Trailer stability monitoring system and method

Abstract

The present invention provides a trailer stability monitoring system and method, comprising: S1: When a vehicle towing a trailer is in motion, driving condition information is obtained and a determination is made as to whether trailer stability monitoring conditions are met; if so, step S2: trailer status information is collected and, based on the received trailer status information, an instability condition is determined to be met; if so, a determination is made as to whether an instability risk exists and step S3 is made; if not, a determination is made as to whether an instability risk does not exist and step S1 is made; S3: an alarm is generated and sent to an alarm device, which issues a warning signal based on the received alarm information. This method can alert the driver in advance of a serious accident, thereby preventing vehicle instability or rollover accidents and improving driving safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to a trailer stability monitoring system and method. Background Art

[0002] Many vehicles have a towing function that allows them to tow a trailer, or some owners install a tow hook on their vehicles to tow a trailer. When towing a trailer, the trailer can significantly affect the vehicle's driving stability. Under extreme driving conditions, such as excessive speed, the trailer can sway from side to side, potentially causing the vehicle to become unstable or even roll over. Therefore, it's important to monitor the trailer's stability.

[0003] Currently, vehicles towing trailers still rely mainly on the driver's experience to keep an eye on the status of the trailer at all times. Once the possibility of instability is detected, the driver will slow down or take other actions to prevent accidents. However, many drivers have not received towing training or lack experience, and cannot actively identify such dangerous conditions, which may lead to accidents. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that when a conventional vehicle tows a trailer, there is a risk of vehicle instability or rollover under conditions such as excessive speed.

[0005] To solve the above problems, the present invention provides a trailer stability monitoring method, which includes:

[0006] S1: A vehicle towing a trailer is in motion, and a controller obtains driving condition information and determines, based on the driving condition information, whether a trailer stability monitoring condition is satisfied; the driving condition information includes vehicle speed, and the trailer stability monitoring condition includes a vehicle speed greater than a vehicle speed threshold;

[0007] If yes, proceed to step S2;

[0008] If not, continue to obtain driving condition information and determine whether the trailer stability monitoring conditions are met based on the driving condition information;

[0009] S2: The collecting device collects trailer status information and sends the collected trailer status information to the controller; the controller determines whether the instability condition is met based on the received trailer status information;

[0010] If yes, it is determined that there is an instability risk and the process goes to step S3;

[0011] If not, it is determined that there is no risk of instability and the process goes to step S1;

[0012] S3: The controller generates alarm information and sends the alarm information to the alarm device, and the alarm device sends a warning signal according to the received alarm information.

[0013] By adopting the above scheme, when a vehicle is towing a trailer and is in motion, an automatic monitoring method for trailer stability is provided. When the vehicle speed reaches a preset speed threshold or above and there is a risk of instability of the trailer, the trailer stability is automatically monitored and the trailer status is collected in real time to determine whether there is a risk of instability. When there is a risk of instability, a warning signal is promptly issued, which can alert the driver in advance before a serious accident occurs. The driver can take timely action according to the prompt to alleviate the risk of trailer stability, thereby avoiding vehicle instability or rollover accidents.

[0014] According to another specific embodiment of the present invention, in a trailer stability monitoring method disclosed in an embodiment of the present invention, in step S2, the trailer status information includes a pressure value on the left side of the trailer hook and a pressure value on the right side of the trailer hook. The method for determining whether the instability condition is met based on the trailer status information includes:

[0015] S21: The controller calculates a force difference parameter based on the pressure value on the left side of the trailer hook and the pressure value on the right side of the trailer hook, and compares the force difference parameter with the difference limit;

[0016] If the force difference parameter exceeds the difference limit, proceed to step S22;

[0017] S22: The controller collects the number of times the force difference parameter exceeds the difference limit within time T, and compares the number with the number threshold;

[0018] If the number of times is greater than or equal to the threshold, it is judged that there is an instability risk;

[0019] If the number of times is less than the number threshold, the process proceeds to step S21.

[0020] With the above solution, when judging whether there is a risk of instability, the trailer swing amplitude and frequency are considered at the same time. When the trailer is in a high-frequency and large-amplitude swing state, it is judged to be close to an unstable state. With more reference parameters, the judgment is more accurate.

[0021] According to another specific embodiment of the present invention, the trailer stability monitoring method disclosed in the embodiment of the present invention is characterized in that the force difference parameter includes a force difference coefficient, the difference limit includes a difference coefficient threshold; the calculation formula of the force difference coefficient is:

[0022] θ=|F1-F2| / F0

[0023] Where θ is the force difference coefficient, F1 is the pressure value on the left side of the trailer hook, F2 is the pressure value on the right side of the trailer hook, and F0 is equal to the larger pressure value between F1 and F2.

[0024] With the above solution, the force difference parameter is not affected by the change in trailer weight, which can make the judgment of whether the instability condition is met more accurate.

[0025] According to another specific embodiment of the present invention, in the trailer stability monitoring method disclosed in the embodiment of the present invention, the vehicle speed threshold is 80 km / h; T is 1 s; and the number threshold is 3.

[0026] According to another specific embodiment of the present invention, in the trailer stability monitoring method disclosed in the embodiment of the present invention, in step S3, the warning signal includes a warning light signal and / or a warning sound signal.

[0027] According to another specific embodiment of the present invention, the trailer stability monitoring method disclosed in the embodiment of the present invention, step S3 also includes: the controller generates a control signal and sends the control signal to the vehicle controller, and the vehicle controller controls the vehicle to decelerate according to the control signal.

[0028] By adopting the above solution, the automaticity and responsiveness of the post-processing control when there is a risk of instability are enhanced, thereby having a better control state.

[0029] The present invention also provides a trailer stability monitoring system for executing the trailer stability monitoring method provided by the present invention; the trailer stability monitoring system comprises:

[0030] A collection device for collecting trailer status information;

[0031] A controller, the controller obtains driving condition information and determines whether a trailer stability monitoring condition is met based on the driving condition information; the controller is also connected to a collection device, receives trailer status information transmitted by the collection device, and determines whether an instability condition is met based on the trailer status information;

[0032] The alarm device is connected to the controller. If the controller determines that the trailer status information meets the instability condition, the controller generates an alarm message and transmits it to the alarm device. The alarm device sends a warning signal according to the alarm message.

[0033] According to another specific embodiment of the present invention, in the trailer stability monitoring system disclosed in the embodiment of the present invention, the collection device includes at least one pair of strain gauges, which are respectively arranged on the left and right sides of the trailer hook; the trailer status information includes the pressure value of the left side of the trailer hook and the pressure value of the right side of the trailer hook, and the at least one pair of strain gauges is used to collect the pressure value of the left side of the trailer hook and the pressure value of the right side of the trailer hook, respectively.

[0034] According to another specific embodiment of the present invention, in the trailer stability monitoring system disclosed in the embodiment of the present invention, the alarm device includes an instrument and / or an entertainment system, and the controller is communicatively connected to the alarm device via a vehicle controller area network.

[0035] According to another specific embodiment of the present invention, the trailer stability monitoring system disclosed in the embodiment of the present invention also includes a vehicle controller, which is connected to the controller; the controller generates a control signal and transmits the control signal to the vehicle controller, and the vehicle controller controls the vehicle to decelerate according to the control signal.

[0036] The beneficial effects of the present invention are:

[0037] The trailer stability monitoring system and method provided by the present invention automatically monitors the trailer stability when a vehicle is towing a trailer and in motion, and when the vehicle speed reaches a preset speed threshold or above, and the trailer is at risk of instability, collects trailer status in real time to determine whether there is a risk of instability. When there is a risk of instability, a warning signal is promptly issued to alert the driver in advance before a serious accident occurs. The driver can take timely action based on the prompt to alleviate the trailer stability risk, thereby avoiding vehicle instability or rollover accidents and improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a trailer stability monitoring method according to embodiment 1 of the present invention;

[0039] Figure 2 This is a schematic diagram of determining whether there is an instability risk based on the pressure values on the left side and the right side of the trailer hook in the trailer stability monitoring method according to Example 1 of the present invention;

[0040] Figure 3 This is a structural block diagram of a trailer stability monitoring system according to embodiment 2 of the present invention;

[0041] Figure 4 This is a schematic structural diagram of a trailer stability monitoring system according to embodiment 2 of the present invention, in which a strain gauge is provided on the right side of the trailer hook;

[0042] Figure 5 This is a schematic structural diagram of a strain gauge provided on the left side of a trailer hook of a trailer stability monitoring system according to embodiment 2 of the present invention.

[0043] Description of reference numerals:

[0044] 1: Trailer; 2: Trailer hook; 3: Data acquisition device; 31: Right strain gauge; 32: Left strain gauge; 4: Controller; 5: Alarm device. DETAILED DESCRIPTION

[0045] The following is an explanation of the embodiments of the present invention by specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiment is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will contain many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0046] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0047] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0048] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0049] In the description of this embodiment, it should be noted that, unless otherwise specified or limited, the terms "disposed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this embodiment based on specific circumstances.

[0050] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0051] Example 1

[0052] The present invention provides a trailer stability monitoring method, which is executed by a trailer stability monitoring system. The trailer stability monitoring system includes a collection device, a controller, and an alarm device; Figure 1 As shown, the steps of the trailer stability monitoring method include:

[0053] S1: When a vehicle is towing a trailer and is in motion, the controller obtains driving condition information and determines whether a trailer stability monitoring condition is met based on the driving condition information. The driving condition information includes vehicle speed, and the trailer stability monitoring condition includes a vehicle speed greater than a vehicle speed threshold. If so, the process proceeds to step S2. If not, the process continues to obtain driving condition information and determines whether the trailer stability monitoring condition is met based on the driving condition information.

[0054] Specifically, vehicles towing trailers are generally prone to swaying when traveling at excessive speeds, potentially causing the trailer to become unstable or even roll over. Furthermore, road conditions can also affect the trailer's stability, such as when traveling uphill or downhill, on potholes, on a slope, or on a slippery surface. Under these conditions, even at certain speeds, there's a risk of vehicle instability. In short, a vehicle towing a trailer only risks instability when traveling at a certain speed. Therefore, speed is a necessary condition for trailer stability monitoring. Driving condition information includes speed, but it can also include other parameters that may affect trailer stability, such as vehicle inclination and road conditions. The speed threshold is also calibrated based on specific circumstances. For example, when road conditions are not considered, the speed threshold can be higher, such as 70 km / h, 80 km / h, or 90 km / h. Under special road conditions, the speed threshold can be lower, such as 50 km / h or 60 km / h.

[0055] When the vehicle speed is not high and the road surface is dry and smooth, the trailer generally will not be unstable and there is no need for real-time stability monitoring, that is, it is judged that the trailer stability monitoring conditions are not met; when the vehicle speed is too high, or the vehicle speed reaches a certain value and special road conditions occur, the possibility of the trailer being unstable is relatively high, and the trailer stability monitoring conditions are met. The controller trailer stability state monitoring function is turned on and trailer stability state monitoring is performed.

[0056] S2: After the controller trailer stability status monitoring function is turned on, the acquisition device begins to collect trailer status information and sends the collected trailer status information to the controller; the controller determines whether the instability condition is met based on the received trailer status information.

[0057] Specifically, the trailer status information is used to determine whether the trailer is stable, which may include the pressure values on both sides of the trailer hook, the left and right tilt angles of the trailer, etc.; the controller determines whether the instability conditions are met based on the received trailer status information, which may include comparing whether the difference in pressure values on the left and right sides of the trailer hook exceeds a certain value, comparing whether the left and right tilt angles of the trailer exceed a certain value, etc.

[0058] If the judgment result is that the instability condition is met, the trailer is at risk of instability and the process proceeds to step S3; if the judgment result is that the instability condition is not met, there is no instability risk, the controller trailer stability status monitoring function is turned off, and the process proceeds to step S1 to continue to determine whether the trailer stability monitoring condition is met.

[0059] S3: The controller generates an alarm message and transmits it to the alarm device. The alarm device then issues a warning signal based on the received alarm message. The warning signal may be a visual or auditory reminder, as long as it serves to alert the driver. In one embodiment of the present invention, the warning signal includes a warning light signal and / or a warning sound signal. Specifically, the controller transmits the alarm message to a warning light and / or a buzzer, etc., which emits a warning light signal and / or a warning sound signal to alert the driver.

[0060] It should be noted that after sending the alarm information to the alarm device, the controller continues to perform steps S1 and S2 to determine whether the trailer stability monitoring conditions and the instability conditions are met. When the trailer stability monitoring conditions or the instability conditions are not met, the controller no longer generates an alarm message.

[0061] With the above solution, when a vehicle is towing a trailer and is driving, when the vehicle speed reaches a preset speed threshold or above and there is a risk of instability of the trailer, the trailer stability is automatically monitored and the trailer status is collected in real time to determine whether there is a risk of instability. When there is a risk of instability, a warning signal is promptly issued to alert the driver in advance before a serious accident occurs. The driver can take timely action based on the prompt to alleviate the trailer stability risk, thereby avoiding vehicle instability or rollover accidents and improving driving safety.

[0062] According to another specific embodiment of the present invention, in step S2, the trailer status information includes a left side pressure value of the trailer hook and a right side pressure value of the trailer hook, and the method for determining whether the instability condition is met based on the trailer status information includes the following steps.

[0063] S21: The controller calculates a force difference parameter based on the pressure value on the left side of the trailer hook and the pressure value on the right side of the trailer hook, and compares the force difference parameter with the difference limit; if the force difference parameter exceeds the difference limit, the process proceeds to step S22.

[0064] Figure 2 The diagram shows the principle of judging whether there is an instability risk according to the pressure value on the left side of the trailer hook and the pressure value on the right side of the trailer hook in the trailer stability monitoring method of the present invention; specifically, when the trailer 1 swings, the driving directions of the vehicle and the towed trailer 1 are not in the same straight line, that is, Figure 2 As shown, the vehicle is traveling in direction A, and the trailer 1 is traveling in direction B. The pulling force on the trailer hook 2 will have an angle. Figure 2 When the middle trailer 1 swings to the left, the right side pressure value of the trailer hook 2 will be greater than the left side pressure value of the trailer hook 2, and the greater the swing angle, the greater the difference between the right side pressure value of the trailer hook 2 and the left side pressure value of the trailer hook 2; at this time, by measuring the left side pressure value of the trailer hook 2 and the right side pressure value of the trailer hook 2, the controller can obtain the degree of unbalanced force on the left and right sides of the trailer hook 2, that is, the force difference parameter, to monitor and judge the driving state of the trailer, and then judge whether there is a risk of instability.

[0065] Furthermore, the force difference parameter indicates whether the trailer is experiencing left-right sway. For example, it can be the absolute value of the difference between the pressure values on the left and right sides of the trailer hook. The difference limit can be determined through testing and calibration, and is generally the minimum difference between the pressure values on the left and right sides of the trailer hook when a rollover is likely to occur. When the force difference parameter exceeds the difference limit, this indicates that the trailer hook is experiencing significant left and right forces, indicating that the trailer has begun to sway significantly and has a high probability of rollover.

[0066] In one specific embodiment, the force difference parameter includes a force difference coefficient, and the difference limit includes a difference coefficient threshold; the force difference coefficient is calculated as follows:

[0067] θ=|F1-F2| / F0

[0068] Where θ is the force difference coefficient, F1 is the pressure on the left side of the trailer hook, F2 is the pressure on the right side of the trailer hook, and F0 is equal to the larger of F1 and F2. The difference limit corresponding to θ is calibrated and can be 0.2, 0.3, 0.4, etc. The force difference coefficient reflects the ratio of the pressure difference between the left and right sides of the trailer hook. This force difference parameter is unaffected by changes in trailer weight, making it more accurate to determine whether the instability condition has been met.

[0069] It should be noted that if the force difference parameter does not exceed the difference limit, it indicates that the trailer swing amplitude is not large, and the process can continue with step S2 for continuous judgment; or the process can return to step S1, which can be set specifically as needed.

[0070] S22: The controller collects the number of times the force difference parameter exceeds the difference limit within time T, and compares the number with the number threshold; if the number is greater than or equal to the number threshold, it is determined that there is an instability risk; if the number is less than the number threshold, the process proceeds to step S21.

[0071] Specifically, if the force difference parameter exceeds the difference limit, it is counted once and the force difference parameter is continuously compared with the difference limit. Each time the force difference parameter exceeds the difference limit, the count is increased by 1. At the same time, the time is counted to determine the number of times C that the force difference parameter exceeds the difference limit within the time T. If the number is greater than or equal to the set number threshold C1, that is, C≥C1, it is considered that the trailer is in a high-frequency and large-amplitude swing state and is close to an unstable state, and it is judged that there is a risk of instability.

[0072] It should be noted that when determining the number of times a force difference parameter exceeds the difference limit, C ≥ C1, and the time t for the force difference parameter to exceed the difference limit is within time T (i.e., t ≤ T), an instability risk is determined. Furthermore, time T and the number of times threshold, C1, are calibrated and determined during vehicle development.

[0073] With the above solution, when judging whether there is a risk of instability, the trailer swing amplitude and frequency are considered at the same time. When the trailer is in a high-frequency and large-amplitude swing state, it is judged to be close to an unstable state. With more reference parameters, the judgment is more accurate.

[0074] According to another specific embodiment of the present invention, the vehicle speed threshold is 80 km / h; the T time is 1 second; and the number threshold is 3.

[0075] According to another specific embodiment of the present invention, step S3 further includes: the controller generating a control signal and transmitting the control signal to a vehicle controller, which controls vehicle deceleration based on the control signal. Specifically, the vehicle controller transmits the deceleration signal to the drive system controller, which controls the reduction of the torque output of the vehicle drive system, forcing the vehicle to reduce the driving speed. This enhances the automation and responsiveness of the control process when there is a risk of instability, thereby achieving a better control state.

[0076] Example 2

[0077] The present invention provides a trailer stability monitoring system for executing the trailer stability monitoring method provided by the present invention; Figure 3 As shown, the trailer stability monitoring system includes a collection device 3 , a controller 4 connected to the collection device 3 , and an alarm device 5 connected to the controller 4 .

[0078] The acquisition device 3 is used to collect trailer status information. Specifically, the acquisition device 3 may be a pressure sensor or angle sensor installed on the trailer or trailer hook to collect pressure values on both sides of the trailer hook, the left and right tilt angles of the trailer, etc. The controller 4 obtains driving condition information. Specifically, the controller 4 can be directly connected to relevant sensors such as a speed sensor, camera, radar, etc. to obtain driving condition information such as vehicle speed and road conditions. The controller 4 can also be connected to other controllers to obtain driving condition information, such as connecting to the vehicle controller and obtaining driving condition information through the vehicle controller. The controller 4 then determines whether the trailer stability monitoring conditions are met based on the driving condition information. The controller 4 also receives the trailer status information transmitted by the acquisition device 3 and determines whether the instability conditions are met based on the trailer status information. If the controller 4 determines that the trailer status information meets the instability conditions, the controller 4 generates an alarm message and transmits it to the alarm device 5, which then issues a warning signal based on the alarm message.

[0079] Specifically, the trailer stability monitoring system can be connected through a vehicle controller local area network such as a CAN bus communication. In one specific embodiment, the alarm device 5 includes an instrument and / or entertainment system. The controller 4 is connected to the alarm device 5, i.e., the instrument and / or entertainment system, through the vehicle controller local area network and transmits alarm information, and issues an alarm on the instrument or entertainment screen.

[0080] In one embodiment, the acquisition device 3 includes at least one pair of strain gauges, such as Figure 4 and Figure 5 As shown, each pair of strain gauges includes a right strain gauge 31 and a left strain gauge 32, and the right strain gauge 31 and the left strain gauge 32 are respectively arranged on the left and right sides of the trailer hook 2, wherein Figure 4 The diagram shows a structure diagram of the right side strain gauge 31 provided on the right side of the trailer hook 2. Figure 5 A structural schematic diagram shows a left strain gauge 32 set on the left side of the trailer hook 2; the trailer status information includes the pressure value of the left side of the trailer hook and the pressure value of the right side of the trailer hook, and the right strain gauge 31 and the left strain gauge 32 are used to collect the pressure value of the left side of the trailer hook and the pressure value of the right side of the trailer hook respectively.

[0081] In one specific embodiment, the trailer stability monitoring system further includes a vehicle controller, which is connected to the controller 4; the controller 4 generates a control signal and transmits the control signal to the vehicle controller, and the vehicle controller controls the vehicle to decelerate according to the control signal.

[0082] The trailer stability monitoring method specifically implemented by the trailer stability monitoring system has been described in Example 1 and will not be described in detail in this embodiment.

[0083] Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, it should be understood by those skilled in the art that the above description is provided as a further detailed description of the present invention in conjunction with specific embodiments thereof, and that the specific implementation of the present invention is not limited to these descriptions. Those skilled in the art may make various changes in form and details, including simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A trailer stability monitoring method, characterized in that: The trailer stability monitoring method comprises: S1: A vehicle towing a trailer is in a driving state, and a controller obtains driving condition information and determines whether a trailer stability monitoring condition is satisfied based on the driving condition information; wherein the driving condition information includes vehicle speed, and the trailer stability monitoring condition includes the vehicle speed being greater than a vehicle speed threshold; If yes, proceed to step S2; If not, continue to obtain the driving condition information, and determine whether the trailer stability monitoring condition is met based on the driving condition information; S2: The collecting device collects trailer status information and sends the collected trailer status information to the controller, wherein the trailer status information includes a pressure value on the left side of the trailer hook and a pressure value on the right side of the trailer hook; the controller determines whether an instability condition is met based on the received trailer status information; If yes, it is determined that there is an instability risk and the process goes to step S3; If not, it is determined that there is no risk of instability and the process goes to step S1; wherein, The method for determining whether an instability condition is met according to the received trailer status information includes: S21: The controller calculates a force difference parameter based on the pressure value on the left side of the trailer hook and the pressure value on the right side of the trailer hook, and compares the force difference parameter with a difference limit; If the force difference parameter exceeds the difference limit, proceed to step S22; S22: The controller collects the number of times the force difference parameter exceeds the difference limit within time T, and compares the number with a number threshold; If the number is greater than or equal to the number threshold, it is determined that the instability risk exists; If the number of times is less than the number threshold, proceed to step S2; S3: The controller generates alarm information and sends the alarm information to the alarm device, and the alarm device sends a warning signal according to the received alarm information.

2. The trailer stability monitoring method according to claim 1, wherein: The force difference parameter includes a force difference coefficient, and the difference limit includes a difference coefficient threshold. The calculation formula of the force difference coefficient is: θ=|F1-F2| / F0 Wherein, θ is the force difference coefficient, F1 is the pressure value on the left side of the trailer hook, F2 is the pressure value on the right side of the trailer hook, and F0 is equal to the larger pressure value between F1 and F2.

3. The trailer stability monitoring method according to claim 2, wherein: The vehicle speed threshold is 80 km / h; T is 1 second; and the number threshold is 3.

4. The trailer stability monitoring method according to any one of claims 1 to 3, characterized in that: In step S3, the warning signal includes a warning light signal and / or a warning sound signal.

5. The trailer stability monitoring method according to any one of claims 1 to 3, characterized in that: The step S3 further includes: The controller generates a control signal and sends the control signal to a vehicle controller, and the vehicle controller controls the vehicle to decelerate according to the control signal.

6. A trailer stability monitoring system, characterized in that: Used to execute the trailer stability monitoring method according to any one of claims 1 to 5; the trailer stability monitoring system comprises: A collection device for collecting trailer status information; the collection device includes at least one pair of strain gauges, respectively provided on the left and right sides of the trailer hook; the trailer status information includes a pressure value on the left side of the trailer hook and a pressure value on the right side of the trailer hook, the at least one pair of strain gauges being used to collect the pressure value on the left side of the trailer hook and the pressure value on the right side of the trailer hook respectively; a controller, the controller acquiring driving condition information and determining whether a trailer stability monitoring condition is satisfied based on the driving condition information; the controller is further connected to the acquisition device, receives the trailer status information transmitted by the acquisition device, and determines whether an instability condition is satisfied based on the trailer status information; An alarm device is connected to the controller. If the controller determines that the trailer status information meets the instability condition, the controller generates an alarm message and transmits it to the alarm device. The alarm device sends a warning signal according to the alarm message.

7. The trailer stability monitoring system according to claim 6, wherein: The alarm device includes an instrument and / or an entertainment system, and the controller is communicatively connected to the alarm device via a vehicle controller area network.

8. The trailer stability monitoring system according to any one of claims 6 to 7, characterized in that: The trailer stability monitoring system also includes a vehicle controller, which is connected to the controller; the controller generates a control signal and transmits the control signal to the vehicle controller, and the vehicle controller controls the vehicle to decelerate according to the control signal.

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