Trailer reversing method, device, system, medium and vehicle

Abstract

The present disclosure relates to a trailer reversing method, device, system, medium and vehicle. The method includes: when receiving a reversing confirmation instruction for the vehicle issued by the user, obtaining the current vehicle state information and the target trailer parking information, wherein the vehicle is connected to the trailer through a trailer hitch, and the vehicle is used to push the trailer to move; determining the target real-time rotation angle of the vehicle's steering wheel according to the current vehicle state information and the target trailer parking information; controlling the vehicle to reverse when the steering wheel rotates according to the target real-time rotation angle, so that the vehicle pushes the trailer to reverse until the trailer parks according to the target trailer parking information. In this way, during the reversing process, the steering wheel can be automatically controlled to rotate according to the target real-time rotation angle without the driver manually operating the steering wheel, avoiding incidents such as collisions and scratches caused by the driver's lack of reversing experience or unskilled operation, and ensuring the safety during the process of the vehicle automatically pushing the trailer to reverse.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular, to a trailer reverse driving method, device, system, medium, and vehicle. Background Art

[0002] Trailers can be used to carry and transport goods. Trailers do not have a power system. Figure 1 A schematic diagram of the connection between a vehicle and a trailer is shown. As Figure 1 shown, generally, the vehicle and the trailer are connected together, and when the vehicle moves, it can push the trailer to move along. When the trailer needs to reverse, the vehicle can tow the trailer to reverse. Usually, only experienced drivers who have driven the same type of vehicle can complete the task of towing the trailer to reverse. For novice drivers, it is very difficult to tow the trailer to reverse by driving the vehicle. Due to lack of experience, it may be difficult to master the operation of towing the trailer to reverse, resulting in dangerous situations such as vehicle collisions and scratches. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a trailer reverse driving method, device, system, medium, and vehicle, so that during the reverse driving process, the steering wheel can be automatically controlled to rotate according to the target real-time angle, without the driver manually operating the steering wheel, ensuring the safety during the process of the vehicle automatically pushing the trailer to reverse.

[0004] To achieve the above purpose, the first aspect of the present disclosure provides a trailer reverse driving method, which includes:

[0005] When receiving a reverse confirmation instruction for the vehicle issued by the user, obtain the current vehicle state information and the target trailer parking information. Wherein, the vehicle is connected to the trailer through a trailer hitch, the vehicle is used to push the trailer to move, the current vehicle state information includes the current vehicle center point position information, the current vehicle direction information, and the included angle between the current vehicle and the trailer, and the target trailer parking information includes the target trailer parking position information and the target trailer parking direction information;

[0006] According to the current vehicle state information and the target trailer parking information, determine the target real-time angle of the steering wheel of the vehicle;

[0007] Control the vehicle to reverse when the steering wheel rotates according to the target real-time angle, so that the vehicle pushes the trailer to reverse until the trailer parks according to the target trailer parking information.

[0008] Optionally, the determining the target real-time angle of the steering wheel of the vehicle according to the current vehicle state information and the target trailer parking information includes:

[0009] Determine the current actual position information of the trailer based on the current vehicle center point position information, the current vehicle direction information, the included angle between the current vehicle and the trailer, the distance from the center of the trailer wheel axle to the trailer hitch, and the distance from the trailer hitch to the vehicle center point;

[0010] Determine the current vertical distance from the trailer center point to the target line according to the current actual position information, where the target line is determined according to the target trailer parking position information and the target trailer parking direction information;

[0011] Determine the target real-time rotation angle according to the current vertical distance.

[0012] Optionally, the determining the target real-time rotation angle according to the current vertical distance includes:

[0013] Determine the linear angle corresponding to the current vertical distance according to the current vertical distance and the first preset weight;

[0014] Determine the target included angle between the trailer and the direction indicated by the target trailer parking direction information;

[0015] Determine the current expected movement direction information of the trailer according to the linear angle, the target included angle, and the second preset weight;

[0016] Determine the target real-time rotation angle according to the current expected movement direction information.

[0017] Optionally, the determining the target real-time rotation angle according to the current expected movement direction information includes:

[0018] Determine the steering center point information of the steering wheel according to the wheelbase between the vehicle and the trailer and the included angle between the current vehicle and the trailer;

[0019] When the steering center point information is less than or equal to the maximum steering angle of the vehicle's steering wheel, determine the target real-time rotation angle according to the steering center point information, the current expected movement direction information, the included angle between the current vehicle and the trailer, and the third preset weight;

[0020] When the steering center point information is greater than the maximum steering angle of the vehicle's steering wheel, output a prompt message to prompt the user to adjust the driving direction of the vehicle.

[0021] Optionally, the determining the target real-time rotation angle according to the steering center point information, the current expected movement direction information, the included angle between the current vehicle and the trailer, and the third preset weight includes:

[0022] Determine a target initial steering angle according to the steering midpoint information, the current desired movement direction information, the included angle between the current vehicle and the trailer, and a third preset weight;

[0023] Determine whether the target initial steering angle exceeds a specified angle range, where the specified angle range is determined according to the current actual steering angle of the steering wheel and the maximum steering angle at a preset sampling point;

[0024] If the target initial steering angle exceeds the specified angle range, determine the target real-time steering angle according to the current actual steering angle and the maximum steering angle at the preset sampling point;

[0025] If the target initial steering angle does not exceed the specified angle range, determine the target initial steering angle as the target real-time steering angle.

[0026] Optionally, before the step of obtaining the current vehicle state information and the target trailer parking information, further include:

[0027] Determine vehicle simulated reverse path information and determine trailer simulated reverse path information;

[0028] Output the vehicle simulated reverse path information and the trailer simulated reverse path information for the user to determine whether to issue the reverse confirmation instruction.

[0029] Optionally, the determining of the vehicle simulated reverse path information includes:

[0030] Determine the vehicle simulated reverse path information according to the vehicle initial state information and the target trailer parking information, where the vehicle initial state information includes vehicle initial center point position information, vehicle initial direction information, and the initial included angle between the vehicle and the trailer.

[0031] Optionally, the determining of the trailer simulated reverse path information includes:

[0032] Determine the steering center of the vehicle and determine the trajectory information of the trailer hitch according to the steering center;

[0033] Determine the trailer simulated reverse path information according to the trajectory information of the trailer hitch and the distance between the trailer hitch and the trailer.

[0034] A second aspect of the present disclosure provides a trailer reverse device, the device includes:

[0035] An acquisition module, configured to acquire current vehicle status information and target trailer parking information when receiving a reverse confirmation instruction for a vehicle issued by a user. The vehicle is connected to the trailer through a trailer hitch, and the vehicle is used to push the trailer to move. The current vehicle status information includes current vehicle center point position information, current vehicle direction information, and the included angle between the current vehicle and the trailer. The target trailer parking information includes target trailer parking position information and target trailer parking direction information;

[0036] A first determination module, configured to determine a target real-time steering angle of the vehicle's steering wheel according to the current vehicle status information and the target trailer parking information;

[0037] A control module, configured to control the vehicle to reverse when the steering wheel rotates according to the target real-time steering angle, so that the vehicle pushes the trailer to reverse until the trailer is parked according to the target trailer parking information.

[0038] Optionally, the first determination module includes:

[0039] A first determination sub-module, configured to determine current actual position information of the trailer according to the current vehicle center point position information, current vehicle direction information, the included angle between the current vehicle and the trailer, the distance from the center of the trailer wheel axle to the trailer hitch, and the distance from the trailer hitch to the vehicle center point;

[0040] A second determination sub-module, configured to determine a current vertical distance from the trailer center point to a target straight line according to the current actual position information, where the target straight line is determined according to the target trailer parking position information and the target trailer parking direction information;

[0041] A third determination sub-module, configured to determine the target real-time steering angle according to the current vertical distance.

[0042] Optionally, the third determination sub-module includes:

[0043] A fourth determination sub-module, configured to determine a linear angle corresponding to the current vertical distance according to the current vertical distance and a first preset weight;

[0044] A fifth determination sub-module, configured to determine a target included angle between the trailer and the direction indicated by the target trailer parking direction information;

[0045] A sixth determination sub-module, configured to determine current expected movement direction information of the trailer according to the linear angle, the target included angle, and a second preset weight;

[0046] A seventh determination sub-module, configured to determine the target real-time steering angle according to the current expected movement direction information.

[0047] Optionally, the seventh determination sub-module includes:

[0048] An eighth determination sub-module, configured to determine the steering center point information of the steering wheel according to the wheelbase between the vehicle and the trailer and the current included angle between the vehicle and the trailer;

[0049] A ninth determination sub-module, configured to determine the target real-time corner according to the steering center point information, the current desired movement direction information, the current included angle between the vehicle and the trailer, and a third preset weight when the steering center point information is less than or equal to the maximum steering angle of the vehicle's steering wheel;

[0050] A prompt sub-module, configured to output a prompt message to prompt the user to adjust the driving direction of the vehicle when the steering center point information is greater than the maximum steering angle of the vehicle's steering wheel.

[0051] Optionally, the ninth determination sub-module includes:

[0052] A tenth determination sub-module, configured to determine a target initial corner according to the steering center point information, the current desired movement direction information, the current included angle between the vehicle and the trailer, and a third preset weight;

[0053] An eleventh determination sub-module, configured to determine whether the target initial corner exceeds a specified angle range, where the specified angle range is determined according to the current actual corner of the steering wheel and the maximum steering angle at a preset sampling point;

[0054] A twelfth determination sub-module, configured to determine the target real-time corner according to the current actual corner and the maximum steering angle at the preset sampling point if the target initial corner exceeds the specified angle range;

[0055] A thirteenth determination sub-module, configured to determine the target initial corner as the target real-time corner if the target initial corner does not exceed the specified angle range.

[0056] Optionally, the apparatus further includes:

[0057] A second determination module, configured to determine vehicle simulated reverse path information and trailer simulated reverse path information before the acquisition module acquires the current vehicle state information and the target trailer parking information;

[0058] An output module, configured to output the vehicle simulated reverse path information and the trailer simulated reverse path information for the user to determine whether to issue the reverse confirmation instruction.

[0059] Optionally, the second determination module determines the vehicle simulated reverse path information by the following method:

[0060] Determine the vehicle simulated reverse path information according to the vehicle initial state information and the target trailer parking information, where the vehicle initial state information includes the vehicle initial center point position information, the vehicle initial direction information, and the initial included angle between the vehicle and the trailer.

[0061] Optionally, the second determination module is used to determine the trailer simulated reverse path information in the following manner:

[0062] Determine the steering center of the vehicle, and determine the trajectory information of the trailer hitch according to the steering center;

[0063] Determine the trailer simulated reverse path information according to the trajectory information of the trailer hitch and the distance between the trailer hitch and the trailer.

[0064] A third aspect of the present disclosure provides a trailer reverse system, including:

[0065] A memory, on which a computer program is stored;

[0066] A controller, when the computer program is executed by the controller, implements the steps of the method provided in the first aspect of the present disclosure.

[0067] A fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the steps of the method provided in the first aspect of the present disclosure.

[0068] A fifth aspect of the present disclosure provides a vehicle, including the device provided in the second aspect of the present disclosure or the system provided in the third aspect of the present disclosure.

[0069] Through the above technical solution, the vehicle and the trailer are connected by a trailer hitch, and the vehicle is used to push the trailer to move. When receiving the reverse confirmation instruction for the vehicle issued by the user, obtain the current vehicle state information and the target trailer parking information. According to the current vehicle state information and the target trailer parking information, the target real-time rotation angle of the vehicle's steering wheel can be determined, and the vehicle is controlled to reverse when the steering wheel rotates according to the target real-time rotation angle. In this way, when the vehicle reverses, it can push the trailer to reverse until the trailer is parked according to the target trailer parking information. In this way, during the reverse process, the steering wheel can be automatically controlled to rotate according to the target real-time rotation angle, without the driver manually operating the steering wheel, avoiding collisions, scratches and other events caused by the driver's lack of reverse experience or unskilled operation, and ensuring the safety during the process of the vehicle automatically pushing the trailer to reverse.

[0070] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings are used to provide a further understanding of the present disclosure and form a part of the specification. Together with the following detailed description, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the accompanying drawings:

[0072] Figure 1 A schematic diagram of the connection between a vehicle and a trailer is shown;

[0073] Figure 2 It is a flowchart of a trailer reverse method provided by an exemplary embodiment of the present disclosure;

[0074] Figure 3 It is a flowchart of a method for determining the target real-time steering angle of the vehicle's steering wheel provided by an exemplary embodiment of the present disclosure;

[0075] Figure 4 It is a flowchart of a method for determining the target real-time steering angle according to the current vertical distance provided by an exemplary embodiment of the present disclosure;

[0076] Figure 5 It is a flowchart of a method for determining the target real-time steering angle according to the current desired movement direction information provided by an exemplary embodiment of the present disclosure;

[0077] Figure 6 It is a flowchart of a method for determining the target real-time steering angle according to the steering midpoint information, the current desired movement direction information, the current angle between the vehicle and the trailer, and the third preset weight provided by an exemplary embodiment of the present disclosure;

[0078] Figure 7 It is a flowchart of a trailer reverse method provided by another exemplary embodiment of the present disclosure;

[0079] Figure 8 It is a schematic diagram of the vehicle simulated reverse path information and the trailer simulated reverse path information shown by an exemplary embodiment of the present disclosure;

[0080] Figure 9 It is a schematic diagram of calculating the simulated position of the trailer provided by an exemplary embodiment of the present disclosure;

[0081] Figure 10 It is a block diagram of a trailer reverse device provided by an exemplary embodiment of the present disclosure;

[0082] Figure 11 It is a block diagram of a trailer reverse system provided by another exemplary embodiment of the present disclosure. Detailed Description of the Invention

[0083] The following provides a detailed description of the specific embodiments of the present disclosure in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and do not limit the present disclosure.

[0084] Figure 2 is a flowchart of a trailer reverse method provided by an exemplary embodiment of the present disclosure. This method can be applied to a controller provided on a vehicle. As Figure 2 shown, this method may include S101 to S103.

[0085] S101, when receiving a reverse confirmation instruction for the vehicle issued by the user, obtain the current vehicle status information and the target trailer parking information.

[0086] As Figure 1 shown, wherein, the vehicle is connected to the trailer through a trailer hitch, and the vehicle is used to push the trailer to move. For example, the user can issue a reverse confirmation instruction through a touch screen provided on the vehicle, and this reverse confirmation instruction is used to confirm controlling the vehicle to reverse, so that the vehicle pushes the trailer to reverse, thereby moving the trailer to the parking position set by the user.

[0087] The current vehicle status information may include the current vehicle center point position information, the current vehicle direction information, and the included angle between the current vehicle and the trailer. The target trailer parking information may include the target trailer parking position information and the target trailer parking direction information.

[0088] Exemplarily, a vehicle differential is a mechanism that can enable the left and right (or front and rear) drive wheels to rotate at different speeds, and is used to adjust the rotational speed difference between the left and right wheels. The position where the center differential of the two rear wheels of the vehicle is located can be used as the current vehicle center point position. During the continuous movement of the vehicle, the longitude and latitude information of the vehicle can be obtained from the positioning system in the high-precision map controller, and according to the relative position of the positioning system on the vehicle, the actual position of the vehicle can be determined, and then the current vehicle center point position information can be obtained. This current vehicle center point position information can be represented in the form of coordinates.

[0089] Exemplarily, the current vehicle direction information can be obtained by gyroscopes and magnetometer sensors installed on the vehicle. For example, radar sensors can be installed on the left rear and right rear of the vehicle respectively. According to the measurement data of the left rear radar sensor and the measurement data of the right rear radar sensor, the included angle between the current vehicle and the trailer can be obtained.

[0090] The target trailer parking position information may be the position information where the trailer needs to be parked set by the user, and the target trailer parking direction information may be the orientation information of the trailer when parked set by the user. Exemplarily, the position and direction where the trailer was last parked may be displayed on the vehicle touch screen, and a prompt message of "Whether to adjust the trailer position" is displayed. There are two options, "Yes" and "No", below the prompt message. If the user clicks the "No" option, that is, the user chooses not to adjust, the position information and direction information of the trailer when it was last parked may be used as the target trailer parking position information and the target trailer parking direction information. If the user clicks the "Yes" option, the surrounding environment map of the vehicle and the trailer may be displayed on the vehicle touch screen. The user can manually drag the trailer icon on the vehicle touch screen. Based on the position of the trailer icon set by the user in the surrounding environment map, the target trailer parking position information and the target trailer parking direction information can be determined.

[0091] S102. Determine the target real-time steering angle of the vehicle's steering wheel according to the current vehicle state information and the target trailer parking information.

[0092] S103. Control the vehicle to reverse while the steering wheel rotates according to the target real-time steering angle, so that the vehicle pushes the trailer to reverse until the trailer is parked according to the target trailer parking information.

[0093] In the present disclosure, according to the current vehicle state information and the target trailer parking information, the target real-time steering angle of the vehicle's steering wheel can be determined. During the reverse process, the steering wheel can be automatically controlled to rotate according to the target real-time steering angle. In this way, there is no need for the driver to manually operate the steering wheel, avoiding the occurrence of events such as collisions and scratches caused by the driver's unskilled operation, and realizing the vehicle to automatically push the trailer to reverse until the trailer is parked according to the target trailer parking information.

[0094] During the reverse process of the trailer, it can be determined in real time whether the trailer is parked according to the target trailer parking information based on the current position and direction of the trailer. As an example, a trailer position allowable error threshold and a trailer direction allowable error threshold may be preset. For example, according to the target trailer parking position information and the target trailer parking direction information, a target straight line can be determined. If the distance between the current position of the trailer and the target straight line is less than the trailer position allowable error threshold (such as 0.2 m), and the absolute value of the angle difference between the current direction of the trailer and the target trailer parking direction is less than the trailer direction allowable error threshold (such as 10°), it can be considered that the trailer is parked according to the target trailer parking information. At this time, the vehicle can be controlled to stop reversing.

[0095] Through the above technical solution, the vehicle is connected to the trailer by a trailer hitch, and the vehicle is used to push the trailer to move. When receiving a reverse confirmation instruction for the vehicle issued by the user, the current vehicle status information and the target trailer parking information are obtained. According to the current vehicle status information and the target trailer parking information, the target real-time steering angle of the vehicle's steering wheel can be determined, and the vehicle is controlled to reverse while the steering wheel rotates according to the target real-time steering angle. In this way, when the vehicle reverses, it can push the trailer to reverse until the trailer is parked according to the target trailer parking information. Thus, during the reverse process, the steering wheel can be automatically controlled to rotate according to the target real-time steering angle, without the driver manually operating the steering wheel, avoiding collisions, scratches and other incidents caused by the driver's lack of reverse experience or unskilled operation, and ensuring the safety during the process of the vehicle automatically pushing the trailer to reverse.

[0096] Figure 3 is a flowchart of a method for determining the target real-time steering angle of a vehicle's steering wheel shown according to an exemplary embodiment, as Figure 3 shown, S102 may include S201 to S203.

[0097] S201, determine the current actual position information of the trailer according to the current vehicle center point position information, the current vehicle direction information, the included angle between the current vehicle and the trailer, the distance from the center of the trailer wheel axle to the trailer hitch, and the distance from the trailer hitch to the vehicle center point.

[0098] Exemplarily, the current actual position information of the trailer can be determined by the following formula (1):

[0099]

[0100] where, (x v , y v ) is the current vehicle center point position information, x v is the abscissa of the current vehicle center point position information, y v is the ordinate of the current vehicle center point position information, ω v is the current vehicle direction information, ω t is the included angle between the current vehicle and the trailer, a is the distance from the center of the trailer wheel axle to the trailer hitch, b is the distance from the trailer hitch to the vehicle center point, s t is the complex plane coordinate equation of the current actual position information of the trailer, x t is the abscissa of the current actual position of the trailer, y t is the ordinate of the current actual position of the trailer, and i represents the imaginary unit.

[0101] S202, determine the current perpendicular distance from the trailer center point to the target line according to the current actual position information, where the target line is determined according to the target trailer parking position information and the target trailer parking direction information.

[0102] Exemplarily, the complex plane coordinate equation of the target straight line can be determined by the following formula (2):

[0103]

[0104] where ω k is the target trailer parking direction information, c is the distance from the target straight line to the origin, f(k) is the complex plane coordinate equation of the target straight line, and k is a constant.

[0105] The current vertical distance from the trailer center point to the target straight line can be determined by the following formula (3):

[0106]

[0107] where l t_y is the current horizontal distance from the trailer center point to the target straight line, and l t_x is the current vertical distance from the trailer center point to the target straight line.

[0108] S203. Determine the target real-time rotation angle according to the current vertical distance.

[0109] Figure 4 is a flowchart of a method for determining the target real-time rotation angle according to the current vertical distance shown in an exemplary embodiment. As Figure 4 shown, S203 may include S301 to S304.

[0110] S301. Determine the linear angle corresponding to the current vertical distance according to the current vertical distance and the first preset weight.

[0111] Exemplarily, the linear angle corresponding to the current vertical distance can be determined by the following formula (4):

[0112]

[0113] where ω position_out is the linear angle corresponding to the current vertical distance, and t w is the first preset weight.

[0114] S302. Determine the target included angle between the trailer and the direction indicated by the target trailer parking direction information.

[0115] Exemplarily, the target included angle between the trailer and the direction indicated by the target trailer parking direction information can be determined by the following formula (5):

[0116] ω trail_target =(ω t +ω v -ω k )modπ (5)

[0117] Among them, ω trail_target is the target angle between the trailer and the direction indicated by the target trailer parking direction information.

[0118] S303. Determine the current expected movement direction information of the trailer according to the linear angle, the target angle, and the second preset weight.

[0119] Exemplarily, the current expected movement direction information of the trailer can be determined by the following formula (6):

[0120] ω target = t w_target (ω position_out + ω trail_target ) (6)

[0121] Among them, t w_target is the second preset weight, ω target is the current expected movement direction information of the trailer, and according to the calculated ω target , determine whether to limit the output ω target . When then When then When then ω target is directly output without being restricted.

[0122] S304. Determine the target real-time rotation angle according to the current expected movement direction information.

[0123] Figure 5 is a flowchart of a method for determining the target real-time rotation angle according to the current expected movement direction information shown in an exemplary embodiment. As Figure 5 shown, S304 may include S401 to S403.

[0124] S401. Determine the steering center point information of the steering wheel according to the wheelbase between the vehicle and the trailer and the current angle between the vehicle and the trailer.

[0125] Exemplarily, the steering center point information of the steering wheel can be determined by the following formula (7):

[0126]

[0127] Among them, L wheelbase is the wheelbase between the vehicle and the trailer, and ω median is the steering center point information of the steering wheel.

[0128] S402. When the steering midpoint information is less than or equal to the maximum steering angle of the vehicle's steering wheel during steering, determine the target real-time steering angle according to the steering midpoint information, the current desired moving direction information, the current angle between the vehicle and the trailer, and the third preset weight.

[0129] Figure 6 It is a flowchart of a method for determining the target real-time steering angle according to the steering midpoint information, the current desired moving direction information, the current angle between the vehicle and the trailer, and the third preset weight shown in an exemplary embodiment, as Figure 6 shown, S402 may include S501 to S504.

[0130] S501. Determine the target initial steering angle according to the steering midpoint information, the current desired moving direction information, the current angle between the vehicle and the trailer, and the third preset weight.

[0131] Exemplarily, the target initial steering angle can be determined by the following formula (8):

[0132] ω expect =t expect (ω t -ω target )+ω median (8)

[0133] Where, ω expect is the target initial steering angle, and t expect is the third preset weight.

[0134] S502. Determine whether the target initial steering angle exceeds the specified angle range, where the specified angle range is determined according to the current actual steering angle of the steering wheel and the maximum steering angle at the preset sampling point. If so, execute S503; if not, execute S504.

[0135] Exemplarily, the specified angle range can be determined by the following formula (9):

[0136] ω appoint =ω real ±ω limit (9)

[0137] Where, ω appoint is the specified angle range, ω real is the current actual steering angle, and ω limit is the maximum steering angle at the preset sampling point.

[0138] S503. Determine the target real-time steering angle according to the current actual steering angle and the maximum steering angle at the preset sampling point.

[0139] S504. Determine the target initial steering angle as the target real-time steering angle.

[0140] If the target initial rotation angle exceeds the specified angle range, then determine ω appoint as the target real-time rotation angle. If the target initial rotation angle does not exceed the specified angle range, then determine ω expect as the target real-time rotation angle.

[0141] Exemplarily, the current actual rotation angle of the steering wheel can be obtained through an angle sensor, and the maximum rotation angle of the preset sampling point can be set in advance. For example, set the maximum rotation angle of the preset sampling point to If the current actual angle obtained through the angle sensor is 60°, then determine the specified angle range as 30° to 150°. If ω expect is 50°, then the target real-time rotation angle can be determined as 50°; if ω expect is 20°, then the target real-time rotation angle can be determined as 30°.

[0142] S403. When the steering midpoint information is greater than the maximum steering angle of the vehicle's steering wheel, output a prompt message to prompt the user to adjust the driving direction of the vehicle.

[0143] Exemplarily, the maximum steering angle of the vehicle's steering wheel is the maximum angle that the steering wheel is allowed to rotate, and this maximum steering angle can be preset in advance. For example, it is set to 80°. When the steering midpoint information is less than or equal to the maximum steering angle of the vehicle's steering wheel, determine the target real-time rotation angle according to the steering midpoint information, the current desired moving direction information, the included angle between the current vehicle and the trailer, and the third preset weight.

[0144] When the steering midpoint information is greater than the maximum steering angle of the vehicle's steering wheel, it indicates that the steering wheel cannot be rotated to the position required by the steering midpoint information of the steering wheel. In this case, the vehicle can output a prompt message to prompt the user to adjust the driving direction of the vehicle. For example, display a prompt message "Please move the vehicle forward" on the in-vehicle display screen. Alternatively, a speaker can be set in the vehicle, and the above information can be broadcast through the speaker for prompting the user, so that the user knows that the vehicle position needs to be adjusted to avoid being unable to use the trailer reverse function normally.

[0145] Through the above solution, during the reverse process, the target real-time rotation angle of the vehicle's steering wheel can be calculated, and the steering wheel can be automatically controlled to rotate according to the target real-time rotation angle, without the driver manually operating the steering wheel, avoiding collisions, scratches and other events caused by the driver's lack of reverse experience or unskilled operation, and ensuring the safety during the vehicle's automatic pushing of the trailer in reverse.

[0146] Figure 7 is a flowchart of a trailer reverse method provided by another exemplary embodiment of the present disclosure. This method can be applied to a controller set on a vehicle. As Figure 7 shown, this method can include:

[0147] S601. Determine the vehicle's simulated reverse path information and the trailer's simulated reverse path information.

[0148] S602. Output the vehicle's simulated reverse path information and the trailer's simulated reverse path information for the user to determine whether to issue a reverse confirmation command.

[0149] S603. When receiving the reverse confirmation command for the vehicle issued by the user, obtain the current vehicle status information and the target trailer parking information.

[0150] S604. Determine the target real-time steering angle of the vehicle's steering wheel based on the current vehicle status information and the target trailer parking information.

[0151] S605. Control the vehicle to reverse while the steering wheel rotates according to the target real-time steering angle, so that the vehicle pushes the trailer to reverse until the trailer parks according to the target trailer parking information.

[0152] In the present disclosure, before actually starting to reverse, the vehicle's simulated reverse path information and the trailer's simulated reverse path information can be output first. For example, these two path information can be displayed in the form of an animation on the vehicle's touch screen. Figure 8 It is a schematic diagram of the vehicle's simulated reverse path information and the trailer's simulated reverse path information shown in an exemplary embodiment of the present disclosure. In this way, the user can intuitively judge whether the simulated reverse paths of the vehicle and the trailer meet the requirements, so as to determine whether to issue a reverse confirmation command.

[0153] In one embodiment, determining the vehicle's simulated reverse path information may include:

[0154] Determine the vehicle's simulated reverse path information according to the vehicle's initial state information and the target trailer parking information. Among them, the vehicle's initial state information includes the vehicle's initial center point position information, the vehicle's initial direction information, and the initial included angle between the vehicle and the trailer.

[0155] Exemplarily, the vehicle's initial center point position information can be obtained through a positioning system, the vehicle's initial direction information can be obtained through gyroscopes and magnetometer sensors installed on the vehicle. Radar sensors can be installed on the left rear and right rear of the vehicle respectively. According to the measurement data of the left rear radar sensor and the measurement data of the right rear radar sensor, the initial included angle between the vehicle and the trailer can be obtained.

[0156] In the present disclosure, when determining the vehicle's simulated reverse path information, for example, according to the vehicle's initial state information and the target trailer parking information, the simulated real-time steering angle of the vehicle's steering wheel can be determined first. This simulated real-time steering angle can be as ​As shown in the figure, the reverse path of the vehicle when the steering wheel is rotated according to the simulated real-time angle is used as the vehicle simulated reverse path information. Among them, the method for determining the simulated real-time angle of the steering wheel based on the vehicle initial state information and the target trailer parking information can refer to ​ the method shown, that is, in the simulation process, the vehicle initial state information is used as the current vehicle state information, and refer to ​ the method for calculating the target real-time angle shown, and calculate the simulated real-time angle of the steering wheel during the simulated reverse process.

[0157] In one embodiment, determining the trailer simulated reverse path information may include:

[0158] Determine the steering center of the vehicle, and determine the trajectory information of the trailer hitch according to the steering center;

[0159] According to the trajectory information of the trailer hitch and the distance between the trailer hitch and the trailer, determine the trailer simulated reverse path information.

[0160] Among them, the front wheel angle of the vehicle can be obtained through the steering system controller sensor, and according to the front wheel angle of the vehicle, the wheelbase between the vehicle and the trailer, the maximum front wheel angle of the vehicle, the vertical distance from the trailer hitch to the trailer axle, and the distance from the vehicle rear axle to the trailer hitch, the steering center of the vehicle can be determined. Rotating the trailer hitch around the steering center of the vehicle, the trajectory information of the trailer hitch can be obtained as an arc. According to the trajectory information of the trailer hitch and the distance between the trailer hitch and the trailer, the trailer simulated reverse path information can be determined.

[0161] ​ is a schematic diagram for calculating the simulated position of the trailer provided by an exemplary embodiment of the present disclosure. For example, the trajectory information of the trailer hitch is divided into N trajectory segments, N is greater than or equal to 1, then there are N + 1 trajectory points on the trajectory information of the trailer hitch. As ​ shown, from the first position of the trailer hitch to the second position of the trailer hitch is one of the trajectory segments, and the incremental length m_Step is the interval distance between two adjacent trajectory points.

[0162] As ​ shown, when the trailer hitch moves from the first position of the trailer hitch to the second position of the trailer hitch, the trailer correspondingly moves from the first position of the trailer to the second position of the trailer. According to the N + 1 trajectory points on the trajectory information of the trailer hitch, N + 1 trailer positions can be correspondingly determined, and the path information formed by connecting these N + 1 trailer positions in series is the trailer simulated path information.

[0163] Among them, the method for determining the second position of the trailer according to the second position of the trailer hitch, the first position of the trailer, and the distance between the trailer hitch and the trailer can be shown as the following formula (10):

[0164]

[0165] Among them, x2 is the abscissa of the second position of the trailer hitch, y2 is the ordinate of the second position of the trailer hitch, x3 is the abscissa of the first position of the trailer, y3 is the ordinate of the first position of the trailer, and m_Trail is the distance between the trailer hitch and the trailer, and this distance is a fixed value. Through the above calculations, the second position (x4, y4) of the trailer can be obtained, where x4 is the abscissa of the second position of the trailer and y4 is the ordinate of the second position of the trailer. The calculations for other positions of the trailer during the reverse simulation are similar.

[0166] Based on the same inventive concept, the present disclosure also provides a trailer reverse device. ​ It is a block diagram of a trailer reverse device 1000 provided by an exemplary embodiment of the present disclosure. Refer to ​ , the trailer reverse device 1000 may include:

[0167] An acquisition module 1001, configured to acquire current vehicle state information and target trailer parking information when receiving a reverse confirmation instruction for the vehicle issued by the user. Among them, the vehicle is connected to the trailer through a trailer hitch, and the vehicle is used to push the trailer to move. The current vehicle state information includes current vehicle center point position information, current vehicle direction information, and the included angle between the current vehicle and the trailer. The target trailer parking information includes target trailer parking position information and target trailer parking direction information;

[0168] A first determination module 1002, configured to determine a target real-time rotation angle of the vehicle's steering wheel according to the current vehicle state information and the target trailer parking information;

[0169] A control module 1003, configured to control the vehicle to reverse when the steering wheel rotates according to the target real-time rotation angle, so that the vehicle pushes the trailer to reverse until the trailer is parked according to the target trailer parking information.

[0170] Through the above technical solution, the vehicle is connected to the trailer through a trailer hitch, and the vehicle is used to push the trailer to move. When receiving a reverse confirmation instruction for the vehicle issued by the user, the current vehicle state information and the target trailer parking information are acquired. According to the current vehicle state information and the target trailer parking information, the target real-time rotation angle of the vehicle's steering wheel can be determined, and the vehicle is controlled to reverse when the steering wheel rotates according to the target real-time rotation angle. In this way, when the vehicle reverses, it can push the trailer to reverse until the trailer is parked according to the target trailer parking information. Thus, during the reverse process, the steering wheel can be automatically controlled to rotate according to the target real-time rotation angle without the driver manually operating the steering wheel, avoiding collisions, scratches and other events caused by the driver's lack of reverse experience or unskilled operation, and ensuring the safety during the process of the vehicle automatically pushing the trailer to reverse.

[0171] Optionally, the first determination module 1002 includes:

[0172] The first determination sub-module is configured to determine the current actual position information of the trailer according to the current vehicle center point position information, the current vehicle direction information, the included angle between the current vehicle and the trailer, the distance from the center of the trailer wheel axle to the trailer hitch, and the distance from the trailer hitch to the vehicle center point;

[0173] The second determination sub-module is configured to determine the current vertical distance from the trailer center point to the target line according to the current actual position information, where the target line is determined according to the target trailer parking position information and the target trailer parking direction information;

[0174] The third determination sub-module is configured to determine the target real-time rotation angle according to the current vertical distance.

[0175] Optionally, the third determination sub-module includes:

[0176] The fourth determination sub-module is configured to determine the linear angle corresponding to the current vertical distance according to the current vertical distance and the first preset weight;

[0177] The fifth determination sub-module is configured to determine the target included angle between the trailer and the direction indicated by the target trailer parking direction information;

[0178] The sixth determination sub-module is configured to determine the current expected movement direction information of the trailer according to the linear angle, the target included angle, and the second preset weight;

[0179] The seventh determination sub-module is configured to determine the target real-time rotation angle according to the current expected movement direction information.

[0180] Optionally, the seventh determination sub-module includes:

[0181] The eighth determination sub-module is configured to determine the steering center point information of the steering wheel according to the wheelbase between the vehicle and the trailer and the included angle between the current vehicle and the trailer;

[0182] The ninth determination sub-module is configured to determine the target real-time rotation angle according to the steering center point information, the current expected movement direction information, the included angle between the current vehicle and the trailer, and the third preset weight when the steering center point information is less than or equal to the maximum steering angle of the vehicle's steering wheel;

[0183] The prompt sub-module is configured to output a prompt message to prompt the user to adjust the driving direction of the vehicle when the steering center point information is greater than the maximum steering angle of the vehicle's steering wheel.

[0184] Optionally, the ninth determination sub-module includes:

[0185] The tenth determination sub-module is configured to determine the target initial rotation angle according to the steering center point information, the current expected movement direction information, the included angle between the current vehicle and the trailer, and the third preset weight;

[0186] The eleventh determination sub-module is configured to determine whether the target initial rotation angle exceeds a specified angle range, where the specified angle range is determined according to the current actual rotation angle of the steering wheel and the maximum rotation angle of the preset sampling point;

[0187] The twelfth determination sub-module is configured to, if the target initial rotation angle exceeds the specified angle range, determine the target real-time rotation angle according to the current actual rotation angle and the maximum rotation angle of the preset sampling point;

[0188] The thirteenth determination sub-module is configured to, if the target initial rotation angle does not exceed the specified angle range, determine the target initial rotation angle as the target real-time rotation angle.

[0189] Optionally, the apparatus 1000 further includes:

[0190] The second determination module is configured to determine the vehicle simulated reverse path information and determine the trailer simulated reverse path information before the acquisition module acquires the current vehicle state information and the target trailer parking information;

[0191] The output module is configured to output the vehicle simulated reverse path information and the trailer simulated reverse path information for the user to determine whether to issue a reverse confirmation instruction.

[0192] Optionally, the second determination module is configured to determine the vehicle simulated reverse path information in the following manner:

[0193] Determine the vehicle simulated reverse path information according to the vehicle initial state information and the target trailer parking information, where the vehicle initial state information includes the vehicle initial center point position information, the vehicle initial direction information, and the initial included angle between the vehicle and the trailer.

[0194] Optionally, the second determination module is configured to determine the trailer simulated reverse path information in the following manner:

[0195] Determine the steering center of the vehicle and determine the trajectory information of the trailer hitch according to the steering center;

[0196] Determine the trailer simulated reverse path information according to the trajectory information of the trailer hitch and the distance between the trailer hitch and the trailer.

[0197] Regarding the apparatus in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0198] ​ It is a block diagram of a trailer reverse system 1100 shown according to an exemplary embodiment. Refer to ​, the trailer reverse system 1100 includes a processor 1122, the number of which can be one or more, and a memory 1132 for storing computer programs executable by the processor 1122. The computer programs stored in the memory 1132 may include one or more modules each corresponding to a set of instructions. In addition, the processor 1122 may be configured to execute the computer program to perform the above-described trailer reverse method.

[0199] In addition, the trailer reverse system 1100 may further include a power supply component 1126 and a communication component 1150. The power supply component 1126 may be configured to perform power management of the trailer reverse system 1100, and the communication component 1150 may be configured to enable communication of the trailer reverse system 1100, for example, wired or wireless communication. In addition, the trailer reverse system 1100 may further include an input / output (I / O) interface 1158. The trailer reverse system 1100 may operate based on an operating system stored in the memory 1132, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, and so on.

[0200] In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions, which when executed by a processor implement the steps of the above-described trailer reverse method. For example, the non-transitory computer-readable storage medium may be the above-mentioned memory 1132 including program instructions, and the above program instructions may be executed by the processor 1122 of the trailer reverse system 1100 to complete the above-described trailer reverse method.

[0201] In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions, which when executed by a processor implement the steps of the above-described trailer reverse method. For example, the computer-readable storage medium may be the above-mentioned memory 1102 including program instructions, and the above program instructions may be executed by the processor 1101 of the trailer reverse system 1100 to complete the above-described trailer reverse method.

[0202] In another exemplary embodiment, there is also provided a computer program product, which includes a computer program capable of being executed by a programmable device. The computer program has a code portion for performing the above-described trailer reverse method when executed by the programmable device.

[0203] The present disclosure also provides a vehicle including the trailer reverse device 1000 provided by the present disclosure, or the trailer reverse system 1100 provided by the present disclosure.

[0204] The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0205] In addition, it should be noted that, in the various specific technical features described in the above specific embodiments, they can be combined in any appropriate manner without conflict. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination manners.

[0206] Furthermore, any combination can be made among various different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A trailer reversing method, characterized in that, The method includes: When receiving a reverse confirmation instruction for a vehicle issued by a user, obtaining current vehicle state information and target trailer parking information, where the vehicle is connected to the trailer by a trailer hitch, the vehicle is used to push the trailer to move, the current vehicle state information includes current vehicle center point position information, current vehicle direction information, and the angle between the current vehicle and the trailer, and the target trailer parking information includes target trailer parking position information and target trailer parking direction information; Determining a target real-time steering angle of the vehicle's steering wheel according to the current vehicle state information and the target trailer parking information; Controlling the vehicle to reverse when the steering wheel rotates according to the target real-time steering angle, so that the vehicle pushes the trailer to reverse until the trailer parks according to the target trailer parking information; Wherein, the determining the target real-time steering angle of the vehicle's steering wheel according to the current vehicle state information and the target trailer parking information includes: Determining the current actual position information of the trailer according to the current vehicle center point position information, current vehicle direction information, the angle between the current vehicle and the trailer, the distance from the center of the trailer wheel axle to the trailer hitch, and the distance from the trailer hitch to the vehicle center point; Determining the current vertical distance from the trailer center point to the target straight line according to the current actual position information, where the target straight line is determined according to the target trailer parking position information and the target trailer parking direction information; Determining a linear angle corresponding to the current vertical distance according to the current vertical distance and a first preset weight; Determining a target angle between the trailer and the direction indicated by the target trailer parking direction information; Determining the current expected movement direction information of the trailer according to the linear angle, the target angle, and a second preset weight; Determining the steering center point information of the steering wheel according to the wheelbase between the vehicle and the trailer and the angle between the current vehicle and the trailer; When the steering center point information is less than or equal to the maximum steering angle of the vehicle's steering wheel, determining the target real-time steering angle according to the steering center point information, the current expected movement direction information, the angle between the current vehicle and the trailer, and a third preset weight.

2. The method according to claim 1, characterized in that The method further includes: When the steering center point information is greater than the maximum steering angle of the vehicle's steering wheel, outputting a prompt message to prompt the user to adjust the driving direction of the vehicle.

3. The method according to claim 1, characterized in that, The determining the target real-time steering angle according to the steering center point information, the current expected movement direction information, the angle between the current vehicle and the trailer, and a third preset weight includes: Determining a target initial steering angle according to the steering center point information, the current expected movement direction information, the angle between the current vehicle and the trailer, and a third preset weight; Determining whether the target initial steering angle exceeds a specified angle range, where the specified angle range is determined according to the current actual steering angle of the steering wheel and the maximum steering angle of the preset sampling point; If the target initial steering angle exceeds the specified angle range, determining the target real-time steering angle according to the current actual steering angle and the maximum steering angle of the preset sampling point; If the target initial rotation angle does not exceed the specified angle range, determine the target initial rotation angle as the target real-time rotation angle.

4. The method according to claim 1, wherein Before the step of obtaining the current vehicle state information and the target trailer parking information, it further includes: Determine the vehicle simulated reverse path information and determine the trailer simulated reverse path information; Output the vehicle simulated reverse path information and the trailer simulated reverse path information for the user to determine whether to issue the reverse confirmation instruction.

5. The method according to claim 4, characterized in that The determination of the vehicle simulated reverse path information includes: Determine the vehicle simulated reverse path information according to the vehicle initial state information and the target trailer parking information, where the vehicle initial state information includes the vehicle initial center point position information, the vehicle initial direction information, and the initial included angle between the vehicle and the trailer.

6. The method according to claim 4, characterized in that, The determination of the trailer simulated reverse path information includes: Determine the steering center of the vehicle and determine the trajectory information of the trailer hitch according to the steering center; Determine the trailer simulated reverse path information according to the trajectory information of the trailer hitch and the distance between the trailer hitch and the trailer.

7. A trailer reverse device, characterized in that, It includes: An acquisition module, configured to obtain the current vehicle state information and the target trailer parking information when receiving the reverse confirmation instruction issued by the user. The vehicle and the trailer are connected by a trailer hitch, and the vehicle is used to push the trailer to move. The current vehicle state information includes the current vehicle center point position information, the current vehicle direction information, and the current included angle between the current vehicle and the trailer. The target trailer parking information includes the target trailer parking position information and the target trailer parking direction information; A first determination module, configured to determine the target real-time rotation angle of the vehicle's steering wheel according to the current vehicle state information and the target trailer parking information; A control module, configured to control the vehicle to reverse when the steering wheel rotates according to the target real-time rotation angle, so that the vehicle pushes the trailer to reverse until the trailer parks according to the target trailer parking information; Among them, the first determination module includes: A first determination sub-module, configured to determine the current actual position information of the trailer according to the current vehicle center point position information, the current vehicle direction information, the current included angle between the current vehicle and the trailer, the distance from the center of the trailer wheel axle to the trailer hitch, and the distance from the trailer hitch to the vehicle center point; A second determination sub-module, configured to determine the current vertical distance from the trailer center point to the target straight line according to the current actual position information, where the target straight line is determined according to the target trailer parking position information and the target trailer parking direction information; A third determination sub-module, configured to determine the target real-time rotation angle according to the current vertical distance; Among them, the third determination sub-module includes: A fourth determination sub-module, configured to determine the linear angle corresponding to the current vertical distance according to the current vertical distance and the first preset weight; A fifth determination sub-module, configured to determine the target included angle between the trailer and the direction indicated by the target trailer parking direction information; A sixth determination sub-module, configured to determine the current expected movement direction information of the trailer according to the linear angle, the target included angle, and the second preset weight. The seventh determination sub-module is configured to determine a target real-time steering angle according to the current desired movement direction information; Among them, the seventh determination sub-module includes: The eighth determination sub-module is configured to determine the information of the steering center point of the steering wheel according to the wheelbase between the vehicle and the trailer and the current included angle between the vehicle and the trailer; The ninth determination sub-module is configured to determine the target real-time steering angle according to the steering center point information, the current desired movement direction information, the current included angle between the vehicle and the trailer, and the third preset weight when the steering center point information is less than or equal to the maximum steering angle of the vehicle's steering wheel.

8. A trailer reverse system, characterized in that, Including: A memory on which a computer program is stored; A controller, when the computer program is executed by the controller, implementing the steps of the method according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, implementing the steps of the method according to any one of claims 1-6.

10. A vehicle, characterized in that, Including the device according to claim 7, or the system according to claim 8.

Images