WO2019053020A1 - Système et procédé pour une remorque remorquable par un véhicule - Google Patents

Système et procédé pour une remorque remorquable par un véhicule Download PDF

Info

Publication number
WO2019053020A1
WO2019053020A1 PCT/EP2018/074507 EP2018074507W WO2019053020A1 WO 2019053020 A1 WO2019053020 A1 WO 2019053020A1 EP 2018074507 W EP2018074507 W EP 2018074507W WO 2019053020 A1 WO2019053020 A1 WO 2019053020A1
Authority
WO
WIPO (PCT)
Prior art keywords
trailer
vehicle
force
wheel
wheels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/074507
Other languages
English (en)
Inventor
Jeremy Greenwood
Gary Cripps
Chris Clarke
Robin BOYD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jaguar Land Rover Ltd
Original Assignee
Jaguar Land Rover Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jaguar Land Rover Ltd filed Critical Jaguar Land Rover Ltd
Priority to DE112018005122.6T priority Critical patent/DE112018005122T5/de
Publication of WO2019053020A1 publication Critical patent/WO2019053020A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/248—Trailer sway, e.g. for preventing jackknifing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/06—Tractor-trailer swaying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/22—Articulation angle, e.g. between tractor and trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D59/00—Trailers with driven ground wheels or the like
    • B62D59/04—Trailers with driven ground wheels or the like driven from propulsion unit on trailer

Definitions

  • the present invention is advantageous in that the determined trailer wheel brake force value is based on signals both from systems of the tow vehicle and from the coupling sensor.
  • the system is operable to control the electric motors in response to receiving the signal that the vehicle is braking, but the particular manner in which the system controls the electric motors, i.e. the level of force that the electric motors are commanded to apply to the trailer wheels, is calibrated or adjusted in dependence on the coupling sensor output.
  • the trailer may be coupled to the vehicle by means of a mechanical hitch joint, the coupling force being a force at the mechanical hitch joint.
  • the at least one subsystem of the vehicle may include a vehicle stability control system having a stability controller and the receiving means may be configured to receive the vehicle braking signal from the stability controller.
  • the vehicle may include a vehicle steering system having a steering controller configured to steer one or more wheels of the vehicle, the receiving means may be configured to receive a vehicle steering signal from the steering controller, and the processing means may be configured to determine the trailer wheel brake force value based on the received vehicle steering signal.
  • the system may comprise the at least one electric motor coupled to the wheels of the axle of the trailer.
  • the control means may be configured to cause the at least one electric motor to apply a force to the wheel to which it is coupled in dependence on the determined trailer wheel brake force value only if the received yaw sensor output data is indicative of the level of yaw of the trailer being greater than a predetermined level of yaw.
  • a trailer including an axle having two wheels and at least one electric motor coupled thereto, and the trailer comprises a system as described above.
  • a non-transitory, computer-readable storage medium storing instructions thereon that when executed by one or more processors causes the one or more processors to carry out the method as described above.
  • the vehicle 12 is a car having a plurality of on-board vehicle control subsystems 16.
  • the control subsystems 16 include a vehicle braking control system 18.
  • the vehicle 12 may be fitted with a hydraulic brake circuit as is known in the art, whereby application of a brake pedal (not shown) of the vehicle 12 by the driver causes application of the vehicle's wheel brakes.
  • the wheel brakes (not shown) can be drum brakes or disc brakes, for example.
  • Application of the brakes may be controlled by a controller of the braking system 18.
  • the vehicle braking control system 18 senses when the vehicle brake pedal is depressed by the driver and generates a vehicle braking signal 20 to be sent to the trailer 10, as will be described in greater detail below.
  • the vehicle control subsystems 16 also include an electronic stability control system (SCS) or anti-lock braking system 22.
  • the SCS 22 monitors the rotational speed of each of the wheels of the vehicle 12 via individual wheel speed sensors. If the speed of one of the wheels is significantly less than the other wheels under braking of the vehicle 12 then the SCS 22, by means of a controller of the SCS 22, acts to reduce the braking pressure applied to that wheel so as to guard against locking of the vehicle wheels, which can result in skidding and a loss of control of the vehicle 12.
  • the SCS 22 can modify or correct the vehicle braking signal 20 generated by the vehicle braking control system 18.
  • the vehicle control subsystems 16 also include a vehicle steering control system 24.
  • the steering system 24 has a controller that takes inputs from a steering wheel (not shown) of the vehicle 12 and causes appropriate application of a steering angle for the vehicle 12.
  • the steering system 24 can also generate a vehicle steering signal 25 and send the signal 25 to the trailer 10 when the steering controller causes a change of steering of the vehicle wheels.
  • the battery 39 is a lithium- titanate rechargeable battery: this type of battery is advantageous because of its fast charging time compared with other types of lithium-ion batteries.
  • Each of the trailer wheels 30, 32 also has a wheel speed sensor 40, 42 which measures the rotational speed of the respective wheel 30, 32.
  • the trailer also includes a yaw sensor 44 in the form of an accelerometer that is configured to detect the yaw, i.e. the angular velocity about a vertical axis, of the trailer 10.
  • the trailer 10 includes an electronic control unit or system (ECU) 50 configured to control the operation of the electric machines 36, 38.
  • the ECU 50 comprises a receiver or receiving means 52, a processor or processing means 54, and a controller or control means 56.
  • the receiver 52 is configured to receive electronic signals from components and subsystems of both the trailer 10 and vehicle 12. Specifically, the receiver 52 is configured to receive the vehicle braking signal 20 and the vehicle terrain signal 28 from the vehicle 12. Also, the receiver 52 is configured to receive a coupling signal 58 from the coupling sensor 15 indicative of a force exerted on the trailer 12 by the vehicle 10. In addition, the receiver 52 is configured to receive a trailer yaw signal 60 from the trailer yaw sensor 44 indicative of a current level of yaw of the trailer 10. Furthermore, the receiver 52 is configured to receive trailer wheel speed sensor output data 62, 64 from the trailer wheel speed sensors 40, 42.
  • the processor 54 is configured to calculate a level of braking that is needed at each trailer wheel 30, 32 in dependence on the received signals 20, 28, 58, 60, 62, 64.
  • the level of braking needed at each wheel 30, 32 is calculated so as to guard against instabilities developing in the trailer 10.
  • the controller 56 is configured to send control signals 66, 68 to the respective electric machines 36, 38 in the form of a level of force to be applied to the trailer wheels 30, 32 by means of the electric machines 36, 38 based on the determined level of braking that is needed.
  • FIG. 2 shows a flow diagram outlining the steps of a method 70 undertaken by the processor 54.
  • the ECU 50 receives the braking signal 20.
  • the vehicle braking signal 20 is generated and sent to the trailer 10, the braking signal 20 being received by the receiver 52 of the ECU 50.
  • the braking signal 20 can be a binary signal, i.e. the braking signal 20 includes only information as to whether the vehicle pedal is being applied or not. Alternatively, the braking signal 20 can contain information about the degree to which the vehicle pedal is being applied.
  • the processor 54 determines, for each of the electric machines 36, 38, a trailer wheel brake force value based on the received vehicle braking signal 20 and the received coupling sensor output data 58.
  • the determined trailer wheel brake force value is indicative of the level of force that is to be applied by the electric machines 36, 38 to the respective trailer wheels 30, 32.
  • the coupling signal 58 is used to calibrate the proportionality of the calculated trailer wheel brake force value with respect to the braking signal 20.
  • the aim is that the electric machines 36, 38 will cause the trailer 10 to brake slightly harder than the vehicle 12. This ensures that the tow coupling at the hitch 14 will remain in tension, which in turn guards against a destabilising force being applied to the vehicle 12 by the trailer 10.
  • the determined trailer wheel brake force values may indicate that both electric machines 36, 38 are to apply a braking force to their respective wheels 30, 32, which can be of the same or different magnitude, or that one of the electric machines 36, 38 is to apply a braking force while the other electric machine 36, 38 is to apply a tractive force.
  • the latter may be useful when the vehicle 12 and trailer 10 are going round a corner, in which case cornering can be enhanced by braking the inside trailer wheel 30, 32 and accelerating the outside trailer wheel 30, 32.
  • the vehicle steering signal 25 can also be used to determine the difference in force to be applied to the trailer wheels 30, 32 via the electric machines 36, 38.
  • the determined trailer wheel brake force values take into account the masses of the trailer 10 and vehicle 12, and particularly the difference between them.
  • the determined trailer wheel brake force values may also depend on the received yaw signal 60, which is received at step 78.
  • the ECU 50 is arranged to detect instability in yaw based on the yaw signal 60: the trailer wheel brake force values are then calculated so that a correcting torque may be applied by one or both of the electric machines 36, 38 to the trailer wheels 30, 32. In particular, this is a scenario in which a differential force will be applied between the first and second electric machines 36, 38.
  • the ECU 50 can additionally receive a signal from the vehicle 12 indicative of a level of yaw of the vehicle 12, which can then be compared against the yaw signal 60 (which is indicative of trailer yaw) so as to determine whether the trailer 10 is developing an instability.
  • the determined trailer wheel brake force values may also depend on the received TR signal 28, which is received at step 82. The type of terrain over which the vehicle 12 and trailer 10 are travelling may influence the magnitude of the force to be applied to the trailer wheels 30, 32, and so the trailer wheel brake force values are calculated accordingly.
  • the determined trailer wheel brake force values are indicative of the force that is to be applied to the trailer wheels 30, 32 by the electric machines 36, 38.
  • the controller 56 is configured to cause each electric motor 36, 38 to apply a force to the wheel 30, 32 to which it is attached in dependence on the respective determined trailer wheel brake force value. This is achieved via control signals 66, 68 sent by the controller 56 to the electric machines 36, 38.
  • Figure 3b shows a plot of yaw against time for both the vehicle 12 and the trailer 10, this time in the case of a so-called 'common brake application'.
  • the trailer braking consists of a mechanical over-run sensor which drives mechanically coupled friction brakes.
  • the nature of the braking is purely mechanical and determined by the over-run of the sensor. This means that the trailer will always apply a destabilising force to the tow vehicle under braking.
  • the common brake application cannot include anti-lock functionality.
  • the common brake application system used to provide the data shown in Figure 3b includes some degree of stability control.
  • Figure 3c shows a plot of yaw against time for both the vehicle 12 and the trailer 10 when the electric motors 36, 38 are used to correct for trailer instability in accordance with the differential application of the presently described embodiment.
  • the peaks of the trailer yaw 90 are out of phase with the peaks of the vehicle yaw 92 to a far lesser extent than in the cases shown in Figures 3a and 3b.
  • increases in the magnitude of the peaks of the trailer yaw 90 are suppressed to a far greater extent compared with the cases shown in Figures 3a and 3b.
  • the present embodiment in which the electric motors 36, 38 are used to provide braking torque to the trailer wheels 30, 32 to provide braking assistance and increased stability to the combination of the trailer 10 and vehicle 12 can be used in conjunction with operating the electric motors 36, 38 to provide drive torque to the trailer wheels 30, 32 to provide pull away assist to the vehicle 12.
  • utilising the electric motors 36, 38 to provide drive torque will deplete the stored charge of the battery 39, while utilising the electric motors 36, 38 to provide regenerative braking to the trailer wheels 30, 32 will replenish the stored charge of the battery 39.
  • the trailer 10 has a single axle 34; however, in different embodiments the trailer 10 may have a plurality of axles connecting pairs of trailer wheels.
  • the electric machines 36, 38 are powered by the battery 39; however, other energy storage means, such as one or many capacitors, supercapacitor or ultracapacitors, may be used in combination with or instead of the battery.
  • the ECU 50 is operable to cause the electric machines 36, 38 to apply a force to the trailer wheels 30, 32 in response to the vehicle braking signal 20; however, in different embodiments this need not be the case.
  • the ECU 50 may be operable to cause the electric machines 36, 38 to apply a force to the trailer wheels 30, 32 in response to the trailer yaw signal 60.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

La présente invention concerne un système destiné à être utilisé dans une remorque remorquable par un véhicule. La remorque comprend un essieu ayant deux roues et au moins un moteur électrique couplé à celui-ci ainsi qu'un capteur de couplage configuré pour mesurer une force de couplage exercée sur la remorque par le véhicule. Le système comprend des moyens de réception configurés pour recevoir un signal de freinage de véhicule, de la part d'au moins un sous-système du véhicule, indiquant une force de freinage à appliquer à une ou plusieurs roues du véhicule, et pour recevoir des données de sortie de capteur de couplage de la part du capteur de couplage. Le système comprend également un moyen de traitement configuré pour déterminer, pour chaque roue dudit essieu de la remorque, une valeur de force de freinage de roue de remorque en se basant sur le signal de freinage de véhicule reçu et des données de sortie de capteur de couplage reçues. Le système comprend également des moyens de commande configurés pour amener ledit moteur électrique à appliquer une force à la roue à laquelle il est couplé en fonction de la valeur de force de freinage de roue de remorque déterminée.
PCT/EP2018/074507 2017-09-15 2018-09-11 Système et procédé pour une remorque remorquable par un véhicule Ceased WO2019053020A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112018005122.6T DE112018005122T5 (de) 2017-09-15 2018-09-11 System und verfahren für einen durch ein fahrzeug ziehbaren anhänger

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1714854.5A GB2566492B (en) 2017-09-15 2017-09-15 System and method for a trailer towable by a vehicle
GB1714854.5 2017-09-15

Publications (1)

Publication Number Publication Date
WO2019053020A1 true WO2019053020A1 (fr) 2019-03-21

Family

ID=60159540

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/074507 Ceased WO2019053020A1 (fr) 2017-09-15 2018-09-11 Système et procédé pour une remorque remorquable par un véhicule

Country Status (3)

Country Link
DE (1) DE112018005122T5 (fr)
GB (1) GB2566492B (fr)
WO (1) WO2019053020A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023183974A1 (fr) * 2022-03-29 2023-10-05 Red Automotive Technologies Pty Ltd Système de commande d'une force appliquée sur une remorque tractée par un véhicule
WO2024107621A3 (fr) * 2022-11-14 2024-06-27 The Noco Company Remorque motorisée à réduction de charge

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4281342B1 (fr) 2021-01-19 2025-02-05 AGCO International GmbH Système de contrôle d'un remorque
DE102021204001B4 (de) 2021-04-21 2025-09-11 Zf Friedrichshafen Ag Verfahren zur Antriebsregelung eines Anhängers und Antriebsvorrichtung
DE102021214307A1 (de) 2021-12-14 2023-06-15 Psa Automobiles Sa Kraftfahrzeuganhänger und Kraftfahrzeuggespann
DE102021214525A1 (de) 2021-12-16 2023-06-22 Erwin Hymer Group Se Sensoranbringung für Anhänger-ESP
DE102021133760A1 (de) 2021-12-17 2023-06-22 Zf Cv Systems Global Gmbh Verfahren und Vorrichtung zur Antriebssteuerung eines Fahrzeugzugs
US20230311873A1 (en) * 2022-04-01 2023-10-05 GM Global Technology Operations LLC Method, system, and apparatus of a tethered autonomous trailer with smart hitch
EP4724312A1 (fr) * 2023-06-12 2026-04-15 Jaguar Land Rover Limited Mode de récupération assistée
KR20250062997A (ko) * 2023-10-31 2025-05-08 현대자동차주식회사 전동화 차량 및 그의 피견인 중 제어 방법
DE102023132374A1 (de) * 2023-11-21 2025-05-22 Zf Cv Systems Global Gmbh Verfahren zur Stabilisierung eines Anhängefahrzeugs, Steuereinheit, Anhängefahrzeug und Fahrzeuggespann

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070193795A1 (en) * 2006-02-03 2007-08-23 Magna Powertrain Usa, Inc. Hybrid Drivetrains For Trailers
US20080169144A1 (en) * 2007-01-03 2008-07-17 Degrave Ken Hybrid trailer system
US20080174174A1 (en) * 2007-01-22 2008-07-24 James S. Burns Passive Truck Trailer Braking Regeneration and Propulsion System and Method
DE102010062979A1 (de) * 2010-12-14 2012-06-14 Robert Bosch Gmbh Schubanhänger für ein Fahrzeug
US8365849B2 (en) * 2009-08-19 2013-02-05 Brian Daniel Bartel System and method for towing a trailer

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11124051A (ja) * 1997-10-22 1999-05-11 Honda Motor Co Ltd トレーラの操縦装置
US20020107627A1 (en) * 2000-11-29 2002-08-08 Visteon Global Technologies, Inc. Trailer and simulator
US20100065344A1 (en) * 2008-09-12 2010-03-18 Collings Iii John K Self Propelled Electric Vehicle Recharging Trailer
DE102009032754A1 (de) * 2009-07-11 2011-01-13 Schaeffler Technologies Gmbh & Co. Kg Antriebsvorrichtung für einen Anhänger
GB2486474A (en) * 2010-12-16 2012-06-20 Gkn Autostructures Ltd Combination of a tractor and a trailer having an electric motor-generator
US20130079980A1 (en) * 2011-09-23 2013-03-28 Carl T. Vuk Towed vehicle arrangement responsive to vehicle acceleration and deceleration
US20130079979A1 (en) * 2011-09-23 2013-03-28 Alan D. Sheidler Towed vehicle arrangement responsive to lateral hitch loading
CN203567572U (zh) * 2013-08-28 2014-04-30 吉林大学 分布式电驱动铰接多功能车
DE102015209245A1 (de) * 2015-05-20 2016-11-24 Avl Commercial Driveline & Tractor Engineering Gmbh Verfahren zum Betrieb eines Fahrzeuggespanns, Fahrzeuggespann, Zugfahrzeug und Arbeitsgerät

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070193795A1 (en) * 2006-02-03 2007-08-23 Magna Powertrain Usa, Inc. Hybrid Drivetrains For Trailers
US20080169144A1 (en) * 2007-01-03 2008-07-17 Degrave Ken Hybrid trailer system
US20080174174A1 (en) * 2007-01-22 2008-07-24 James S. Burns Passive Truck Trailer Braking Regeneration and Propulsion System and Method
US8365849B2 (en) * 2009-08-19 2013-02-05 Brian Daniel Bartel System and method for towing a trailer
DE102010062979A1 (de) * 2010-12-14 2012-06-14 Robert Bosch Gmbh Schubanhänger für ein Fahrzeug

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023183974A1 (fr) * 2022-03-29 2023-10-05 Red Automotive Technologies Pty Ltd Système de commande d'une force appliquée sur une remorque tractée par un véhicule
WO2024107621A3 (fr) * 2022-11-14 2024-06-27 The Noco Company Remorque motorisée à réduction de charge

Also Published As

Publication number Publication date
GB2566492B (en) 2020-06-17
DE112018005122T5 (de) 2020-08-20
GB2566492A (en) 2019-03-20
GB201714854D0 (en) 2017-11-01

Similar Documents

Publication Publication Date Title
WO2019053020A1 (fr) Système et procédé pour une remorque remorquable par un véhicule
CN102248936B (zh) 控制车辆的方法及车辆
EP3632732B1 (fr) Dispositif de commande pour véhicule électrique, et système et procédé permettant de commander un véhicule électrique
US8504238B2 (en) Vehicle stability and steerability control via electronic torque distribution
EP1234739B1 (fr) Système et méthode de freinage d'une remorque
CN102275580B (zh) 机动车辆及其控制方法
US8504273B2 (en) Coefficient of friction based limitation of the torque of a vehicle control loop
JP6091607B2 (ja) パワートレインの制御システムおよび制御方法
US9020699B2 (en) Method and braking system for influencing driving dynamics by means of braking and driving operations
CN108025651A (zh) 具有制动系统的电动车辆以及用于制动系统的方法、控制器和计算机程序
CN104837691B (zh) 用于调节行驶动态的方法
US8989984B2 (en) Method to shut off adaptive cruise control when the uphill gradient is too steep
WO2019053025A1 (fr) Système et procédé pour une remorque remorquable par un véhicule
CN103153728A (zh) 车辆制动/驱动力控制系统和车辆制动/驱动力控制方法
WO2012023305A1 (fr) Automobile
KR102805124B1 (ko) 차량의 휠 슬립 제어 방법
WO2019053021A1 (fr) Système et procédé pour une remorque tractable par un véhicule
US20240075817A1 (en) Commercial electric vehicle braking systems
US12371004B2 (en) Driving/braking force control apparatus
US9707967B2 (en) Method of traction control for a motor vehicle
US20250018801A1 (en) Commercial Electric Vehicle Braking Systems
JP7735664B2 (ja) 電動車両の制御装置
CN118665197B (zh) 扭矩分配方法、装置、设备和车辆
US20260008351A1 (en) Control method for regenerative braking of a road vehicle with independent electric motors and related road vehicle
CN114786981B (zh) 当存在不稳定性时控制转矩分配的车辆和相关联控制方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18769160

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 18769160

Country of ref document: EP

Kind code of ref document: A1