The present application discloses a method, device, equipment and storage medium for assisting
tractor docking, the method comprising: if it is determined that the
towing pin appears in the camera's
field of view, based on the
relative motion trajectory of the camera following the movement of the
tractor relative to the
towing pin, controlling the rotating mechanism to drive the camera to rotate so that the
towing pin is always in the
field of view; determining the
azimuth projection of the
saddle in the
field of view; determining the relative position of the towing pin and the
azimuth projection in the field of view, so that the user can dock the towing pin and the
saddle based on the relative position. In the present application, during the docking process of the
tractor and the trailer, the camera is adjusted according to the motion trajectory of the towing pin in the field of view, so that the towing pin is always in the field of view, and the user can control the docking of the tractor and the trailer through the field of view, without the need for reminders from observers, thereby improving the efficiency of docking.