stable throughout between the two relatively unchanged, can guarantee the stability of power supply if there is the power supply state between the two, has improved the stability of power supply trailer power supply.
Optionally, the method for operating the power supply trailer according to the operation information in the form of the power supply trailer comprises the following steps:
judging whether hook connection success information always exists or not;
if the power supply trailer exists, operating the power supply trailer according to the operation information in the form of the power supply trailer;
if the power supply trailer running operation information does not exist, the current image information is re-acquired, and the updated power supply trailer running operation information is determined based on the approach path information and the power supply trailer running operation information;
and operating the power supply trailer according to the updated power supply trailer running operation information.
Through adopting above-mentioned technical scheme, whether confirm the condition that the couple is unhooked through confirming whether the couple still connects to compensate the interval in the middle of will supplying power the trailer, with the preceding tractor of assurance power supply trailer reconnection, thereby prevent to lose the power supply effect because the too big condition that leads to the cable disconnection of electricity connection of interval, guaranteed the stability of power supply trailer power supply.
Optionally, the method for re-acquiring the current image information and operating the power supply trailer according to the updated power supply trailer driving operation information comprises the following steps:
judging whether hook characteristic information exists in the current image information all the time;
if yes, operating the power supply trailer according to updated power supply trailer running operation information;
if not, searching the current image information which is shot in the history and has hook characteristic information at last, and defining the current image information as history image information;
judging whether the position of hook characteristic information in the historical image information in the image falls into a preset frame range or not;
if the information falls into the right environment information, the power supply trailer runs according to the forward speed information of the tractor and acquires the right environment information and the right rear environment information;
when the preset vehicle characteristics do not exist in the right side environment information and the right rear side environment information, the power supply trailer is moved into the right side emergency lane until the hook characteristic information is analyzed again in the current image information, and the power supply trailer is operated according to the updated power supply trailer running operation information;
if not, acquiring surrounding environment information;
analyzing surrounding environment information based on vehicle characteristics and preset traffic rule characteristic information to obtain changeable lane information;
And after the power supply trailer is moved into the changeable lane information, judging whether the hook characteristic information exists in the current image information again until the hook characteristic information is analyzed in the current image information again, and operating the power supply trailer according to the updated power supply trailer running operation information.
By adopting the technical scheme, whether the hook can be continuously found and the moving track of the tractor can be found after unhooking is determined through the image, on one hand, when the hook and the tractor lose power and fall behind when power supply is disconnected, the power supply trailer is stopped by leaning on the side at the moment, and the power supply can be continuously carried out when the tractor returns to the front; on the other hand, when the two are unhooked and power supply is also disconnected, the tractor and the power supply trailer can be shielded by other vehicles, and at the moment, the power supply trailer is translated so as to reappear the hook in the image, and then the hook is advanced according to the relative position, so that the power supply trailer reappears the power supply efficiency is improved.
Optionally, the method for electrically connecting the power source of the power supply trailer and the power source of the tractor comprises:
acquiring power supply trailer power supply energy storage information and tractor power supply energy storage information;
acquiring power supply trailer power utilization information and tractor power utilization information;
Judging whether the tractor electricity information and the power supply trailer electricity information exist or not;
if the energy storage information exists, judging whether the energy storage information of the power supply of the tractor and the energy storage information of the power supply trailer are both larger than the corresponding preset critical reserve energy information;
if the two types of the electric connection are larger than each other, only physical connection is realized, and electric connection is not performed;
if the energy storage information is not greater than the critical reserve energy information, electrically connecting a power supply of the power supply trailer with a power supply of the tractor, and simultaneously supplying energy to the power supply trailer power storage information and the tractor power storage information by using the tractor power storage information or the power supply trailer power storage information which is greater than the critical reserve energy information;
if the two types of the electric wires are smaller than each other, only physical connection is realized, and electric connection is not performed;
if one of the information is not present, judging whether the tractor power supply energy storage information and the power supply trailer power supply energy storage information are both larger than the corresponding critical reserve energy information;
if the two types of the electric connection are larger than each other, only physical connection is realized, and electric connection is not performed;
if the energy storage information is not greater than the critical reserve energy information, electrically connecting a power supply of the power supply trailer with a power supply of the tractor, and supplying energy to the power storage information of the power supply trailer or the power storage information of the tractor which is used by the power storage information of the power supply trailer or the power storage information of the power supply trailer;
If the two types of the electric wires are smaller than each other, only physical connection is realized, and electric connection is not performed;
if none exist, only physical connection is achieved without electrical connection.
Through adopting above-mentioned technical scheme, through the different energy storage of analysis and the service conditions of difference to make realize two-way power supply between tractor and the power supply trailer, the power supply is more intelligent, has improved the intellectuality of power supply trailer power supply.
Optionally, the method further includes if the power supply trailer electricity information exists and the tractor electricity information does not exist, and the power supply trailer power energy storage information is smaller than the corresponding critical reserve energy information, and the tractor power energy storage information is greater than the corresponding critical reserve energy information, electrically connecting the power supply of the power supply trailer and the power supply of the tractor, and supplying the power supply trailer power energy storage information to the power supply trailer power energy storage information, where the method includes:
acquiring tractor position information;
carrying out matching analysis based on charging pile position information and tractor position information preset on preset map information to determine charging path information;
determining the minimum power demand information according to preset average consumption information and charging path information;
judging whether the energy storage information of the power supply of the tractor is larger than the minimum electric energy demand information;
If the power storage information is larger than the power storage information, the power supply of the power supply trailer is electrically connected with the power supply of the tractor, and the energy storage information of the power supply trailer is supplied to the energy storage information of the power supply trailer;
if smaller, only physical connection is achieved without electrical connection.
Through adopting above-mentioned technical scheme, thereby through confirm whether be less than minimum electric energy demand information guarantee that the tractor can open the stake of charging and supply power, then return and drag the power supply trailer, prevent because can't charge and lead to the condition that two cars all can't remove, improved the reliability that tractor and power supply trailer removed.
Optionally, the method further comprises a method for electrically connecting the power supply of the power supply trailer and the power supply of the tractor if the power supply information of the tractor and the power supply trailer exist, and the method comprises the following steps:
carrying out matching analysis according to the drag power consumption information, the parallel power consumption information and the charging path information stored in the consumption database to determine drag power consumption amount and parallel power consumption amount corresponding to the charging path information, defining the drag power consumption amount as drag power demand information, and defining the parallel power consumption amount as parallel power demand information;
Calculating total energy storage information according to the energy storage information of the power supply trailer power supply and the energy storage information of the tractor power supply;
judging whether the total energy storage information is larger than the parallel electric energy demand information or not;
if the power supply information is greater than the parallel power demand information, electric connection is performed, and power is supplied to both the tractor and the power supply trailer;
if the total energy storage information is smaller than the parallel electric energy demand information, judging whether the total energy storage information is larger than the dragging electric energy demand information or not;
if the power storage information is larger than the dragging power demand information, judging whether the power storage information of the power supply trailer is larger than the corresponding critical reserve energy information;
if the energy information is larger than the critical reserve energy information, electric connection is performed and only the tractors are powered;
if the energy information is smaller than the critical reserve energy information, the electric connection is not performed and the tractor power supply supplies power to the tractor;
if the information is smaller than the dragging electric energy demand information, judging whether the energy storage information of the power supply of the tractor is larger than the minimum electric energy demand information;
if the information is greater than the minimum electric energy requirement information, the physical connection and the electric connection are not carried out, and the tractor power supply supplies power to the tractor;
if the power demand information is smaller than the minimum power demand information, no operation is performed and no energy supply is performed.
Through adopting above-mentioned technical scheme, through analyzing total energy storage condition under the in-process different circumstances that both carry out electric energy and use to adopt different power supply scheme, furthest carries out energy supply with both, improved the reliability that tractor and power supply trailer removed.
In a second aspect, the present application provides a power supply trailer control system, which adopts the following technical scheme:
a powered trailer control system comprising:
the acquisition module is used for acquiring current image information, hook connection success information, tractor forward speed information, driving operation information, right side environment information, right back side environment information, surrounding environment information, power supply trailer power energy storage information, tractor power energy storage information, power supply trailer power information, tractor power information and tractor position information;
a memory for storing a program of a control method of any one of the power supply trailer control methods described above;
and the processor can load and execute programs in the memory by the processor and realize the control method of any power supply trailer control method.
Through adopting above-mentioned technical scheme, the power supply trailer has appeared behind the couple characteristic through the power supply trailer place ahead and has been confirmed the actual position of couple according to the size of couple characteristic in the image and the position in the image automatically, then the power supply trailer moves and realize the butt joint of couple according to the couple position automatically, simultaneously only need insert the power cord on the power supply trailer on the interface of tractor can accomplish the power supply trailer and supply power to the tractor, need not the user and backs a car and aim at personally, the human cost has been practiced thrift, the power efficiency of power supply trailer has been improved.
In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
the intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any power supply trailer control method.
Through adopting above-mentioned technical scheme, the power supply trailer has appeared behind the couple characteristic through the power supply trailer place ahead and has been confirmed the actual position of couple according to the size of couple characteristic in the image and the position in the image automatically, then the power supply trailer moves and realize the butt joint of couple according to the couple position automatically, simultaneously only need insert the power cord on the power supply trailer on the interface of tractor can accomplish the power supply trailer and supply power to the tractor, need not the user and backs a car and aim at personally, the human cost has been practiced thrift, the power efficiency of power supply trailer has been improved.
In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, and having the characteristics of rapid analysis and transmission and sensitive response.
A computer readable storage medium, adopting the following technical scheme:
a computer readable storage medium storing a computer program loadable by a processor and performing any of the above powered trailer control methods.
Through adopting above-mentioned technical scheme, the power supply trailer has appeared behind the couple characteristic through the power supply trailer place ahead and has been confirmed the actual position of couple according to the size of couple characteristic in the image and the position in the image automatically, then the power supply trailer moves and realize the butt joint of couple according to the couple position automatically, simultaneously only need insert the power cord on the power supply trailer on the interface of tractor can accomplish the power supply trailer and supply power to the tractor, need not the user and backs a car and aim at personally, the human cost has been practiced thrift, the power efficiency of power supply trailer has been improved.
In summary, the present application includes at least the following beneficial technical effects:
the actual position of the hook is determined through the image, the power supply trailer moves to realize the butt joint of the hook, the user does not need to reverse and align in person, the labor cost is saved, and the power supply efficiency of the power supply trailer is improved;
the change of the rear power supply trailer is controlled by determining the running state change of the front vehicle, so that the stability of power supply of the power supply trailer is improved;
through different energy storage and different service conditions of analysis to make realize two-way power supply between tractor and the power supply trailer, the power supply is more intelligent, has improved the intellectuality of power supply trailer power supply.
Drawings
Fig. 1 is a flow chart of a method of controlling a powered trailer in an embodiment of the present application.
Fig. 2 is a flow chart of a method of driving a powered trailer after electrically connecting the power source of the powered trailer and the power source of the tractor in an embodiment of the present application.
Fig. 3 is a flow chart of a method of operating a powered trailer in accordance with the present application in accordance with the power trailer form of operation information.
Fig. 4 is a flowchart of a method of re-acquiring current image information and operating a powered trailer according to updated powered trailer travel operation information in an embodiment of the present application.
Fig. 5 is a flow chart of a method of electrically connecting a power source of a powered trailer and a power source of a tractor in an embodiment of the present application.
Fig. 6 is a flowchart of a method for electrically connecting a power source of a power supply trailer and a power source of a tractor and supplying energy to the power source energy storage information of the power supply trailer when the power source energy storage information of the power supply trailer exists and the power source energy storage information of the tractor does not exist and the power source energy storage information of the power supply trailer is smaller than the corresponding critical reserve energy information and the power source energy storage information of the tractor is larger than the corresponding critical reserve energy information in the embodiment of the present application.
Fig. 7 is a flowchart of a method for electrically connecting a tractor power supply to a tractor power supply if both tractor power information and power trailer power information are present in an embodiment of the present application.
Fig. 8 is a system block diagram of a method of controlling a powered trailer in an embodiment of the present application.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to fig. 1 to 8 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The embodiment of the application discloses a power supply trailer control method. Referring to fig. 1, a power supply trailer control method includes:
step 100: current image information in front of the powered trailer is acquired.
The current image information is information of an image in front of the power supply trailer, and here a camera may be arranged above the power supply trailer, so as to shoot towards the front of the power supply trailer. In this embodiment of the present application, the power supply trailer may be any type of carrier, which may be a caravan, a trailer, or the like, and only needs to have a storage battery or other energy storage device carried on the rear trailer, and has an independent running system.
In the embodiment of the application, the electric automobile with the front part as power is named as a tractor, and can be a common electric automobile or a locomotive of a trailer with electric power as power.
It should be noted that, in this case, the shooting is performed after the tractor, which is generally in front, moves to a substantially position, and an actuation mode may be set, for example: the button can also be positioned by the GPS of the button and the button, and the button can be triggered when the GPS of the button and the button are positioned close to a certain degree, so that shooting is performed immediately.
Step 101: and determining the size information of the hooks in the graph and the coordinate information of the hooks in the graph based on the current image information and the preset hook characteristic information.
The hook characteristic information is information of the characteristic of the hook presented in the picture, and can be characterized by the metal color of the hook, namely, the color different from the color of the vehicle shell of the vehicle in front, so that the hook can be distinguished, and the hook can be coated with a nonmetal conspicuous color if necessary. The information of the size of the hook in the figure is the information of the size of the hook, and the information can be the information that the color corresponding to the hook is converted into the size of the hook along the length of the image in the vertical direction. The hook coordinate information in the drawing is information of coordinates of hook features in the drawing, and may be taken as an example of a certain position, for example: the boundary line at the junction of the hitch and the tractor is an example. All that is determined here is the information in the figure.
Step 102: according to the relative position information of the hooks stored in the preset azimuth database, the size information of the hooks in the figure and the coordinate information of the hooks in the figure, matching analysis is carried out to determine the size information of the hooks in the figure and the coordinate of the hooks corresponding to the coordinate information of the hooks in the figure, and the coordinate of the hooks is defined as the current coordinate information of the hooks.
The information of the relative position of the hook is the information of the relative position between the hook and the power supply trailer. The database stores the mapping relation of the relative position information of the hooks, the size information of the hooks in the figure and the coordinate information of the hooks in the figure. In the present embodiment, the height of the hooks is generally set to be fixed and horizontally placed. In the photo, the relative positions of the hooks are determined by the sizes and coordinates of the hooks, so that a worker in the field records and correlates the corresponding relative positions and the sizes and coordinates of the hooks in the drawing by shooting the hooks at different positions. When the system receives the corresponding hook size information and the corresponding hook coordinate information in the graph, the corresponding hook coordinate is automatically searched from the database, and the current hook coordinate information is output.
Step 103: and determining the driving path information according to the current hook coordinate information.
The driving path information is information of the driving path of the power supply trailer, wherein the power supply trailer is connected with the tractor through the power supply trailer in a butt joint mode. The straight line information can be that two coordinate points are formed, the hook on the power supply trailer is an origin point, the hook on the tractor is a coordinate point, then the two points form a straight line, or a path formed along two right-angle sides when the straight line formed by the two points is used as a hypotenuse of a right-angle triangle can be determined according to a manually set rule.
Step 104: and the power supply trailer runs according to the running path information, and after the running, the power supply trailer hook is connected with the traction hook, so that the power supply of the power supply trailer is electrically connected with the power supply of the tractor.
The process of connecting the power supply trailer hook and the traction hook after running can be operated manually, namely the hook is directly inserted, a vehicle does not need to be moved, and the power supply trailer hook and the traction hook can also be controlled electrically, namely the two hooks are provided with mechanical arms, and the butt joint is realized by simulating certain operation of the user's hands. The same is true of the manner in which the power source that powers the trailer and the power source of the tractor are electrically connected.
Referring to fig. 2, there is also included a method of electrically connecting a power source of a powered trailer to a power source of a tractor for driving the powered trailer, the method comprising:
Step 200: and acquiring forward speed information and driving operation information of the tractor when receiving preset hook connection success information.
The information of successful connection of the hooks is information of successful connection of the two hooks, and a tension sensor can be arranged on the hooks, so that a certain degree of tension exists between the two hooks when the hooks are successfully connected, namely the information of successful connection of the hooks is output. The forward speed information of the tractor is information of the forward speed of the tractor, and the acquisition mode can be that the speed of the vehicle on the instrument panel is directly read. The running operation information is information of operation of a user in the running process, and comprises rotation direction and amplitude of a steering wheel, stepping degree of a brake and an accelerator, pressing condition of each button, setting of gears and the like. Are received and acquired by the automobile system. The wireless communication transmission exists between the two, so that information between the two can be mutually transmitted.
Step 201: and carrying out matching analysis according to speed change vector information, running operation information and forward speed information of the tractor stored in a preset tractor change database so as to determine the speed change vector corresponding to the running operation information and the forward speed information of the tractor, and defining the speed change vector as current speed change vector information.
The current speed change vector information is information of the magnitude and direction of the speed change expected to be generated by the tractor after passing through the operation corresponding to the driving operation information on the basis of the forward speed information of the tractor, and is actually the direction and magnitude of the acceleration. The database stores the mapping relation between the speed change vector information, the driving operation information and the forward speed information of the tractor, and the mapping relation is obtained by the workers in the field according to the experience common knowledge and the theoretical algorithm, and the situation of traffic accidents and the like generated during the driving of the vehicle is generally and temporarily not considered. When the system receives the driving operation information and the forward speed information of the tractor, the corresponding speed change vector is automatically searched from the database and output according to the current speed change vector information.
Step 202: and determining overall route information according to the current speed change vector information and the forward speed information of the tractor.
The overall route information is information of a route along which the traction vehicle advances, and includes acceleration and velocity of coordinate points on any one route. Here, the product is obtained by integrating the velocity with the acceleration, and the path is obtained by integrating the velocity.
Step 203: and calculating differential speed change vector information according to the current speed change vector information, the whole route information, the preset tractor shape information and the power supply trailer shape information.
The differential speed change vector information is information of a change vector of the speed of the power supply trailer when the hook and the hook are connected stably and cannot collide with each other, so that the power supply trailer is stable. The hanger is only required to be stable, so that the hanger position of the power supply trailer and the hanger position of the front vehicle are required to be controlled to be always positioned at the same position, and when the power supply trailer turns, the vehicles are required to be ensured to be positioned in the same lane in the driving process, so that the two vehicles are required to be positioned on the same route, synchronous movement cannot be ensured between the two vehicles, and the difference value of speed change vectors can be generated. Of course, when the route information is a straight line, the differential speed change vector information is 0, and both keep accelerating and decelerating synchronously.
Step 204: and carrying out matching analysis according to power supply trailer running operation information, difference speed change vector information, current speed change vector information and tractor forward speed information stored in a preset power supply trailer change database so as to determine running operation corresponding to the difference speed change vector information, the current speed change vector information and the tractor forward speed information, and defining the running operation as power supply trailer running operation information.
The power supply trailer running operation information is information of running operation of the power supply trailer for ensuring the stability of the hook and operation of a manipulator on the hook during running. The database stores the mapping relation among the running operation information of the power supply trailer, the differential speed change vector information, the current speed change vector information and the forward speed information of the tractor. Is set by a person skilled in the art in the case of different differential speed change vector information, current speed change vector information and forward speed information of the tractor. When the system receives the differential speed change vector information, the current speed change vector information and the forward speed information of the tractor, corresponding running operation is automatically searched from the database so as to supply and output the running operation information of the power trailer.
Step 205: and operating the power supply trailer according to the power supply trailer running operation information.
Referring to fig. 3, a method of operating a powered trailer in accordance with operational information in the form of a powered trailer includes:
step 300: judging whether the hook connection success information always exists.
The purpose of the judgment is to determine whether or not to unhook.
Step 3001: and if the power supply trailer exists, operating the power supply trailer according to the operation information in the form of the power supply trailer.
Step 3002: and if the power supply trailer running operation information does not exist, re-acquiring the current image information and determining to update the power supply trailer running operation information based on the running path information and the power supply trailer running operation information.
The power supply trailer running operation information is updated to be information of not only synchronous movement but also acceleration operation generated in order to compensate for the relative position after unhooking.
Step 301: and operating the power supply trailer according to the updated power supply trailer running operation information.
Referring to fig. 4, the method of re-acquiring current image information and operating the power supply trailer according to updated power supply trailer driving operation information includes:
step 400: judging whether hook characteristic information exists in the current image information all the time.
The purpose of the determination is to determine whether the hook is occluded by an occlusion object and cannot be operated in the manner of step 301.
Step 4001: if yes, the power supply trailer is operated according to updated power supply trailer running operation information.
Step 4002: if not, searching the current image information which is shot in the history and finally has hook characteristic information, and defining the current image information as history image information.
Step 401: judging whether the position of hook characteristic information in the historical image information in the image falls into a preset frame range or not.
The frame range is the information of the range on the edge in the image, and here, the periphery of the frame is positioned in a certain distance. The purpose of the determination is to determine whether the tractor is behind or to the side of the powered trailer.
Step 4011: if the information falls into the right environment information, the power supply trailer runs according to the forward speed information of the tractor and acquires the right environment information and the right rear environment information.
The right side environment information is information of the environments of all lanes on the right side of the lane where the power supply trailer is located. The right rear side environment information is information of environments of all lanes behind the right side of the lane where the power supply trailer is located. The reason why the right side environmental information and the right rear side environmental information are distinguished here is because they are acquired by photographing with two cameras, one facing the right side and one facing the rear side. The purpose of the travel is to prevent traffic jam caused by temporary parking. If the traffic falls into the traffic lane, the tractor is indicated to be in front or behind, and the power supply trailer needs to stop running to reduce the use of electric energy at the moment, and the power supply trailer needs to be parked at the roadside or in a temporary parking area to avoid traffic lane blocking.
Step 4012: and if not, acquiring surrounding environment information.
The surrounding environment information is information of surrounding environments. The four cameras are used for shooting and obtaining. If the hook does not fall into the hook, the front is indicated to be provided with an obstacle, and the hook is shielded.
Step 402: and when the preset vehicle characteristics are not present in the right side environment information and the right rear side environment information, the power supply trailer is moved into the right side emergency lane until the hook characteristic information is analyzed again in the current image information, and the power supply trailer is operated according to the updated power supply trailer running operation information.
The vehicle characteristics are information of characteristics of the vehicle, that is, information capable of identifying characteristics of the vehicle. And stopping moving the power supply trailer after moving into the right emergency lane and continuing to acquire the current image information.
Step 403: and analyzing surrounding environment information based on vehicle characteristics and preset traffic rule characteristic information to obtain changeable lane information.
The traffic regulation characteristic information is information of characteristics of traffic regulation of the lane, and comprises a direction indication arrow on the road, lane separation lines, an upper indication board, traffic lights and the like. The changeable lane information is information of a lane in which movement is permitted, and here the changeable lane information must be continuous with the current lane, otherwise, the changeable lane information is not regarded.
Step 404: and after the power supply trailer is moved into the changeable lane information, judging whether the hook characteristic information exists in the current image information again until the hook characteristic information is analyzed in the current image information again, and operating the power supply trailer according to the updated power supply trailer running operation information.
The aim of the movement is to re-acquire the image of the characteristic information of the hook, and then to re-move to the rear of the tractor for hook butt joint according to the position of the hook in the image.
The method comprises the following steps of judging whether the hook characteristic information exists in the current image information again after the power supply trailer is moved into the movable lane information until the hook characteristic information is analyzed in the current image information again, and operating the power supply trailer according to updated power supply trailer running operation information, wherein the method comprises the following steps:
step 4041: and analyzing the tractor lane information corresponding to the current hook coordinate information in the current image information.
The tractor lane information is information of a lane in which the tractor is located with respect to the own lane. The analysis mode is that the relative position of the current hook coordinate information and the position of the lane of the vehicle are determined.
Step 4042: analyzing the current image information based on the tractor lane information, the current hook coordinate information and the vehicle characteristics to determine intermediate space information;
The intermediate space information is information of a distance between a hitch and a following vehicle on a lane in which the tractor lane information is located. The manner of determination is based on analysis of any one of the characteristics of the vehicle characteristic information behind the hitch, such as: the position of the mirror determines the position of the rear vehicle and then the position of the vehicle to determine the intermediate space information.
Step 4043: and judging whether the intermediate space information is larger than the length corresponding to the shape information of the power supply trailer.
The purpose of the determination is to determine whether the powered trailer can be moved into the void in between and the tractor docked.
Step 40431: and if the power supply trailer is larger than the power supply trailer, operating the power supply trailer according to updated power supply trailer running operation information.
Step 40432: and if the vehicle speed is smaller than the vehicle speed, driving in the movable lane information according to the power supply trailer driving operation information until the intermediate space information is larger than the length corresponding to the power supply trailer shape information.
Referring to fig. 5, a method of electrically connecting a power source of a powered trailer and a power source of a tractor includes:
step 500: and acquiring power storage information of the power supply trailer and power storage information of the tractor.
The power storage information of the power supply trailer is information of energy storage of a power supply on the power supply trailer. The energy storage information of the power supply of the tractor is information of energy storage of the power supply on the tractor. Can be obtained by parallel universal tables.
Step 501: and acquiring power supply trailer power information and tractor power information.
The power supply trailer electricity information is information of the current electric quantity needed to be used by the power supply trailer, and comprises an air conditioner inside the trailer, external power supply and the like. The tractor electricity information is information of the electricity quantity currently needed to be used by the tractor.
Step 502: and judging whether the tractor electricity information and the power supply trailer electricity information exist or not.
Step 5021: if the energy storage information exists, judging whether the energy storage information of the power supply of the tractor and the energy storage information of the power supply trailer are larger than the preset critical reserve energy information corresponding to the energy storage information.
The critical reserve energy information is information of energy to be reserved in the power supply, so that the power supply can perform the minimum required functions such as charging. When there is no minimum requirement, the critical reserve energy information is 0. The purpose of the determination is to determine whether power has been disabled.
Step 5022: if one of the information is not present, judging whether the tractor power supply energy storage information and the power supply trailer power supply energy storage information are both larger than the corresponding critical reserve energy information.
Step 5023: if none exist, only physical connection is achieved without electrical connection.
If none exist, it means that both power supplies cannot supply power, and only physical connection, or even no connection, can be achieved.
Step 5031: if both are larger, only physical connection is realized without electrical connection.
If the power supply is larger than the power supply, the power supply of the respective devices can be performed, and the power supply is not required to be electrically connected, but the power supply is physically connected, so that the power supply is convenient for the subsequent power supply.
Step 5032: and if the energy storage information is not greater than the critical reserve energy information, electrically connecting the power supply of the power supply trailer with the power supply of the tractor, and simultaneously supplying energy to the power storage information of the power supply trailer and the power storage information of the tractor.
If one of the power supplies is not more than the other power supply, at least one power supply cannot supply power, and the power supply is performed from the other power supply, so that the tractor and the power supply trailer can work normally.
Step 5033: if both are smaller, only physical connection is achieved without electrical connection.
If both are smaller, it means that both power supplies cannot supply power, and only physical connection, even no connection, can be achieved.
Step 5041: if both are larger, only physical connection is realized without electrical connection.
If the power supply is larger than the power supply, the power supply of the respective devices can be performed, and the power supply is not required to be electrically connected, but the power supply is physically connected, so that the power supply is convenient for the subsequent power supply.
Step 5042: and if the energy storage information is not greater than the critical reserve energy information, electrically connecting a power supply of the power supply trailer with a power supply of the tractor, and supplying energy to the power storage information of the power supply trailer or the power storage information of the power supply trailer which is used by the power storage information of the power supply trailer or the power storage information of the power supply trailer.
If one of the power supply power storage information is not larger than the threshold reserve energy information, the other power supply which is larger than the threshold reserve energy information can be used for supplying energy to the power supply trailer power storage information or the tractor power storage information which is used.
Step 5043: if both are smaller, only physical connection is achieved without electrical connection.
Referring to fig. 6, the method further includes, if the power supply trailer power information exists and the tractor power information does not exist, and the power supply trailer power energy storage information is smaller than the corresponding critical reserve energy information, and the tractor power energy storage information is greater than the corresponding critical reserve energy information, electrically connecting the power supply of the power supply trailer and the power supply of the tractor and supplying the power supply trailer power energy storage information to the power supply trailer power energy storage information, the method including:
Step 600: tractor position information is obtained.
The tractor position information is information of the position of the tractor. Here it can be obtained by GPS acquisition.
Step 601: and carrying out matching analysis based on the preset charging pile position information and the tractor position information on the preset map information to determine charging path information.
The map information is information of an electronic map, for example: and (5) a Goldmap. The charging pile position information is information of the position of the charging pile. And is obtained by marking on a map by a worker skilled in the art. The charging path information is information of a path of travel required when moving from the current tractor position to a position corresponding to the charging pile position information. The navigation can be performed through a Goldmap navigation.
Step 602: and determining low power demand information according to the preset average consumption information and charging path information.
The average consumption information is information of electric energy consumed per kilometer. The minimum power demand information is information of the consumption amount of power required to travel the travel path information. Here the kilometer number may be multiplied by the average power consumption. A reserved value can be added here to ensure that no deviation occurs.
Step 603: and judging whether the energy storage information of the power supply of the tractor is larger than the minimum electric energy demand information.
The purpose of the judgment is to ensure that the tractor can move to the charging pile for charging. Because for power supply trailer power consumption information exists and tractor power consumption information does not exist this moment, and power supply trailer power energy storage information is less than corresponding critical reserve energy information, and when tractor power energy storage information is greater than corresponding critical reserve energy information, the power supply trailer needs the power on the tractor to supply power promptly, probably has carried out extra work for the power supply trailer this moment, for example: the air conditioner is turned on. Therefore, in order to ensure that the tractor can move to the charging pile for charging, the power supply of the tractor is required to be limited to a certain extent.
Step 6031: if the energy storage information is larger than the energy storage information, the power supply of the power supply trailer is electrically connected with the power supply of the tractor, and the energy storage information of the power supply trailer is supplied to the energy storage information of the power supply trailer.
Step 6032: if smaller, only physical connection is achieved without electrical connection.
If the power supply voltage is smaller than the predetermined value, it means that the charging is not performed at this time, and therefore, the power supply is not performed.
Referring to fig. 7, there is also included a method of electrically connecting a power supply of a tractor to a power supply of a tractor if both tractor power information and power supply trailer power information are present, the method comprising:
Step 700: and carrying out matching analysis according to the drag power consumption information, the parallel power consumption information and the driving path information stored in the consumption database to determine drag power consumption and parallel power consumption corresponding to the driving path information, wherein the drag power consumption is defined as drag power demand information, and the parallel power consumption is defined as parallel power demand information.
The towing power consumption information is information of average power consumed when the power supply trailer does not move and only depends on inertia of the tractor to move. The parallel power demand information is information of average power consumed when the power supply trailer and the tractor move synchronously. Because the parallel electric energy is converted into kinetic energy to be lost, and some processes and steps are needed to be analyzed, the general parallel electric energy demand information is larger than the dragging electric energy consumption information.
Step 701: and calculating total energy storage information according to the power storage information of the power supply trailer and the power storage information of the tractor.
The total stored energy information is the information of the sum between the two power supplies stored energy. The way of calculation is that the two are added.
Step 702: and judging whether the total energy storage information is larger than the parallel electric energy demand information.
Step 7021: if the power demand information is greater than the parallel power demand information, the power supply is performed to the tractor and the power supply trailer.
If the requirement for two synchronous movements is greater, both can be powered, thus ensuring the stability of the hitch connection between the tractor and the powered trailer.
Step 7022: if the total energy storage information is smaller than the parallel electric energy demand information, judging whether the total energy storage information is larger than the dragging electric energy demand information.
If the requirement of two synchronous movements is smaller, the connection stability of the two hooks cannot be ensured. The purpose of the determination is to determine whether the powered trailer can still be moved.
Step 7031: if the power storage information is larger than the dragging power demand information, judging whether the power storage information of the power supply trailer is larger than the corresponding critical reserve energy information.
If the power supply trailer is larger than the power supply trailer, the power supply trailer can move through the tractor at the moment. At this time, it is necessary to determine whether the power supply trailer needs to be electrically connected to the tractor for power supply, so it is necessary to determine whether the power storage information of the power supply trailer is greater than the corresponding critical reserve energy information.
Step 7032: if the information is smaller than the information of the dragging electric energy requirement, judging whether the information of the power supply energy storage of the tractor is larger than the information of the lowest electric energy requirement.
If the vehicle is smaller than the preset value, the vehicle is not dragged at the moment, and the vehicle can only be charged forward, so that whether the vehicle can advance by itself is required to be judged.
Step 7041: if the energy information is greater than the critical reserve energy information, an electrical connection is made and only the tractors are powered.
If the power supply is larger than the charging pile, the power supply of the power supply trailer is redundant, and the power supply of the tractor is needed in order to ensure that the tractor can move to the charging pile for charging.
Step 7042: if the stored energy information is less than the threshold, no electrical connection is made and the tractor power source powers the tractor.
If it is smaller, it indicates that there is a point on the tractor only, so the tractor is required to power itself and advance.
Step 7051: if the information is greater than the minimum power demand information, no physical connection and no electrical connection are made, and the tractor power supply supplies power to the tractor.
If the power is larger than the power, the tractor can only meet the requirement of electric energy which is independently sent to the charging pile, and additional power supply cannot be performed, so that the tractor is required to be charged before the tractor is separated.
Step 7052: if the power demand information is smaller than the minimum power demand information, no operation is performed and no energy supply is performed.
If the power supply is smaller than the preset value, the power supply cannot be supplied, and the charging pile cannot be moved to charge, and the operation is not performed.
Based on the same inventive concept, the embodiment of the invention provides a power supply trailer control system.
Referring to fig. 8, a powered trailer control system comprising:
the acquisition module is used for acquiring current image information, hook connection success information, tractor forward speed information, driving operation information, right side environment information, right back side environment information, surrounding environment information, power supply trailer power energy storage information, tractor power energy storage information, power supply trailer power information, tractor power information and tractor position information;
a memory for storing a program of a control method of the power supply trailer control method;
and the processor is used for loading and executing programs in the memory by the processor and realizing a control method of the power supply trailer control method.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
Embodiments of the present invention provide a computer readable storage medium storing a computer program capable of being loaded by a processor and executing a method of controlling a powered trailer.
The computer storage medium includes, for example: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RandomAccessMemory, RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
Based on the same inventive concept, the embodiment of the invention provides an intelligent terminal, which comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute a power supply trailer control method.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the application, in which any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (6)
1. A method of controlling a powered trailer comprising:
acquiring current image information in front of a power supply trailer;
determining hook size information in the graph and hook coordinate information in the graph based on the current image information and preset hook feature information;
According to the relative position information of the hooks stored in the preset azimuth database, the size information of the hooks in the graph and the coordinate information of the hooks in the graph, carrying out matching analysis to determine the size information of the hooks in the graph and the coordinate of the hooks corresponding to the coordinate information of the hooks in the graph, and defining the coordinate of the hooks as current coordinate information of the hooks;
determining approach path information according to the current hook coordinate information;
the power supply trailer is driven according to the information of the approach path, the power supply trailer hook is connected with the traction hook after the power supply trailer is driven, and the power supply of the power supply trailer is electrically connected with the power supply of the traction vehicle;
the method for driving the power supply trailer after the power supply trailer is electrically connected with the power supply of the tractor further comprises the following steps:
acquiring forward speed information and running operation information of the tractor when receiving preset hook connection success information;
according to the speed change vector information, the driving operation information and the forward speed information of the tractor stored in a preset tractor change database, carrying out matching analysis to determine the speed change vector corresponding to the driving operation information and the forward speed information of the tractor, and defining the speed change vector as current speed change vector information;
Determining overall route information according to the current speed change vector information and the forward speed information of the tractor;
calculating differential speed change vector information according to the current speed change vector information, the whole route information, the preset tractor shape information and the power supply trailer shape information;
carrying out matching analysis according to power supply trailer running operation information, difference speed change vector information, current speed change vector information and tractor forward speed information stored in a preset power supply trailer change database so as to determine running operation corresponding to the difference speed change vector information, the current speed change vector information and the tractor forward speed information, and defining the running operation as power supply trailer running operation information;
operating the power supply trailer according to the power supply trailer running operation information;
the method for operating the power supply trailer according to the power supply trailer running operation information comprises the following steps:
judging whether hook connection success information always exists or not;
if the power supply trailer exists, operating the power supply trailer according to the power supply trailer running operation information;
if the power supply trailer running operation information does not exist, the current image information is re-acquired, and the updated power supply trailer running operation information is determined based on the approach path information and the power supply trailer running operation information;
Operating the power supply trailer according to updated power supply trailer running operation information;
the method for re-acquiring the current image information and operating the power supply trailer according to the updated power supply trailer running operation information comprises the following steps:
judging whether hook characteristic information exists in the current image information all the time;
if yes, operating the power supply trailer according to updated power supply trailer running operation information;
if not, searching the current image information which is shot in the history and has hook characteristic information at last, and defining the current image information as history image information;
judging whether the position of hook characteristic information in the historical image information in the image falls into a preset frame range or not;
if the information falls into the right environment information, the power supply trailer runs according to the forward speed information of the tractor and acquires the right environment information and the right rear environment information;
when the preset vehicle characteristics do not exist in the right side environment information and the right rear side environment information, the power supply trailer is moved into the right side emergency lane until the hook characteristic information is analyzed again in the current image information, and the power supply trailer is operated according to the updated power supply trailer running operation information;
if not, acquiring surrounding environment information;
Analyzing surrounding environment information based on vehicle characteristics and preset traffic rule characteristic information to obtain changeable lane information;
and after the power supply trailer is moved into the changeable lane information, judging whether the hook characteristic information exists in the current image information again until the hook characteristic information is analyzed in the current image information again, and operating the power supply trailer according to the updated power supply trailer running operation information.
2. A method of controlling a powered trailer as claimed in claim 1, wherein the method of electrically connecting the power source of the powered trailer to the power source of the tractor comprises:
acquiring power supply trailer power supply energy storage information and tractor power supply energy storage information;
acquiring power supply trailer power utilization information and tractor power utilization information;
judging whether the tractor electricity information and the power supply trailer electricity information exist or not;
if the energy storage information exists, judging whether the energy storage information of the power supply of the tractor and the energy storage information of the power supply trailer are both larger than the corresponding preset critical reserve energy information;
if the two types of the electric connection are larger than each other, only physical connection is realized, and electric connection is not performed;
if the energy storage information is not greater than the critical energy storage information, electrically connecting a power supply of the power supply trailer with a power supply of the tractor, and supplying energy to the power supply trailer corresponding to the power storage information of the power supply trailer and the tractor corresponding to the power storage information of the power supply trailer;
If the two types of the electric wires are smaller than each other, only physical connection is realized, and electric connection is not performed;
if one of the information is not present, judging whether the tractor power supply energy storage information and the power supply trailer power supply energy storage information are both larger than the corresponding critical reserve energy information;
if the two types of the electric connection are larger than each other, only physical connection is realized, and electric connection is not performed;
if the energy storage information is not greater than the critical energy storage information, electrically connecting a power supply of the power supply trailer with a power supply of the tractor, and supplying energy to the power supply trailer corresponding to the power storage information of the tractor or the power supply trailer corresponding to the power storage information of the power supply trailer;
if the two types of the electric wires are smaller than each other, only physical connection is realized, and electric connection is not performed;
if none exist, only physical connection is achieved without electrical connection.
3. The method of claim 2, further comprising the steps of electrically connecting a power source of the power trailer with a power source of the tractor and supplying power from the power source of the tractor corresponding to the tractor power source storage information to the power trailer corresponding to the power trailer power storage information if the power trailer power storage information is present and the tractor power storage information is less than the corresponding critical reserve energy information and the tractor power storage information is greater than the corresponding critical reserve energy information, if the power trailer power storage information is not present and the tractor power storage information is not present, the method comprising:
Acquiring tractor position information;
carrying out matching analysis based on charging pile position information and tractor position information preset on preset map information to determine charging path information;
determining the minimum power demand information according to preset average consumption information and charging path information;
judging whether the energy storage information of the power supply of the tractor is larger than the minimum electric energy demand information;
if the power is larger than the energy storage information, the power supply of the power supply trailer is electrically connected with the power supply of the tractor, and the power supply of the tractor corresponding to the energy storage information of the power supply trailer supplies energy to the power supply trailer corresponding to the energy storage information of the power supply trailer;
if smaller, only physical connection is achieved without electrical connection.
4. A powered trailer control system, comprising:
the acquisition module is used for acquiring current image information, hook connection success information, tractor forward speed information, driving operation information, right side environment information, right back side environment information, surrounding environment information, power supply trailer power energy storage information, tractor power energy storage information, power supply trailer power information, tractor power information and tractor position information;
a memory for storing a program of a control method of the power supply trailer control method according to any one of claims 1 to 3;
A processor, a program in the memory being loadable by the processor and implementing a control method of an electric trailer control method as claimed in any one of claims 1 to 3.
5. A smart terminal comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and executing a method of controlling an electric trailer according to any one of claims 1 to 3.
6. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs a method of controlling an electrically powered trailer as claimed in any one of claims 1 to 3.
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| WO2022156630A1 (en) * | 2021-01-19 | 2022-07-28 | 北京九曜智能科技有限公司 | Hitch method and hitch system for hitching vehicle to tow truck |
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| GB2447672B (en) * | 2007-03-21 | 2011-12-14 | Ford Global Tech Llc | Vehicle manoeuvring aids |
| US11198340B2 (en) * | 2018-05-01 | 2021-12-14 | Continental Automotive Systems, Inc. | Coupler and tow-bar detection for automated trailer hitching via cloud points |
| US12272149B2 (en) * | 2021-11-24 | 2025-04-08 | Paccar Inc. | Tractor-based trailer clearance and positioning system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111372795A (en) * | 2017-09-25 | 2020-07-03 | 大陆汽车系统公司 | Automated trailer hitch using image coordinates |
| CN109910530A (en) * | 2017-12-12 | 2019-06-21 | 福特全球技术公司 | Hitch assist system and method featuring a specified angle between vehicle heading and trailer heading at final position |
| WO2022156630A1 (en) * | 2021-01-19 | 2022-07-28 | 北京九曜智能科技有限公司 | Hitch method and hitch system for hitching vehicle to tow truck |
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