ADAS self-adaption device and method compatible with trailer

Abstract

The invention discloses an ADAS self-adaption device and method compatible with a trailer, the device comprises an intelligent driving controller, an intelligent driving sensor, a pull controller and a trailer plug-in on a main vehicle, a trailer controller on the trailer is connected with the main vehicle through the trailer plug-in, and the intelligent driving sensor is used for collecting appearance information of the trailer; the trailer controller receives trailer appearance information through a trailer network; the trailer controller is used for collecting trailer braking information; the intelligent driving controller is used for adjusting the range and shape of a detection area of the blind spot detection radar according to the trailer appearance information; and establishing an integrated dynamic motion model according to the trailer braking information in combination with the dynamic model, and adjusting an intelligent driving control strategy according to the integrated dynamic motion model. According to the ADAS self-adaption device and method compatible with the trailer, when different trailers are connected, the trailer can be recognized in a self-adaption mode, the ADAS self-adaption device and method are fused into an intelligent driving system, the intelligent driving function with the trailer scene is provided, and the driving safety of a user is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and more specifically, to an ADAS adaptive device and method compatible with trailers. Background Technology

[0002] As the number of cars on the road increases and various usage scenarios become more diverse and sophisticated, trailer and RV applications are increasingly accepted and used in daily life. The use and experience of towing functionality has become an important evaluation parameter for models such as pickup trucks and MPVs. Similarly, with the development of automotive intelligence, intelligent driving technology has been fully configured in various models. However, when a vehicle is towing a trailer or RV, the dynamic models, such as braking and acceleration performance parameters, change after the vehicles are combined. This causes the vehicle's intelligent cruise control, forward active braking, and other driving assistance functions to deviate from their initial development and calibration. Furthermore, trailers may be perceived as obstacles or target vehicles by rear-view perception systems to some extent, leading to abnormalities in intelligent driving functions and even causing vehicle safety accidents.

[0003] Currently, for intelligent driving functions in towing scenarios, most models on the market choose to disable ADAS driving assistance functions in towing mode to avoid risks. Some models, however, calibrate with mainstream towing models before launch, allowing users to use these calibrated towing vehicles later. These traditional methods have several problems: they fail to consider the integration of towing and intelligent driving scenarios, or they only consider one intelligent driving scenario; the towing vehicle's parameters need to be pre-calibrated, and if the user selects a non-standard towing size, the vehicle cannot automatically recognize the towing capability.

[0004] Therefore, there is an urgent need for an ADAS adaptive device and method compatible with trailers. Summary of the Invention

[0005] The purpose of this invention is to provide an ADAS adaptive device and method compatible with trailers to solve the problems in the prior art. When helping users connect different trailers, the vehicle can adaptively identify the trailer and integrate it into the intelligent driving system, providing users with intelligent driving functions in trailer scenarios and ensuring the user's driving safety.

[0006] This invention provides a trailer-compatible ADAS adaptive device, comprising:

[0007] The system includes an intelligent driving controller, intelligent driving sensors, a trailer controller, and a trailer plug located on the main vehicle, and a trailer controller located on the trailer. The trailer is connected to the main vehicle via the trailer plug. The intelligent driving sensors and the trailer controller are respectively connected to the intelligent driving controller, and the trailer controller is connected to the trailer controller.

[0008] The intelligent driving sensor is used to collect the exterior information of the trailer;

[0009] The trailer controller is used to receive trailer appearance information through the trailer network and send the trailer appearance information to the trailer controller;

[0010] The trailer controller is used to send the trailer appearance information collected by the trailer controller to the intelligent driving controller, and to collect the trailer's braking information and send the braking information to the intelligent driving controller.

[0011] The intelligent driving controller is used to adjust the range and / or shape of the blind spot detection radar detection area based on the trailer's appearance information; to establish an integrated dynamic motion model of the main vehicle and trailer based on the trailer's braking information and the vehicle's dynamic model; and to adjust the intelligent driving control strategy based on the integrated dynamic motion model of the main vehicle and trailer.

[0012] The ADAS adaptive device for trailers as described above, preferably, includes a rear camera and a rear radar, wherein the rear camera is a binocular camera and the rear radar is a millimeter-wave radar array arranged at multiple angles, wherein:

[0013] The rear camera is used to detect whether there is a trailer in the trailer attachment area of ​​the main vehicle, and sends the detection information to the intelligent driving controller;

[0014] The intelligent driving controller determines whether to trigger the rear radar based on the detection results of the rear camera. If the rear camera detects a trailer in the trailer attachment area of ​​the main vehicle, the intelligent driving controller triggers the rear radar.

[0015] The rear radar is used to extract features from the trailer area and send the extracted feature information to the intelligent driving controller.

[0016] The intelligent driving controller is also used to identify the feature information extracted by the rear radar and compare the feature information with a preset trailer database. If the feature information matches the trailer, the trailer process is activated.

[0017] In the aforementioned trailer-compatible ADAS adaptive device, preferably, the rear camera and the rear radar are also used to collect real-time exterior size information of the trailer behind and send the collected trailer exterior size information to the intelligent driving controller.

[0018] The intelligent driving controller is also used to fuse the trailer's exterior dimensions information collected by the rear camera and the rear radar, and to establish a three-dimensional outline model of the trailer based on the fusion result.

[0019] The ADAS adaptive device for trailers as described above, preferably, further includes a human-machine interface located on the host vehicle and connected to the intelligent driving controller, wherein the intelligent driving controller is also used to send the three-dimensional contour model of the trailer to the human-machine interface for display.

[0020] The present invention also provides an ADAS adaptive method for a compatible trailer using the above-described device, comprising the following steps:

[0021] The trailer's exterior information is collected using intelligent driving sensors;

[0022] Using a trailer controller, trailer appearance information is received via a trailer network;

[0023] Using the intelligent driving controller, the range and / or shape of the blind spot detection radar detection area are adjusted based on the trailer appearance information collected by the intelligent driving sensors and / or the trailer controller.

[0024] The trailer's braking information is collected through the trailer controller;

[0025] Using an intelligent driving controller, an integrated dynamic motion model of the tractor and trailer is established based on the trailer's braking information and the vehicle's dynamic model.

[0026] The intelligent driving controller is used to adjust the intelligent driving control strategy based on the integrated dynamic motion model of the main vehicle and trailer.

[0027] In the ADAS adaptive method for trailers described above, preferably, the intelligent driving sensors include a rear camera and a rear radar, the rear camera being a binocular camera, and the rear radar comprising a millimeter-wave radar array arranged at multiple angles.

[0028] The acquisition of trailer exterior information via intelligent driving sensors includes:

[0029] Trailer connection detection;

[0030] The intelligent driving controller fuses the trailer's exterior dimensions information collected by the rear camera and rear radar, and builds a three-dimensional outline model of the trailer based on the fusion results.

[0031] The trailer controller sends the trailer appearance information collected by the trailer controller to the intelligent driving controller, and also collects the trailer's braking information and sends the braking information to the intelligent driving controller.

[0032] The trailer connection detection includes:

[0033] The rear camera detects whether a trailer is present in the trailer attachment area of ​​the main vehicle and sends the detection information to the intelligent driving controller.

[0034] The intelligent driving controller determines whether to trigger the rear radar based on the detection results of the rear camera. If the rear camera detects a trailer in the trailer attachment area of ​​the main vehicle, the intelligent driving controller triggers the rear radar.

[0035] The rear radar extracts features from the trailer area and sends the extracted feature information to the intelligent driving controller.

[0036] The ADAS adaptive method for compatible trailers described above, preferably, includes receiving trailer appearance information via a trailer network using a trailer controller, comprising:

[0037] The trailer controller receives trailer appearance information through the trailer network and sends the trailer appearance information to the trailer controller.

[0038] The intelligent driving controller activates the rear camera and rear radar to identify and extract features of the trailer.

[0039] The ADAS adaptive method for trailers as described above, preferably, involves adjusting the range and / or shape of the blind spot detection radar detection area using the intelligent driving controller based on trailer appearance information collected by the intelligent driving sensors and / or the trailer controller, including:

[0040] The intelligent driving controller establishes a radar polar coordinate coefficient mathematical model based on the received trailer exterior dimensions information:

[0041] R(θ)=k1L+k2W (1)

[0042] Where L represents the trailer length and W represents the trailer width;

[0043] Based on the radar polar coordinate coefficient mathematical model, the range and shape of the blind spot detection radar detection area that needs to be adjusted are calculated.

[0044] The intelligent driving controller sends control commands to the blind spot detection radar, using a region segmentation algorithm: dividing the original detection area into an N×M grid, dynamically shielding the area covered by the trailer, and cropping the detection area of ​​the blind spot detection radar so that the detection area of ​​the blind spot detection radar covers the area where the trailer is located.

[0045] The ADAS adaptive method for trailer compatibility described above, preferably, involves establishing an integrated dynamic motion model of the main vehicle and trailer using an intelligent driving controller, based on the trailer's braking information and the vehicle's dynamic model. This includes:

[0046] Establish the kinematic equations of the main vehicle:

[0047]

[0048] Where, x m The x-coordinate of the vehicle's center of mass is represented by y. m ψ represents the ordinate of the centroid of the main vehicle. m The yaw angle of the main vehicle is represented by L, the wheelbase of the main vehicle is represented by δf, and the front wheel steering angle is represented by δf.

[0049] Establish the geometric constraint equations for the trailer: Establish the pose mapping between the main vehicle and the trailer through the articulation points:

[0050]

[0051] Where, x t The x-coordinate of the trailer's centroid is represented by y. t ψ represents the ordinate of the trailer's centroid. t L represents the trailer heading angle. t θ represents the trailer wheelbase, and θ represents the trailer's yaw angle relative to the main vehicle.

[0052] Establish the dynamic coupling equations, and the traction force of the main vehicle and the braking force of the trailer satisfy the following balance relationship:

[0053]

[0054] Among them, F trac Indicates the traction force of the main vehicle, m t Indicates the trailer mass, a t C represents the acceleration of the trailer. ϕ K represents the trailer suspension damping. ϕ This indicates the stiffness of the trailer suspension.

[0055] The ADAS adaptive method for trailer compatibility described above, preferably, involves adjusting the intelligent driving control strategy based on the integrated dynamic motion model of the vehicle and trailer using an intelligent driving controller, including:

[0056] When an obstacle is detected ahead and braking is required, the intelligent driving controller calculates the braking deceleration and the distribution of braking force between the vehicle and the trailer based on the integrated dynamic motion model of the main vehicle and trailer, or triggers the electronic stability control system at a preset time, or automatically extends the automatic emergency braking trigger distance.

[0057] When steering is required, the intelligent driving controller adjusts the steering angle and / or speed based on the trailer parameters in the integrated dynamic motion model of the main vehicle and trailer.

[0058] This invention provides an ADAS adaptive device and method compatible with trailers. It establishes a dynamic motion model based on the trailer's braking performance and adjusts the intelligent driving control strategy accordingly, enabling the intelligent driving system to better adapt to the interaction between the trailer and the towed vehicle, ensuring vehicle stability and safety under various driving conditions. By accurately identifying the trailer's external dimensions using intelligent driving sensors and tailoring the detection area of ​​the blind spot detection radar accordingly, it effectively avoids the false alarms and missed alarms of traditional blind spot detection, improving driving safety in trailer scenarios. It is versatile and scalable, applicable to different types and sizes of trailers, providing more reliable technical support for the application of intelligent driving in actual trailer scenarios. Attached Figure Description

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings, wherein:

[0060] Figure 1 A schematic diagram of an embodiment of the ADAS adaptive device for trailers provided by the present invention;

[0061] Figure 2 A structural block diagram of an embodiment of the ADAS adaptive device for trailers provided by the present invention;

[0062] Figure 3 A flowchart illustrating an embodiment of the ADAS adaptive method for trailers provided by the present invention;

[0063] Figure 4 A logic diagram of an embodiment of the ADAS adaptive method for compatible trailers provided by the present invention.

[0064] Explanation of reference numerals in the attached diagram: 1-Intelligent driving controller, 2-Trailer controller, 3-Trailer plug-in, 4-Rear camera, 5-Rear radar, 6-Trailer controller, 7-Human-machine interface. Detailed Implementation

[0065] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0066] The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Terms such as “including” or “contains” mean that the element preceding the term encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as “above” and “below” are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

[0067] In this disclosure, when a specific component is described as being located between a first component and a second component, an intermediary component may or may not be present between the specific component and the first or second component. When a specific component is described as connecting to other components, the specific component may be directly connected to the other components without having an intermediary component, or it may not be directly connected to the other components but may have an intermediary component.

[0068] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0069] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0070] Existing technologies generally focus on developing trailer connection devices and trailer braking systems, rarely addressing the interaction between trailers and the vehicle in intelligent driving scenarios. When integrating trailers with intelligent driving scenarios, most automakers choose to disable intelligent driving functions to ensure driving safety. Some automakers, such as Ford, use a trailer-specific calibration method. When connecting a trailer, the user enters the trailer model, and the blind spot detection system expands the radar recognition area based on calibration parameters, trims the trailer length, and continues to judge target vehicles behind the trailer, avoiding false alarms from the blind spot detection radar. Additionally, Valeo has designed a radar-based detection and alarm scheme for obstructed vision when a trailer is turning behind. However, these methods have several problems: the integration of trailer and intelligent driving scenarios is not considered, or only one intelligent driving scenario is considered; trailer parameters need to be pre-calibrated, and if the user selects a non-standard trailer size, the vehicle cannot automatically recognize the trailer.

[0071] like Figure 1 and Figure 2As shown, the trailer-compatible ADAS adaptive device provided in this embodiment includes: an intelligent driving controller (MDC) 1, intelligent driving sensors, a trailer controller 2, and a trailer plug-in 3 located on the main vehicle, and a trailer controller 6 located on the trailer. The trailer is connected to the main vehicle through the trailer plug-in 3. The intelligent driving sensors and the trailer controller 2 are respectively connected to the intelligent driving controller 1, and the trailer controller 6 is connected to the trailer controller 2, wherein:

[0072] The intelligent driving sensor is used to collect the exterior information of the trailer;

[0073] The trailer controller 6 is used to receive trailer appearance information through the trailer network and send the trailer appearance information to the trailer controller 2;

[0074] The trailer controller 2 is used to send the trailer appearance information collected by the trailer controller 6 to the intelligent driving controller 1, and to collect the braking information of the trailer and send the braking information to the intelligent driving controller 1.

[0075] The intelligent driving controller 1 is used to adjust the range and / or shape of the blind spot detection radar detection area according to the trailer's appearance information; to establish an integrated dynamic motion model of the main vehicle and trailer based on the trailer's braking information and the vehicle's dynamic model; and to adjust the intelligent driving control strategy according to the integrated dynamic motion model of the main vehicle and trailer.

[0076] The intelligent driving sensor includes a rear camera 4 and a rear radar 5. The rear camera 4 includes a binocular camera and has polarization light filtering function. The rear radar 5 includes a millimeter-wave radar (TOF radar) array arranged at multiple angles. In one embodiment of the present invention, the rear camera 4 is an intelligent camera. The TOF radar array can be arranged on the front grille with a horizontal field of view of 120°. It should be noted that the present invention does not specifically limit the distribution of each radar in the millimeter-wave radar array.

[0077] Specifically, the rear camera 4 is used to detect whether there is a trailer in the trailer plug-in 3 area of ​​the main vehicle, and sends the detection information to the intelligent driving controller 1;

[0078] The intelligent driving controller 1 determines whether to trigger the rear radar 5 based on the detection result of the rear camera 4. If the rear camera 4 detects a trailer in the trailer plug-in 3 area of ​​the main vehicle, the intelligent driving controller 1 triggers the rear radar 5.

[0079] The rear radar 5 is used to extract features from the trailer area and send the extracted feature information to the intelligent driving controller 1.

[0080] The intelligent driving controller 1 is also used to identify the feature information extracted by the rear radar 5 and compare the feature information with the preset trailer database. If the feature information matches the trailer, the trailer process is activated.

[0081] Furthermore, the rear camera 4 and the rear radar 5 are also used to collect the exterior dimensions information of the trailer behind in real time, and send the collected trailer exterior dimensions information to the intelligent driving controller 1;

[0082] The intelligent driving controller 1 is also used to fuse the trailer's exterior dimensions information collected by the rear camera 4 and the rear radar 5, and to establish a three-dimensional outline model of the trailer based on the fusion result.

[0083] Furthermore, in one embodiment of the present invention, the ADAS adaptive device for the trailer-compatible vehicle further includes a human-machine interface 7 located on the host vehicle and connected to the intelligent driving controller 1. The intelligent driving controller 1 is also used to send the three-dimensional contour model of the trailer to the human-machine interface 7 for display. By displaying the dynamic model after fusion perception to the user through the human-machine interface 7, the driving pleasure can be enhanced.

[0084] Correspondingly, the present invention also provides an ADAS adaptive method for compatible trailers employing the above-described device. For example... Figure 3 and Figure 4 As shown, the ADAS adaptive method for trailers provided in this embodiment includes the following steps in actual execution:

[0085] Step S1: Collect exterior information of the trailer using intelligent driving sensors.

[0086] The intelligent driving sensors include a rear camera 4 and a rear radar 5. The rear camera 4 includes a binocular camera, and the rear radar 5 includes a millimeter-wave radar array arranged at multiple angles. In one embodiment of the ADAS adaptive method for trailers of the present invention, step S1 may specifically include:

[0087] Step S11: Trailer connection detection.

[0088] In one embodiment of the ADAS adaptive method for compatible trailers of the present invention, step S11 may specifically include:

[0089] Step S111: Detect whether there is a trailer in the trailer plug-in 3 area of ​​the main vehicle through the rear camera 4, and send the detection information to the intelligent driving controller 1.

[0090] Step S112: The intelligent driving controller 1 determines whether to trigger the rear radar 5 based on the detection result of the rear camera 4. If the rear camera 4 detects a trailer in the trailer plug-in 3 area of ​​the main vehicle, the intelligent driving controller 1 triggers the rear radar 5.

[0091] Step S113: Extract features from the trailer area using the rear radar 5 and send the extracted feature information to the intelligent driving controller 1.

[0092] Step S12: The intelligent driving controller 1 fuses the trailer's exterior dimensions information collected by the rear camera 4 and the rear radar 5, and establishes a three-dimensional outline model of the trailer based on the fusion result.

[0093] Step S13: The trailer controller 2 sends the trailer appearance information collected by the trailer controller 6 to the intelligent driving controller 1, and collects the trailer's braking information and sends the braking information to the intelligent driving controller 1.

[0094] Step S2: Using the trailer controller 2, receive trailer appearance information through the trailer network.

[0095] In one embodiment of the ADAS adaptive method for compatible trailers of the present invention, step S2 may specifically include:

[0096] Step S21: The trailer controller 6 receives trailer appearance information through the trailer network and sends the trailer appearance information to the trailer controller 2.

[0097] Step S22: The intelligent driving controller 1 activates the rear camera 4 and rear radar 5 to identify and extract the features of the trailer.

[0098] It should be noted that the present invention does not specifically limit the order of steps S1 and S2. In a specific implementation, it can first be determined whether the trailer network is connected. If the trailer network is connected, the trailer appearance information is obtained through the trailer controller 6 and fed back to the trailer controller 2; then the trailer controller 2 feeds back the trailer appearance information to the intelligent driving controller 1. If the trailer network is not connected, the presence of a trailer is detected by the rear camera 4, and the rear radar 5 is activated. The appearance of the trailer is then detected by the rear camera 4 and the rear radar 5.

[0099] Step S3: Using the intelligent driving controller 1, adjust the range and / or shape of the blind spot detection radar detection area based on the trailer appearance information collected by the intelligent driving sensor and / or the trailer controller 2.

[0100] In one embodiment of the ADAS adaptive method for compatible trailers of the present invention, step S3 may specifically include:

[0101] Step S31: The intelligent driving controller 1 establishes a radar polar coordinate coefficient mathematical model based on the received trailer exterior dimensions information.

[0102] R(θ)=k1L+k2W (1)

[0103] Where L represents the trailer length and W represents the trailer width.

[0104] Step S32: Calculate the range and shape of the blind spot detection radar detection area that needs to be adjusted based on the radar polar coordinate coefficient mathematical model.

[0105] Step S33: The intelligent driving controller 1 sends a control command to the blind spot detection radar and uses a region segmentation algorithm to divide the original detection area into an N×M grid, dynamically shield the area covered by the trailer, and trim the detection area of ​​the blind spot detection radar so that the detection area of ​​the blind spot detection radar covers the area where the trailer is located.

[0106] By adjusting the detection area, the accuracy of monitoring the environment around the trailer can be improved.

[0107] Step S4: Collect the trailer's braking information through the trailer controller 6.

[0108] Step S5: Using the intelligent driving controller 1, based on the trailer's braking information and the vehicle's dynamic model, establish an integrated dynamic motion model of the main vehicle and trailer.

[0109] In step S5, the intelligent driving controller establishes an integrated dynamic motion model of the main vehicle and trailer based on the braking and steering performance information of the towed vehicle and the vehicle's dynamics model. In one embodiment of the ADAS adaptive method for trailers of the present invention, step S5 may specifically include:

[0110] Step S51: Establish the kinematic equations of the main vehicle:

[0111]

[0112] Where, x m The x-coordinate of the vehicle's center of mass is represented by y. m ψ represents the ordinate of the centroid of the main vehicle. m The yaw angle of the main vehicle is represented by δ, where L represents the wheelbase of the main vehicle. f Indicates the front wheel steering angle.

[0113] The kinematic equations of the main vehicle are used to describe the relationship between the longitudinal / lateral motion of the main vehicle and the change in heading angle.

[0114] Step S52: Establish the geometric constraint equations for the trailer: Establish the pose mapping between the main vehicle and the trailer through the articulation points.

[0115]

[0116] Where, x t The x-coordinate of the trailer's centroid is represented by y. t ψ represents the ordinate of the trailer's centroid. t L represents the trailer heading angle. t θ represents the trailer wheelbase, and θ represents the trailer's deflection angle relative to the main vehicle.

[0117] Based on the above constraint characteristics, it can be seen that the movement of the trailer is entirely determined by the position and yaw angle of the main vehicle.

[0118] Step S53: Establish the dynamic coupling equations. The traction force of the main vehicle and the braking force of the trailer satisfy the following balance relationship:

[0119]

[0120] Among them, F trac Indicates the traction force of the main vehicle, m t Indicates the trailer mass, a t C represents the acceleration of the trailer. ϕ K represents the trailer suspension damping. ϕ This indicates the stiffness of the trailer suspension.

[0121] Based on the above dynamic characteristics, it can be seen that the traction force must simultaneously meet the dynamic requirements of the trailer's translation and pitch.

[0122] Step S6: Using the intelligent driving controller 1, adjust the intelligent driving control strategy according to the integrated dynamic motion model of the main vehicle and trailer.

[0123] In step S6, the intelligent driving strategy adjustment module in the intelligent driving controller 1 adjusts the intelligent driving control strategy in real time during intelligent driving based on the established dynamic motion model. In one embodiment of the ADAS adaptive method for trailers of the present invention, step S6 may specifically include:

[0124] Step S61: When an obstacle is detected ahead and braking is required, the intelligent driving controller 1 calculates the braking deceleration and the braking force distribution between the main vehicle and the trailer based on the integrated dynamic motion model of the main vehicle and the trailer, or triggers the electronic stability control system at a preset time, or automatically extends the automatic emergency braking trigger distance.

[0125] For example, strategies such as adjusting the brake pressure distribution ratio from the default 50:50 to 60:40 (driver:trailer), triggering the electronic stability control system 0.3 seconds earlier, or automatically extending the automatic emergency braking (AEB) trigger distance by 2.5 meters can be adopted to ensure that both the trailer and the towed vehicle can brake safely.

[0126] Step S62: When steering is required, the intelligent driving controller 1 adjusts the steering angle and / or speed according to the trailer parameters (such as the length and mass of the trailer) in the integrated dynamic motion model of the main vehicle and trailer.

[0127] By adjusting the steering angle and speed, collisions can be avoided.

[0128] The ADAS adaptive device and method compatible with trailers provided in this invention establish a dynamic motion model based on the trailer's braking performance and adjust the intelligent driving control strategy accordingly. This enables the intelligent driving system to better adapt to the interaction between the trailer and the towed vehicle, ensuring vehicle stability and safety under various driving conditions. By accurately identifying the trailer's external dimensions through intelligent driving sensors and tailoring the detection area of ​​the blind spot detection radar accordingly, it effectively avoids the false alarms and missed alarms of traditional blind spot detection, improving driving safety in trailer scenarios. It has versatility and scalability, applicable to trailers of different types and sizes, providing more reliable technical support for the application of intelligent driving in actual trailer scenarios.

[0129] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0130] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A trailer-compatible ADAS adaptive device, characterized in that, include: The system includes an intelligent driving controller, intelligent driving sensors, a trailer controller, and a trailer plug located on the main vehicle, and a trailer controller located on the trailer. The trailer is connected to the main vehicle via the trailer plug. The intelligent driving sensors and the trailer controller are respectively connected to the intelligent driving controller, and the trailer controller is connected to the trailer controller. The intelligent driving sensor is used to collect the exterior information of the trailer; The trailer controller is used to receive trailer appearance information through the trailer network and send the trailer appearance information to the trailer controller; The trailer controller is used to send the trailer appearance information collected by the trailer controller to the intelligent driving controller, and to collect the trailer's braking information and send the braking information to the intelligent driving controller. The intelligent driving controller is used to adjust the range and / or shape of the blind spot detection radar detection area based on the trailer's appearance information; to establish an integrated dynamic motion model of the main vehicle and trailer based on the trailer's braking information and the vehicle's dynamic model; and to adjust the intelligent driving control strategy based on the integrated dynamic motion model of the main vehicle and trailer.

2. The ADAS adaptive device for trailers according to claim 1, characterized in that, The intelligent driving sensors include a rear camera and a rear radar. The rear camera includes a binocular camera, and the rear radar includes a millimeter-wave radar array arranged at multiple angles. The rear camera is used to detect whether there is a trailer in the trailer attachment area of ​​the main vehicle, and sends the detection information to the intelligent driving controller; The intelligent driving controller determines whether to trigger the rear radar based on the detection results of the rear camera. If the rear camera detects a trailer in the trailer attachment area of ​​the main vehicle, the intelligent driving controller triggers the rear radar. The rear radar is used to extract features from the trailer area and send the extracted feature information to the intelligent driving controller. The intelligent driving controller is also used to identify the feature information extracted by the rear radar and compare the feature information with a preset trailer database. If the feature information matches the trailer, the trailer process is activated.

3. The ADAS adaptive device for trailers according to claim 2, characterized in that, The rear camera and the rear radar are also used to collect the exterior dimensions of the trailer behind in real time and send the collected trailer exterior dimensions information to the intelligent driving controller. The intelligent driving controller is also used to fuse the trailer's exterior dimensions information collected by the rear camera and the rear radar, and to establish a three-dimensional outline model of the trailer based on the fusion result.

4. The ADAS adaptive device for trailers according to claim 3, characterized in that, The ADAS adaptive device for the compatible trailer also includes a human-machine interface located on the host vehicle and connected to the intelligent driving controller. The intelligent driving controller is also used to send the three-dimensional outline model of the trailer to the human-machine interface for display.

5. An ADAS adaptive method for a compatible trailer employing the device according to any one of claims 1-4, characterized in that, include: The trailer's exterior information is collected using intelligent driving sensors; Using a trailer controller, trailer appearance information is received via a trailer network; Using the intelligent driving controller, the range and / or shape of the blind spot detection radar detection area are adjusted based on the trailer appearance information collected by the intelligent driving sensors and / or the trailer controller. The trailer's braking information is collected through the trailer controller; Using an intelligent driving controller, an integrated dynamic motion model of the tractor and trailer is established based on the trailer's braking information and the vehicle's dynamic model. The intelligent driving controller is used to adjust the intelligent driving control strategy based on the integrated dynamic motion model of the main vehicle and trailer.

6. The ADAS adaptive method for trailers according to claim 5, characterized in that, The intelligent driving sensors include a rear camera and a rear radar. The rear camera includes a binocular camera, and the rear radar includes a millimeter-wave radar array arranged at multiple angles. The process of collecting exterior information of the trailer through intelligent driving sensors includes: Trailer connection detection; The intelligent driving controller fuses the trailer's exterior dimensions information collected by the rear camera and rear radar, and builds a three-dimensional outline model of the trailer based on the fusion results. The trailer controller sends the trailer appearance information collected by the trailer controller to the intelligent driving controller, and also collects the trailer's braking information and sends the braking information to the intelligent driving controller. The trailer connection detection includes: The rear camera detects whether a trailer is present in the trailer attachment area of ​​the main vehicle and sends the detection information to the intelligent driving controller. The intelligent driving controller determines whether to trigger the rear radar based on the detection results of the rear camera. If the rear camera detects a trailer in the trailer attachment area of ​​the main vehicle, the intelligent driving controller triggers the rear radar. The rear radar extracts features from the trailer area and sends the extracted feature information to the intelligent driving controller.

7. The ADAS adaptive method for trailers according to claim 5, characterized in that, The method of using a trailer controller to receive trailer appearance information via a trailer network includes: The trailer controller receives trailer appearance information through the trailer network and sends the trailer appearance information to the trailer controller. The intelligent driving controller activates the rear camera and rear radar to identify and extract features of the trailer.

8. The ADAS adaptive method for trailers according to claim 5, characterized in that, The method of adjusting the range and / or shape of the blind spot detection radar detection area using the intelligent driving controller, based on the trailer appearance information collected by the intelligent driving sensors and / or the trailer controller, includes: The intelligent driving controller establishes a radar polar coordinate coefficient mathematical model based on the received trailer exterior dimensions information: R(θ)=k1L+k2W (1) Where L represents the trailer length and W represents the trailer width; Based on the radar polar coordinate coefficient mathematical model, the range and shape of the blind spot detection radar detection area that needs to be adjusted are calculated. The intelligent driving controller sends control commands to the blind spot detection radar, using a region segmentation algorithm: dividing the original detection area into an N×M grid, dynamically shielding the area covered by the trailer, and cropping the detection area of ​​the blind spot detection radar so that the detection area of ​​the blind spot detection radar covers the area where the trailer is located.

9. The ADAS adaptive method for trailers according to claim 5, characterized in that, The method of using an intelligent driving controller to establish an integrated dynamic motion model of the tractor and trailer based on the trailer's braking information and the vehicle's dynamic model includes: Establish the kinematic equations of the main vehicle: Where, x m The x-coordinate of the vehicle's center of mass is represented by y. m ψ represents the ordinate of the centroid of the main vehicle. m The yaw angle of the main vehicle is represented by L, the wheelbase of the main vehicle is represented by δf, and the front wheel steering angle is represented by δf. Establish the geometric constraint equations for the trailer: Establish the pose mapping between the main vehicle and the trailer through the articulation points: Where, x t The x-coordinate of the trailer's centroid is represented by y. t ψ represents the ordinate of the trailer's centroid. t L represents the trailer heading angle. t θ represents the trailer wheelbase, and θ represents the trailer's yaw angle relative to the main vehicle. Establish the dynamic coupling equations, and the traction force of the main vehicle and the braking force of the trailer satisfy the following balance relationship: Among them, F trac Indicates the traction force of the main vehicle, m t Indicates the trailer mass, a t C represents the acceleration of the trailer. ϕ K represents the trailer suspension damping. ϕ This indicates the stiffness of the trailer suspension.

10. The ADAS adaptive method for compatible trailers according to claim 5, characterized in that, The method of adjusting the intelligent driving control strategy based on the integrated dynamic motion model of the main vehicle and trailer using an intelligent driving controller includes: When an obstacle is detected ahead and braking is required, the intelligent driving controller calculates the braking deceleration and the distribution of braking force between the vehicle and the trailer based on the integrated dynamic motion model of the main vehicle and trailer, or triggers the electronic stability control system at a preset time, or automatically extends the automatic emergency braking trigger distance. When steering is required, the intelligent driving controller adjusts the steering angle and / or speed based on the trailer parameters in the integrated dynamic motion model of the main vehicle and trailer.

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