A method for detecting trailer status of a motorhome

Abstract

The present invention discloses a method for detecting the towing state of a motorhome, comprising: arranging a first detection device at a side of a passage through which a vehicle travels toward a barrier and at a first preset distance from the barrier, for detecting whether the current vehicle is an independent vehicle or has a towed vehicle; arranging a second detection device on the ground or underground of the passage through which the vehicle travels toward the barrier and at a second preset distance from the barrier, for detecting whether the current vehicle has parked in place when it reaches the barrier; when the vehicle travels through the first detection device, this moment is set as T1, and the first detection device starts continuous detection; when the vehicle travels to the second detection device, it is determined that the current vehicle has parked in place, and this moment is set as T2; if between T1 and T2, the first detection device detects that there is a complete gap between the current vehicle and the rear vehicle, it is determined that the current vehicle is an independent vehicle; otherwise, it is determined that the current vehicle is a leading vehicle with a towed vehicle.

Description

Technical Field

[0001] The present invention relates to the field of electronic information technology, and in particular to a method for detecting the towing state of a recreational vehicle. Background Art

[0002] Trailer RV is a type of RV. Unlike self-propelled RV, trailer RV has no power and needs an additional vehicle to tow it. Trailer RV can be divided into different models according to their appearance and functions. Its basic structure is as follows: Figure 1 A typical trailer caravan consists of a front car and a rear car. The front car is an ordinary car such as a sedan or SUV, and the rear car is a living compartment. The front car and the rear car are connected by a connecting device. The front car has license plates on both the front and rear, while the rear car only has a license plate on the rear.

[0003] When these trailer RVs park at a RV camp or parking lot, sometimes they enter and exit as a group, and sometimes the last vehicle may be left at the camp while only the first vehicle repeatedly enters and exits. However, the traditional parking lot gate system only detects the front vehicle and its license plate number, and cannot know whether there is a trailer behind it, which brings difficulties to parking lot management. In addition, it is also difficult to handle trailer RVs at highway toll stations.

[0004] Figure 2 This is a schematic diagram of the detection principle of the existing barrier system. When a vehicle reaches the barrier, the camera takes a picture of the license plate and recognizes the license plate number. Therefore, the existing technology can only detect whether a vehicle has reached the barrier, but cannot detect whether there is a trailer behind it. Summary of the invention

[0005] In view of the above problems, an object of the present invention is to provide a method for detecting the trailer status of a motorhome, which can detect and determine whether the current vehicle has only a lead vehicle or a trailer with a rear vehicle.

[0006] To solve the above technical problems, the embodiments of the present invention provide the following solutions:

[0007] A method for detecting a trailer state of a motorhome comprises the following steps:

[0008] A first detection device is arranged at a side of the passage through which the vehicle travels towards the barrier and at a first preset distance from the barrier, wherein the first detection device is used to detect whether the current vehicle is an independent vehicle or a vehicle with a trailer;

[0009] A second detection device is arranged on the ground or underground of the passage for the vehicle to travel to the barrier and at a second preset distance from the barrier, the second detection device is used to detect whether the current vehicle stops in place when it reaches the barrier, and the second preset distance is smaller than the first preset distance;

[0010] When the vehicle passes the first detection device, assuming this time is T1, the first detection device starts continuous detection;

[0011] When the vehicle reaches the second detection device, it is determined that the vehicle is parked in place, and this time is set as T2;

[0012] If, between time T1 and time T2, the first detection device detects that there is a complete gap between the current vehicle and the vehicle behind, the current vehicle is determined to be an independent vehicle;

[0013] If, between time T1 and time T2, the first detection device does not detect a complete gap between the current vehicle and the vehicle behind, it is determined that the current vehicle is a leading vehicle with a trailer.

[0014] Preferably, the first detection device comprises a camera arranged on one side of the passage for vehicles to travel toward the barrier, and a reference board arranged on the other side of the passage for vehicles to travel toward the barrier, wherein the camera and the reference board are arranged opposite to each other; when there is no obstacle between the two, the camera can capture a complete image of the reference board; when there is an obstacle between the two, the image of the reference board captured by the camera is incomplete;

[0015] The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar;

[0016] The detection method comprises:

[0017] When the second detection device detects that the current vehicle has parked in place, it is determined whether there is a complete image in the images of the reference board continuously captured by the camera between time T1 and time T2;

[0018] If there is a complete image among the images of the reference board continuously captured by the camera, it is determined that the current vehicle is an independent vehicle and there is a gap behind it;

[0019] If no complete image is displayed in the images of the reference plate continuously captured by the camera, it is determined that the current vehicle is a leading vehicle with a trailer.

[0020] Preferably, the first detection device includes an infrared emitting device arranged on one side of the passage for vehicles to travel toward the barrier, and an infrared receiving device arranged on the other side of the passage for vehicles to travel toward the barrier, the infrared emitting device and the infrared receiving device are arranged opposite to each other; when there is no obstacle between the two, the infrared receiving device can receive all the light emitted by the infrared emitting device; when there is an obstacle between the two, part of the light emitted by the infrared emitting device is blocked, and the infrared receiving device can only receive part of the light emitted by the infrared emitting device;

[0021] The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar;

[0022] The detection method comprises:

[0023] When the second detection device detects that the current vehicle has parked, it is determined whether the light received by the infrared receiving device is completely unobstructed between time T1 and time T2;

[0024] If the light received by the infrared receiving device is completely unblocked, it is determined that the current vehicle is an independent vehicle and there is a gap behind it;

[0025] If the light received by the infrared receiving device is not completely unblocked, it is determined that the current vehicle is a leading vehicle with a trailer.

[0026] Preferably, the first detection device comprises a laser emitting device arranged on one side of the passage for vehicles to travel toward the barrier, and a laser receiving device arranged on the other side of the passage for vehicles to travel toward the barrier, wherein the laser emitting device and the laser receiving device are arranged opposite to each other; when there is no obstacle between the two, the laser receiving device can receive the laser emitted by the laser emitting device; when there is an obstacle between the two, the laser emitted by the laser emitting device is blocked, and the laser receiving device cannot receive the laser emitted by the laser emitting device;

[0027] The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar;

[0028] The detection method comprises:

[0029] When the second detection device detects that the current vehicle has parked, it is determined whether the laser receiving device is able to receive the laser between time T1 and time T2;

[0030] If the laser receiving device is able to receive the laser, it is determined that the current vehicle is an independent vehicle and there is a gap behind it;

[0031] If the laser receiving device is unable to receive the laser, it is determined that the current vehicle is a leading vehicle with a trailer.

[0032] Preferably, the first detection device is arranged on one side of the passage through which the vehicle travels to the gate, and the first detection device comprises a detection radar, the longitudinal detection range of the detection radar at least covers a height range of 30 cm-60 cm from the ground, and the detection radar is an ultrasonic radar or a millimeter wave radar;

[0033] The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar;

[0034] The detection method comprises:

[0035] When the second detection device detects that the current vehicle has parked, it is determined whether the target distance detected by the detection radar within its longitudinal detection range is greater than or equal to the channel width in the longitudinal direction between time T1 and time T2;

[0036] If the target distance detected by the detection radar within its longitudinal detection range is greater than or equal to the channel width in the longitudinal direction, it is determined that the current vehicle is an independent vehicle and there is a gap behind it;

[0037] If the target distance detected by the detection radar within its longitudinal detection range is not greater than or equal to the channel width in the longitudinal direction, it is determined that the current vehicle is a leading vehicle with a trailer.

[0038] Preferably, the first detection device is arranged on one side of the passage through which the vehicle travels to the barrier, and comprises an image acquisition unit and an image analysis unit, wherein the image acquisition unit is used to continuously capture images between time T1 and time T2, and the image analysis unit is used to preprocess, extract features and recognize features of the captured images, and determine whether the captured images contain the connection device;

[0039] The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar;

[0040] The detection method comprises:

[0041] When the second detection device detects that the current vehicle has parked, it determines whether the image captured between time T1 and time T2 contains the connection device;

[0042] If the image analysis unit recognizes that the captured image does not contain a connection device, it determines that the current vehicle is an independent vehicle;

[0043] If the image analysis unit recognizes that the captured image contains a connecting device, it is determined that the current vehicle is a leading vehicle with a trailer.

[0044] Preferably, the image analysis unit performs preprocessing, feature extraction and feature recognition on the captured image, specifically including:

[0045] Collect samples of various connection devices of trailer RVs to form a sample training set;

[0046] Performing target recognition training on the sample training set based on a deep learning convolutional neural algorithm to obtain a connection device recognition model;

[0047] Perform noise reduction and normalization preprocessing on the captured images;

[0048] Perform feature extraction on the preprocessed image;

[0049] The extracted features are input into the connection device recognition model, and it is determined whether the captured image contains a connection device according to the output result of the model.

[0050] Preferably, the first detection device includes a communication module and an early warning module;

[0051] The communication module transmits the detection result to the parking lot management office or the toll station management office in real time, so that the parking lot management office or the toll station management office can register the vehicle entry and exit;

[0052] The early warning module includes a voice player. When it is detected that the current vehicle has a trailer, the early warning module broadcasts a voice message to remind the staff to pay attention.

[0053] Preferably, the second preset distance is between 1.5m and 2m, and the first preset distance is greater than 8.3m.

[0054] Preferably, the height of the first detection device from the ground is between 30 cm and 60 cm.

[0055] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0056] In an embodiment of the present invention, a first detection device is set at the side of the passage where the vehicle travels to the gate and at a first preset distance from the gate, for detecting whether the current vehicle is an independent vehicle or has a trailer; a second detection device is set at the ground or underground of the passage where the vehicle travels to the gate and at a second preset distance from the gate, for detecting whether the current vehicle has stopped in place when it reaches the gate; when the vehicle passes through the first detection device, this time is set as T1, and the first detection device starts continuous detection; when the vehicle reaches the second detection device, it is determined that the current vehicle has stopped in place, and this time is set as T2; if between T1 and T2, the first detection device detects that there is a complete gap between the current vehicle and the rear vehicle, the current vehicle is determined to be an independent vehicle; if between T1 and T2, the first detection device does not detect that there is a complete gap between the current vehicle and the rear vehicle, the current vehicle is determined to be a leading vehicle with a trailer. In this way, it is possible to timely distinguish whether the current vehicle is only a leading vehicle or has a trailer, thereby bringing convenience to parking lot management and highway toll station management. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 It is a schematic diagram of a trailer RV;

[0059] Figure 2 It is a schematic diagram of the detection principle of the existing barrier system;

[0060] Figure 3 is a flow chart of a method for detecting a trailer state of a motorhome provided by an embodiment of the present invention;

[0061] Figure 4 It is a schematic diagram of the principle of a method for detecting a trailer state of a motorhome provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0063] The automated management of RV camps or the management of highway toll stations requires distinguishing whether a vehicle has a trailer, which is not possible with existing gate systems. In response to the above problems, an embodiment of the present invention provides a method for detecting the trailer status of an RV, which can detect and distinguish in real time whether a vehicle has a trailer, and distinguish whether the current vehicle has only a lead vehicle or a trailer. Figure 3 As shown, the detection method comprises the following steps:

[0064] A first detection device is arranged at a side of the passage through which the vehicle travels towards the barrier and at a first preset distance from the barrier, wherein the first detection device is used to detect whether the current vehicle is an independent vehicle or a vehicle with a trailer;

[0065] A second detection device is arranged on the ground or underground of the passage for the vehicle to travel to the barrier and at a second preset distance from the barrier, the second detection device is used to detect whether the current vehicle stops in place when it reaches the barrier, and the second preset distance is smaller than the first preset distance;

[0066] When the vehicle passes the first detection device, assuming this time is T1, the first detection device starts continuous detection;

[0067] When the vehicle reaches the second detection device, it is determined that the vehicle has parked in place, and this time is set as T2;

[0068] If, between time T1 and time T2, the first detection device detects that there is a complete gap between the current vehicle and the vehicle behind, the current vehicle is determined to be an independent vehicle;

[0069] If, between time T1 and time T2, the first detection device does not detect a complete gap between the current vehicle and the vehicle behind, it is determined that the current vehicle is a leading vehicle with a trailer.

[0070] According to the survey, the length of an ordinary car or SUV that can be used as the front vehicle of a motorhome is 4 to 6 meters, and the length of the connection device between the front vehicle and the rear vehicle of a trailer motorhome is 1 to 1.5 meters. At the entrance and exit of the barrier, the distance between the vehicle and the barrier when it arrives at the barrier is generally between 1.5m and 2m. If two independent ordinary vehicles are waiting in line to enter or exit, in order to avoid rear-end collision, a certain gap will be maintained between the front and rear vehicles, recorded as L, and generally L>30cm.

[0071] Based on the above situation, in the embodiment of the present invention, the distance between the second detection device and the barrier should be between 1.5m-2m, that is, the second preset distance is between 1.5m-2m; the distance between the first detection device and the barrier should be greater than the sum of the vehicle body length and the second preset distance. According to repeated tests, the first preset distance is set to be greater than 8.3m in this embodiment. In this way, missed detection and false detection can be effectively avoided, ensuring that the detection can be carried out accurately.

[0072] Furthermore, the connection device in the embodiment of the present invention includes but is not limited to various shapes of tow bars. Considering that the connection device is generally about 40 cm above the ground, the height of the first detection device from the ground should be between 30 cm and 60 cm, covering the range of the connection device, so as to obtain the best detection accuracy.

[0073] The detection method described in the present invention can be implemented in a variety of ways. The following examples illustrate the preferred implementation of the present invention, but do not constitute a limitation of the present invention. All specific implementations that can implement the detection principle of the present invention belong to the protection scope of the present invention.

[0074] As a first specific embodiment of the present invention, refer to Figure 4 The first detection device includes a camera arranged on the A side of the channel for the vehicle to travel toward the gate, and a reference board arranged on the B side of the channel for the vehicle to travel toward the gate, the camera and the reference board are arranged opposite to each other; when there is no obstacle between the two, the camera can capture a complete image of the reference board; when there is an obstacle between the two, the image of the reference board captured by the camera is incomplete.

[0075] The second detection device is installed at C and is any one of a ground sensing coil, a laser detector, and a millimeter wave radar.

[0076] In this embodiment, the detection method includes:

[0077] When the second detection device detects that the current vehicle has parked, it is determined whether there is a complete image in the images of the reference board continuously captured by the camera between time T1 and time T2;

[0078] If there is a complete image among the images of the reference board captured continuously by the camera, it is determined that the current vehicle is an independent vehicle and there is a gap behind it;

[0079] If no complete image is displayed in the images of the reference plate continuously captured by the camera, it is determined that the current vehicle is a leading vehicle with a trailer.

[0080] As a second specific embodiment of the present invention, refer to Figure 4 The first detection device includes an infrared emitting device arranged on the A side of the channel for vehicles to travel toward the barrier, and an infrared receiving device arranged on the B side of the channel for vehicles to travel toward the barrier, the infrared emitting device and the infrared receiving device are arranged opposite to each other; when there is no obstacle between the two, the infrared receiving device can receive all the light emitted by the infrared emitting device; when there is an obstacle between the two, part of the light emitted by the infrared emitting device is blocked, and the infrared receiving device can only receive part of the light emitted by the infrared emitting device.

[0081] The second detection device is installed at C and is any one of a ground sensing coil, a laser detector, and a millimeter wave radar.

[0082] The detection method comprises:

[0083] When the second detection device detects that the current vehicle has parked, it determines whether the light received by the infrared receiving device is completely unobstructed between time T1 and time T2;

[0084] If the light received by the infrared receiving device is completely unblocked, it is determined that the current vehicle is an independent vehicle and there is a gap behind it;

[0085] If the light received by the infrared receiving device is not completely unblocked, it is determined that the current vehicle is a leading vehicle with a trailer.

[0086] In this embodiment, the interval between two adjacent light beams emitted by the infrared emitting device should be less than the height of the connecting device in the longitudinal section to avoid missed detection. According to research, considering the connection strength and stability between the head car and the tail car, the height of the connecting device in the longitudinal section is usually not less than 2 cm. Therefore, among the light beams emitted by the infrared emitting device, the interval between two adjacent light beams is preferably less than 2 cm.

[0087] As a third specific embodiment of the present invention, refer to Figure 4 The first detection device includes a laser emitting device arranged on the A side of the channel for the vehicle to travel toward the barrier, and a laser receiving device arranged on the B side of the channel for the vehicle to travel toward the barrier, the laser emitting device and the laser receiving device are arranged opposite to each other; when there is no obstacle between the two, the laser receiving device can receive the laser emitted by the laser emitting device; when there is an obstacle between the two, the laser emitted by the laser emitting device is blocked, and the laser receiving device cannot receive the laser emitted by the laser emitting device.

[0088] The second detection device is installed at C and is any one of a ground sensing coil, a laser detector, and a millimeter wave radar.

[0089] The detection method comprises:

[0090] When the second detection device detects that the current vehicle has parked, it is determined whether the laser receiving device is able to receive the laser between time T1 and time T2;

[0091] If the laser receiving device is able to receive the laser, it is determined that the current vehicle is an independent vehicle and there is a gap behind it;

[0092] If the laser receiving device cannot receive the laser, it is determined that the current vehicle is a leading vehicle with a trailer.

[0093] As a fourth specific embodiment of the present invention, refer to Figure 4 The first detection device is arranged on the A side or the B side of the channel where the vehicle travels to the gate. The first detection device includes a detection radar. The longitudinal detection range of the detection radar covers at least a height range of 30cm-60cm from the ground. The detection radar is an ultrasonic radar or a millimeter wave radar.

[0094] The second detection device is installed at C and is any one of a ground sensing coil, a laser detector, and a millimeter wave radar.

[0095] The detection method comprises:

[0096] When the second detection device detects that the current vehicle has parked, it is determined whether the target distance detected by the detection radar within its longitudinal detection range is greater than or equal to the channel width in the longitudinal direction between time T1 and time T2;

[0097] If the target distance detected by the detection radar within its longitudinal detection range is greater than or equal to the channel width in the longitudinal direction, the current vehicle is determined to be an independent vehicle with a gap behind it;

[0098] If the target distance detected by the detection radar within its longitudinal detection range is not greater than or equal to the channel width in the longitudinal direction, it is determined that the current vehicle is the leading vehicle with a trailer.

[0099] In the above embodiment, the channel width is used as the judgment standard. In actual operation, the connection device is generally installed in the middle of the vehicle, so the judgment standard can also be set to be greater than 50% of the channel width, such as 70% of the channel width, etc., which will not be repeated here.

[0100] As a fifth specific embodiment of the present invention, refer to Figure 4 The first detection device is arranged on the A side or the B side of the channel where the vehicle travels to the barrier, and includes an image acquisition unit and an image analysis unit. The image acquisition unit is used to continuously capture images between time T1 and time T2, and the image analysis unit is used to preprocess, extract features and recognize features of the captured images to determine whether the captured images contain a connecting device.

[0101] The second detection device is installed at C and is any one of a ground sensing coil, a laser detector, and a millimeter wave radar.

[0102] The detection method comprises:

[0103] When the second detection device detects that the current vehicle has parked, it determines whether the image captured between time T1 and time T2 contains the connection device;

[0104] If the image analysis unit recognizes that the captured image does not contain a connection device, it determines that the current vehicle is an independent vehicle;

[0105] If the image analysis unit recognizes that the captured image contains a connecting device, it is determined that the current vehicle is a leading vehicle with a trailer.

[0106] Furthermore, the image analysis unit performs preprocessing, feature extraction and feature recognition on the captured image, specifically including:

[0107] Collect samples of various connection devices of trailer RVs to form a sample training set;

[0108] Performing target recognition training on the sample training set based on a deep learning convolutional neural algorithm to obtain a connection device recognition model;

[0109] Perform noise reduction and normalization preprocessing on the captured images;

[0110] Perform feature extraction on the preprocessed image;

[0111] The extracted features are input into the connection device recognition model, and it is determined whether the captured image contains a connection device according to the output result of the model.

[0112] Furthermore, in each of the above embodiments, the first detection device further includes a communication module and an early warning module;

[0113] The communication module transmits the detection results to the parking lot management office or the toll station management office in real time, so that the parking lot management office or the toll station management office can register the vehicle entry and exit;

[0114] The warning module includes a voice player. When it is detected that the current vehicle has a trailer, the warning module broadcasts a voice message to alert the staff.

[0115] The RV trailer state detection method provided by the present invention adopts a dynamic detection process, and can cope with various possible situations, including: the leading vehicle is very long with the trailing vehicle; the leading vehicle is very long without the trailing vehicle; the leading vehicle is very short with the trailing vehicle; the leading vehicle is very short without the trailing vehicle, but other vehicles are following closely, etc. The last situation is more difficult to handle, but the method of the present invention can still handle it correctly, which is also one of the advantages of the present invention.

[0116] To summarize, the present invention sets a first detection device and a second detection device, firstly determines whether the current vehicle is parked near the barrier, and then detects from the side whether there is a connecting device behind the current vehicle, so as to determine whether the current vehicle has a trailer. The detection process is a dynamic real-time detection, and even if there are other vehicles following behind, it can be quickly distinguished and judged, with high detection accuracy. It is applied to RV camp parking lots or highway toll stations, etc., and can effectively improve management efficiency.

[0117] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting the trailer status of a motorhome, characterized in that: The following steps are involved: A first detection device is arranged at a side of the passage through which the vehicle travels towards the barrier and at a first preset distance from the barrier, wherein the first detection device is used to detect whether the current vehicle is an independent vehicle or a vehicle with a trailer; A second detection device is arranged on the ground or underground of the passage for the vehicle to travel to the barrier and at a second preset distance from the barrier, the second detection device is used to detect whether the current vehicle stops in place when it reaches the barrier, and the second preset distance is smaller than the first preset distance; When the vehicle passes the first detection device, assuming this time is T1, the first detection device starts continuous detection; When the vehicle reaches the second detection device, it is determined that the vehicle is parked in place, and this time is set as T2; If, between time T1 and time T2, the first detection device detects that there is a complete gap between the current vehicle and the vehicle behind, the current vehicle is determined to be an independent vehicle; If, between time T1 and time T2, the first detection device does not detect a complete gap between the current vehicle and the vehicle behind, the current vehicle is determined to be a leading vehicle with a trailer; Among them, the length of the ordinary car or SUV as the lead vehicle is 4m-6m, and the length of the connection device between the lead vehicle and the rear vehicle of the trailer RV is 1m-1.5m; at the entrance and exit of the gate, the distance between the vehicle and the gate when it arrives at the gate and stops is between 1.5m-2m. When two independent vehicles queue up to wait for entry and exit, a certain gap is maintained between the front and rear vehicles, recorded as L, L>30cm; Based on the above situation, the distance between the second detection device and the barrier is between 1.5m-2m, that is, the second preset distance is between 1.5m-2m; the distance between the first detection device and the barrier is greater than the sum of the vehicle body length and the second preset distance, and the first preset distance is greater than 8.3m; the height of the first detection device from the ground is between 30cm-60cm, covering the range where the connection device is located; The first detection device and the second detection device adopt any one or more of the following situations: 1) The first detection device includes a camera arranged on one side of the passage for vehicles to travel toward the gate, and a reference board arranged on the other side of the passage for vehicles to travel toward the gate, wherein the camera and the reference board are arranged opposite to each other; when there is no obstacle between the two, the camera can capture a complete image of the reference board; when there is an obstacle between the two, the image of the reference board captured by the camera is incomplete; The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar; The detection method comprises: When the second detection device detects that the current vehicle has parked in place, it is determined whether there is a complete image in the images of the reference board continuously captured by the camera between time T1 and time T2; If there is a complete image among the images of the reference board continuously captured by the camera, it is determined that the current vehicle is an independent vehicle and there is a gap behind it; If the images of the reference plate continuously captured by the camera do not show a complete image, it is determined that the current vehicle is a leading vehicle with a trailer; 2) The first detection device includes an infrared emitting device arranged on one side of the passage for vehicles to travel toward the gate, and an infrared receiving device arranged on the other side of the passage for vehicles to travel toward the gate, wherein the infrared emitting device and the infrared receiving device are arranged opposite to each other; when there is no obstacle between the two, the infrared receiving device can receive all the light emitted by the infrared emitting device; when there is an obstacle between the two, part of the light emitted by the infrared emitting device is blocked, and the infrared receiving device can only receive part of the light emitted by the infrared emitting device; The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar; The detection method comprises: When the second detection device detects that the current vehicle has parked, it is determined whether the light received by the infrared receiving device is completely unobstructed between time T1 and time T2; If the light received by the infrared receiving device is completely unblocked, it is determined that the current vehicle is an independent vehicle and there is a gap behind it; If the light received by the infrared receiving device is not completely unblocked, it is determined that the current vehicle is a leading vehicle with a trailer; The height of the connecting device in the longitudinal section is not less than 2 cm, and the interval between two adjacent rays of light emitted by the infrared emitting device is less than 2 cm; 3) The first detection device includes a laser emitting device arranged on one side of the passage for vehicles to travel toward the gate, and a laser receiving device arranged on the other side of the passage for vehicles to travel toward the gate, wherein the laser emitting device and the laser receiving device are arranged opposite to each other; when there is no obstacle between the two, the laser receiving device can receive the laser emitted by the laser emitting device; when there is an obstacle between the two, the laser emitted by the laser emitting device is blocked, and the laser receiving device cannot receive the laser emitted by the laser emitting device; The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar; The detection method comprises: When the second detection device detects that the current vehicle has parked, it is determined whether the laser receiving device is able to receive the laser between time T1 and time T2; If the laser receiving device is able to receive the laser, it is determined that the current vehicle is an independent vehicle and there is a gap behind it; If the laser receiving device is unable to receive the laser, it is determined that the current vehicle is a leading vehicle with a trailer; 4) The first detection device is arranged on one side of the passage through which the vehicle travels to the gate, and the first detection device comprises a detection radar, the longitudinal detection range of the detection radar at least covers a height range of 30 cm to 60 cm from the ground, and the detection radar is an ultrasonic radar or a millimeter wave radar; The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar; The detection method comprises: When the second detection device detects that the current vehicle has parked, it is determined whether the target distance detected by the detection radar within its longitudinal detection range is greater than or equal to the channel width in the longitudinal direction between time T1 and time T2; If the target distance detected by the detection radar within its longitudinal detection range is greater than or equal to the channel width in the longitudinal direction, it is determined that the current vehicle is an independent vehicle and there is a gap behind it; If the target distance detected by the detection radar within its longitudinal detection range is not greater than or equal to the channel width in the longitudinal direction, it is determined that the current vehicle is a leading vehicle with a trailer; 5) The first detection device is arranged on one side of the passage through which the vehicle travels to the barrier, and the first detection device comprises an image acquisition unit and an image analysis unit, wherein the image acquisition unit is used to continuously capture images between time T1 and time T2, and the image analysis unit is used to preprocess, extract features and recognize features of the captured images, and determine whether the captured images contain a connection device; The second detection device is any one of a ground sensing coil, a laser detector, and a millimeter wave radar; The detection method comprises: When the second detection device detects that the current vehicle has parked, it determines whether the image captured between time T1 and time T2 contains the connection device; If the image analysis unit recognizes that the captured image does not contain a connection device, it determines that the current vehicle is an independent vehicle; If the image analysis unit recognizes that the captured image contains a connection device, it determines that the current vehicle is a lead vehicle with a trailer; The image analysis unit performs preprocessing, feature extraction and feature recognition on the captured image, specifically including: Collect samples of various connection devices of trailer RVs to form a sample training set; Performing target recognition training on the sample training set based on a deep learning convolutional neural algorithm to obtain a connection device recognition model; Perform noise reduction and normalization preprocessing on the captured images; Perform feature extraction on the preprocessed image; The extracted features are input into the connection device recognition model, and it is determined whether the captured image contains a connection device according to the output result of the model.

2. The method for detecting the trailer state of a motorhome according to claim 1, characterized in that: The first detection device includes a communication module and an early warning module; The communication module transmits the detection result to the parking lot management office or the toll station management office in real time, so that the parking lot management office or the toll station management office can register the vehicle entry and exit; The early warning module includes a voice player. When it is detected that the current vehicle has a trailer, the early warning module broadcasts a voice message to remind the staff to pay attention.

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