Control methods, control devices, and vehicles for trailer mode

Abstract

This invention discloses a control method, control device, and vehicle for trailer mode. The method includes: acquiring hardware status information of the parking caliper; acquiring communication status information of a trailer switch and a domain control unit, wherein the trailer switch controls the opening and closing of the trailer mode, and the domain control unit receives opening and closing signals of the trailer mode, controls the parking caliper action, and sends opening and closing signals of the parking caliper; generating execution status information of the trailer mode based on the hardware status information and the communication status information; and generating a control instruction set based on the execution status information, the control instruction set being used to control the vehicle to execute a trailer strategy, wherein the trailer strategy includes at least one of the following: towing using the trailer mode or towing using a non-trailer mode. This invention solves the technical problem of not being able to determine whether the trailer mode is functioning correctly when using the trailer mode.

Description

Technical Field

[0001] This invention relates to the technical field of trailer control, and more specifically, to a control method, control device, and vehicle for trailer mode. Background Technology

[0002] When an electric vehicle needs to be towed back to a 4S shop for repairs due to a malfunction, the gear should be shifted to neutral (N) and the electronic parking brake (EPB) system should be kept off. This can usually be achieved by pressing and holding the physical EPB button to release the switch and prevent it from being triggered.

[0003] After the physical EPB switch is removed from electric vehicles, it is no longer possible to ensure that the EPB self-clamping function is not triggered when the vehicle is powered off by pressing and holding the EPB release button. Generally, a trailer mode button is set in the central control unit (IVI) to ensure that the EPB will not be clamped when the vehicle is powered off.

[0004] When using trailer mode, it is impossible to know whether the trailer mode is working properly, so there is a risk that the vehicle may be damaged while being towed. There is currently no effective solution to this problem. Summary of the Invention

[0005] This invention provides a control method, control device, and vehicle for trailer mode, to at least solve the technical problem of not being able to know whether the trailer mode is normal when using it.

[0006] According to one aspect of the present invention, a control method for a trailer mode is provided, comprising: acquiring hardware status information of a parking caliper, wherein the hardware status information includes at least one of the following: the parking caliper is in a disabled state, or the parking caliper is in a normal state; acquiring communication status information of a trailer switch and a domain control unit, wherein the trailer switch is used to control the opening and closing of the trailer mode, and the domain control unit is used to receive the opening and closing signal of the trailer mode, control the action of the parking caliper, and send the opening and closing signal of the parking caliper, wherein the communication status information includes at least one of the following: communication is in a disabled state, or communication is in a normal state; generating execution status information of the trailer mode based on the hardware status information and the communication status information, wherein the execution status information includes at least one of the following: the trailer mode is usable, or the trailer mode is unavailable; and generating a control instruction set based on the execution status information, wherein the control instruction set is used to control the vehicle to execute a trailer strategy, wherein the trailer strategy includes at least one of the following: towing using the trailer mode, or towing using a non-trailer mode.

[0007] Optionally, based on the execution status information, a control instruction set is generated. The control instruction set is used to control the vehicle to execute a towing strategy, including: when the parking caliper is in a normal state, the communication of the trailer switch is in a normal state, and the communication of the domain control unit is in a normal state, generating a first target instruction in the control instruction set, the first target instruction is used to control the vehicle to tow using the towing mode.

[0008] Optionally, based on the execution status information, a control instruction set is generated. The control instruction set is used to control the vehicle to execute the towing strategy. It also includes: if at least one of the following occurs, the parking caliper is in a malfunctioning state, the communication of the towing switch is in a malfunctioning state, and the communication of the domain control unit is in a malfunctioning state, a second target instruction is generated in the control instruction set. The second target instruction is used to control the vehicle to tow in non-towing mode.

[0009] Optionally, acquiring the communication status information of the domain control unit includes: acquiring the communication status information of the first domain controller, which is used to receive the opening and closing signal of the trailer mode, control the action of the left parking caliper, and send the opening and closing signal of the left parking caliper; acquiring the communication status information of the second domain controller, which is used to acquire the opening and closing signal of the trailer mode, control the action of the right parking caliper, and send the opening and closing signal of the right parking caliper.

[0010] Optionally, obtaining the communication status information of the domain control unit further includes: after receiving the opening and closing signal of the left parking caliper, the first domain controller synchronously sends the opening and closing signal of the left parking caliper and the opening and closing signal of the right parking caliper.

[0011] Optionally, the control method also includes: when the trailer mode is on, and the domain control unit receives a signal that the vehicle is in P gear, the electronic parking brake system controls the parking caliper to clamp.

[0012] Optionally, at the beginning of each ignition cycle of the vehicle, the trailer switch is in the off state, and the power-off self-clamping function of the electronic parking brake system is in the on state.

[0013] According to another aspect of the present invention, a control device for a trailer mode is also provided, comprising: a first acquisition module, configured to acquire hardware status information of a parking caliper, wherein the hardware status information includes at least one of the following: the parking caliper is in a disabled state, or the parking caliper is in a normal state; a second acquisition module, configured to acquire communication status information of a trailer switch and a domain control unit, wherein the trailer switch is configured to control the opening and closing of the trailer mode, and the domain control unit is configured to receive the opening and closing signal of the trailer mode, control the action of the parking caliper, and send the opening and closing signal of the parking caliper, wherein the communication status information includes at least one of the following: communication is in a disabled state, or communication is in a normal state; a first generation module, configured to generate execution status information of the trailer mode based on the hardware status information and the communication status information, wherein the execution status information includes at least one of the following: the trailer mode is usable, or the trailer mode is unavailable; and a second generation module, configured to generate a control instruction set based on the execution status information, the control instruction set being configured to control the vehicle to execute a trailer strategy, wherein the trailer strategy includes at least one of the following: towing using the trailer mode, or towing using a non-trailer mode.

[0014] According to another aspect of the present invention, a processor is also provided, which is configured to run a computer program to perform the control method described above.

[0015] According to another aspect of the present invention, a vehicle is also provided, including a trailer mode, wherein the trailer mode is controlled according to the control method described above.

[0016] In this embodiment of the invention, the availability of the towing mode is determined by combining the hardware status information of the parking caliper, the communication status information of the trailer switch, and the communication status information of the domain control unit. Based on the availability of the towing mode, a corresponding towing strategy is executed. Before executing the towing action, the above-described towing mode control method first determines whether the towing mode is normal, thus avoiding damage to the vehicle caused by using the towing mode in the event of a malfunction. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a hardware structure block diagram of a computer terminal (or mobile device) for implementing a control method in trailer mode according to an embodiment of the present invention.

[0019] Figure 2This is a flowchart of the control method for trailer mode in this invention;

[0020] Figure 3 This is a structural block diagram of the control device for trailer mode in this invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] Example 1

[0024] According to an embodiment of the present invention, a control method embodiment for trailer mode is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a hardware structure block diagram of a computer terminal (or mobile device) for implementing a control method in trailer mode according to an embodiment of the present invention. Figure 1As shown, a computer terminal (or mobile device) may include one or more processors 102 (processors may include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microprocessors (MCUs), programmable logic devices (FPGAs), neural network processors (NPUs), tensor processors (TPUs), artificial intelligence (AI) type processors, etc.) and a memory 104 for storing data. In addition, it may include a transmission device 106 for communication functions, an input / output device 108, and a display 110. Those skilled in the art will understand that... Figure 1 The structures shown are for illustrative purposes only and do not limit the structure of the computer terminal (or mobile device) described above. For example, a computer terminal may include more or fewer components than those described above, or have a different configuration than those described above.

[0026] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the trailer mode control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby realizing the aforementioned trailer mode control method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0027] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0028] Display 110 may be a touchscreen liquid crystal display (LCD). This LCD allows a user to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows the user to interact with the GUI via finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, a call interface, playing digital video, playing digital music, and / or web browsing. Executable instructions for performing these human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0029] Figure 2 This is a flowchart of a trailer mode control method according to one embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0030] Step S1: Obtain the hardware status information of the parking caliper, wherein the hardware status information includes at least one of the following: the parking caliper is in a failed state, or the parking caliper is in a normal state.

[0031] Step S2: Obtain the communication status information of the trailer switch and the domain control unit. The trailer switch is used to control the opening and closing of the trailer mode. The domain control unit is used to receive the opening and closing signals of the trailer mode, control the action of the parking caliper, and send the opening and closing signals of the parking caliper. The communication status information includes at least one of the following: communication is in a failed state or communication is in a normal state.

[0032] Step S3: Generate the execution status information of the trailer mode based on the hardware status information and communication status information. The execution status information includes at least one of the following: trailer mode is usable normally, trailer mode is unavailable.

[0033] Step S4: Based on the execution status information, generate a control instruction set. The control instruction set is used to control the vehicle to execute the towing strategy. The towing strategy includes at least one of the following: towing using towing mode or towing using non-towing mode.

[0034] In the embodiments of this application, the availability of the towing mode is determined by combining the hardware status information of the parking caliper, the communication status information of the trailer switch, and the communication status information of the domain control unit. Based on the availability of the towing mode, a corresponding towing strategy is executed. Before executing the towing action, the above-described towing mode control method first determines whether the towing mode is normal, thus avoiding the use of the towing mode in the event of a towing mode malfunction, which could lead to vehicle damage.

[0035] It should be further explained that in step S1, the hardware status information of the parking caliper is obtained by detecting its braking status, i.e., whether there is brake malfunction, brake failure, brake pull, brake drag, or abnormal brake noise. Specifically, the clearance between the friction pads and the brake drum, the wear of the pin shaft, and whether there are loose bolts are detected. If any of the above problems occur, the parking caliper is considered to be in a failed state. In step S2, the corresponding communication status information is obtained through the fault codes of the trailer switch and the domain control unit. In step S3, a judgment model is set in the control system. The judgment model has preset conditions and corresponding execution status information. The hardware status information and communication status information are input into the judgment model and compared with the preset conditions. The execution status information of the trailer mode is generated based on the comparison result. In step S4, the specific process of towing using the trailer mode is as follows: after the vehicle is in neutral (N) position, the trailer mode is activated by the trailer switch. After the trailer mode is activated, the vehicle is powered off, the parking caliper is released, and the towing action is initiated. In step S4, the vehicle is towed using the non-trailer mode. At this time, the trailer mode is unavailable, and large equipment can be used to move the vehicle.

[0036] Further, in step S4, a control instruction set is generated based on the execution status information. The control instruction set is used to control the vehicle to execute the towing strategy, including: when the parking caliper is in a normal state, the communication of the trailer switch is in a normal state, and the communication of the domain control unit is in a normal state, a first target instruction is generated in the control instruction set. The first target instruction is used to control the vehicle to tow using the towing mode.

[0037] It should be noted that the parking caliper being in normal condition means that the parking caliper can be used normally, the trailer switch communication being in normal condition means that it can send and receive opening and closing information normally, and the domain control unit communication being in normal condition means that it can send and receive control information and gear information normally. Only when all of the above indicators are in normal condition can the trailer mode be guaranteed to operate without abnormalities.

[0038] Furthermore, in step S4, a control instruction set is generated based on the execution status information. The control instruction set is used to control the vehicle to execute the towing strategy. It also includes: if at least one of the following occurs, the parking caliper is in a malfunctioning state, the communication of the trailer switch is in a malfunctioning state, and the communication of the domain control unit is in a malfunctioning state, a second target instruction is generated in the control instruction set. The second target instruction is used to control the vehicle to tow in non-towing mode.

[0039] It should be noted that a parking caliper failure indicates that the parking caliper cannot clamp and release properly; a trailer switch communication failure indicates that it cannot send and receive opening and closing information properly; and a domain control unit communication failure indicates that it cannot send and receive control information and gear information properly. If any of the above three indicators is in a failure state, it will cause abnormalities in the trailer mode, such as the parking caliper failing to release, not receiving trailer switch signals, or not receiving control signals.

[0040] Further, in step S2, acquiring the communication status information of the domain control unit includes: acquiring the communication status information of the first domain controller, which is used to receive the trailer mode opening / closing signal, control the left parking caliper action, and send the left parking caliper opening / closing signal; and acquiring the communication status information of the second domain controller, which is used to receive the trailer mode opening / closing signal, control the right parking caliper action, and send the right parking caliper opening / closing signal.

[0041] It should be noted that in this embodiment, the trailer switch is located within the central control unit's integrated display (IVI). The domain control unit includes at least a first domain controller (PDC-F), a second domain controller (PDC-R), a third domain controller (PDC-M), and a fourth domain controller (VDC). These four controllers operate independently to control the operation of relevant components on the vehicle, such as taillights, doors, and the trunk. The electronic parking brake software is integrated into the first domain controller (PDC-F) and the second domain controller (PDC-R). The first domain controller (PDC-F) controls the left parking caliper, and the second domain controller (PDC-R) controls the right parking caliper. This redundant arrangement of the electronic parking brake system prevents both parking calipers from failing to operate due to signal reception failure. The gear shift control software is located in the fourth domain controller (VDC). The third domain controller (PDC-M) is used for signal transmission between the central control screen (IVI) and the fourth domain controller (VDC). Specifically, the third domain controller (PDC-M) receives the trailer switch signal and sends it to the fourth domain controller (VDC). The fourth domain controller (VDC) sends the gear position signal based on the trailer switch signal. The first domain controller (PDC-F) and the second domain controller (PDC-R) execute the clamping and releasing of the parking calipers based on the gear position signal. For example, after receiving the trailer switch activation signal, the fourth domain controller (VDC) controls the vehicle to shift into neutral (N) and sends the gear position signal to the first domain controller (PDC-F) and the second domain controller (PDC-R). After receiving the N gear position signal, the first domain controller (PDC-F) controls the left parking caliper to release, and the second domain controller (PDC-R) controls the right parking caliper to release.

[0042] Furthermore, acquiring the communication status information of the domain control unit also includes: after receiving the opening and closing signal of the left parking caliper, the first domain controller synchronously sends the opening and closing signals of the left parking caliper and the right parking caliper.

[0043] It should be noted that the first domain controller, as the master controller of the electronic parking brake software, synchronously sends the opening and closing signals of the parking calipers on both sides to avoid signal waiting problems or incomplete signal reception problems at the receiving end.

[0044] Furthermore, the control method for trailer mode also includes: when trailer mode is activated, after the domain control unit receives a signal that the vehicle is in P gear, the electronic parking brake system controls the parking caliper to clamp.

[0045] It should be noted that the gear position signal has a higher priority than the trailer mode. That is, when the domain control unit receives the P gear position signal, it may encounter emergency road conditions, such as car accidents, uphill or downhill, or traffic congestion, and needs to park the vehicle to prevent it from rolling away.

[0046] Furthermore, at the beginning of each ignition cycle of the vehicle, the trailer switch is in the off state, and the power-off self-clamping function of the electronic parking brake system is in the on state.

[0047] It should be noted that the towing mode is a special condition that needs to be activated only when the vehicle needs to be towed due to a breakdown. Therefore, this mode does not need to be activated in each new ignition cycle.

[0048] Example 2

[0049] Embodiments of this application also provide a control device for trailer mode. Figure 3 This is a structural block diagram of the control device, such as... Figure 3 As shown, the device includes: a first acquisition module, a second acquisition module, a first generation module, and a second generation module. The functions of the four modules are described in detail below:

[0050] The first acquisition module is used to acquire the hardware status information of the parking caliper, wherein the hardware status information includes at least one of the following: the parking caliper is in a failed state, or the parking caliper is in a normal state.

[0051] The second acquisition module is used to acquire the communication status information of the trailer switch and the domain control unit. The trailer switch is used to control the opening and closing of the trailer mode. The domain control unit is used to receive the opening and closing signals of the trailer mode, control the action of the parking caliper, and send the opening and closing signals of the parking caliper. The communication status information includes at least one of the following: communication is in a failed state or communication is in a normal state.

[0052] The first generation module is used to generate the execution status information of the trailer mode based on the hardware status information and the communication status information. The execution status information includes at least one of the following: the trailer mode can be used normally, or the trailer mode is unavailable.

[0053] The second generation module is used to generate a control instruction set based on the execution status information. The control instruction set is used to control the vehicle to execute a towing strategy. The towing strategy includes at least one of the following: towing using a towing mode or towing using a non-towing mode.

[0054] The four modules described above work together, combining the hardware status information of the parking caliper, the communication status information of the trailer switch, and the communication status information of the domain control unit, to determine whether the trailer mode can be used normally. Based on whether the trailer mode can be used normally, the corresponding towing strategy is executed. This trailer mode control method, before executing a towing action, first determines whether the trailer mode is normal, to avoid using the trailer mode to tow the vehicle in the event of a trailer mode malfunction, which could lead to vehicle damage.

[0055] Example 3

[0056] Embodiments of this application also provide a processor configured to run a computer program to perform the steps in any of the above method embodiments.

[0057] In this embodiment, the processor can be configured to perform the following steps via a computer program:

[0058] Step S1: Obtain the hardware status information of the parking caliper, wherein the hardware status information includes at least one of the following: the parking caliper is in a failed state, or the parking caliper is in a normal state.

[0059] Step S2: Obtain the communication status information of the trailer switch and the domain control unit. The trailer switch is used to control the opening and closing of the trailer mode. The domain control unit is used to receive the opening and closing signals of the trailer mode, control the action of the parking caliper, and send the opening and closing signals of the parking caliper. The communication status information includes at least one of the following: communication is in a failed state or communication is in a normal state.

[0060] Step S3: Generate the execution status information of the trailer mode based on the hardware status information and communication status information. The execution status information includes at least one of the following: trailer mode is usable normally, trailer mode is unavailable.

[0061] Step S4: Based on the execution status information, generate a control instruction set. The control instruction set is used to control the vehicle to execute the towing strategy. The towing strategy includes at least one of the following: towing using towing mode or towing using non-towing mode.

[0062] In the embodiments of this application, the availability of the towing mode is determined by combining the hardware status information of the parking caliper, the communication status information of the trailer switch, and the communication status information of the domain control unit. Based on the availability of the towing mode, a corresponding towing strategy is executed. Before executing the towing action, the above-described towing mode control method first determines whether the towing mode is normal, thus avoiding the use of the towing mode in the event of a towing mode malfunction, which could lead to vehicle damage.

[0063] Example 4

[0064] Embodiments of this application also provide a vehicle, including a trailer mode, wherein the trailer mode is controlled according to the control method described in the above embodiments.

[0065] The specific control methods are as follows:

[0066] Step S1: Obtain the hardware status information of the parking caliper, wherein the hardware status information includes at least one of the following: the parking caliper is in a failed state, or the parking caliper is in a normal state.

[0067] Step S2: Obtain the communication status information of the trailer switch and the domain control unit. The trailer switch is used to control the opening and closing of the trailer mode. The domain control unit is used to receive the opening and closing signals of the trailer mode, control the action of the parking caliper, and send the opening and closing signals of the parking caliper. The communication status information includes at least one of the following: communication is in a failed state or communication is in a normal state.

[0068] Step S3: Generate the execution status information of the trailer mode based on the hardware status information and communication status information. The execution status information includes at least one of the following: trailer mode is usable normally, trailer mode is unavailable.

[0069] Step S4: Based on the execution status information, generate a control instruction set. The control instruction set is used to control the vehicle to execute the towing strategy. The towing strategy includes at least one of the following: towing using towing mode or towing using non-towing mode.

[0070] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0071] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0073] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0074] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0075] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0076] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for trailer mode, characterized in that, include: Obtain the hardware status information of the parking caliper, wherein the hardware status information includes at least one of the following: the parking caliper is in a failed state, or the parking caliper is in a normal state; The communication status information of the trailer switch and the domain control unit is obtained. The trailer switch is used to control the opening and closing of the trailer mode. The domain control unit is used to receive the opening and closing signal of the trailer mode, control the action of the parking caliper, and send the opening and closing signal of the parking caliper. The communication status information includes at least one of the following: communication is in a failed state or communication is in a normal state. Based on the hardware status information and the communication status information, execution status information of the trailer mode is generated, wherein the execution status information includes at least one of the following: the trailer mode is usable normally, or the trailer mode is unavailable; Based on the execution status information, a control instruction set is generated. The control instruction set is used to control the vehicle to execute a towing strategy, wherein the towing strategy includes at least one of the following: towing using the towing mode or towing using a non-towing mode. The acquisition of the communication status information of the domain control unit includes: The communication status information of the first domain controller is obtained. The first domain controller is used to receive the opening and closing signal of the trailer mode, control the action of the left parking caliper, and send the opening and closing signal of the left parking caliper. The communication status information of the second domain controller is obtained. The second domain controller is used to receive the opening and closing signal of the trailer mode, control the action of the right parking caliper, and send the opening and closing signal of the right parking caliper. Based on the execution status information, a control instruction set is generated. This control instruction set is used to control the vehicle to execute a towing strategy, including: When the parking caliper is in normal condition, the trailer switch communication is in normal condition, and the domain control unit communication is in normal condition, a first target instruction is generated in the control instruction set. The first target instruction is used to control the vehicle to tow using the trailer mode.

2. The control method according to claim 1, characterized in that, Based on the execution status information, a control instruction set is generated. The control instruction set is used to control the vehicle to execute a towing strategy, and further includes: If at least one of the following conditions occurs: the parking caliper is in a malfunctioning state, the trailer switch communication is in a malfunctioning state, and the domain control unit communication is in a malfunctioning state, a second target instruction is generated in the control instruction set. The second target instruction is used to control the vehicle to be towed using a non-towing mode.

3. The control method according to claim 1, characterized in that, Obtaining the communication status information of the domain control unit further includes: After receiving the opening / closing signal of the left parking caliper, the first domain controller synchronously sends the opening / closing signal of the left parking caliper and the opening / closing signal of the left parking caliper.

4. The control method according to claim 1, characterized in that, The control method further includes: When the trailer mode is enabled, and the domain control unit receives a signal that the vehicle is in P gear, the electronic parking brake system controls the parking caliper to clamp.

5. The control method according to claim 1, characterized in that, At the beginning of each ignition cycle of the vehicle, the trailer switch is in the off state, and the power-off self-clamping function of the electronic parking brake system is in the on state.

6. A control device for trailer mode, characterized in that, include: The first acquisition module is used to acquire the hardware status information of the parking caliper, wherein the hardware status information includes at least one of the following: the parking caliper is in a failed state, or the parking caliper is in a normal state. The second acquisition module is used to acquire communication status information between the trailer switch and the domain control unit. The trailer switch is used to control the activation and deactivation of the trailer mode. The domain control unit is used to receive the activation and deactivation signals of the trailer mode, control the action of the parking caliper, and send the opening and closing signals of the parking caliper. The communication status information includes at least one of the following: communication is in a failed state, or communication is in a normal state; A first generation module is configured to generate execution status information of the trailer mode based on the hardware status information and the communication status information, wherein the execution status information includes at least one of the following: the trailer mode is usable normally, or the trailer mode is unavailable. The second generation module is used to generate a control instruction set based on the execution status information. The control instruction set is used to control the vehicle to execute a towing strategy, wherein the towing strategy includes at least one of the following: towing using the towing mode or towing using a non-towing mode. The acquisition of the communication status information of the domain control unit includes: The communication status information of the first domain controller is obtained. The first domain controller is used to receive the opening and closing signal of the trailer mode, control the action of the left parking caliper, and send the opening and closing signal of the left parking caliper. The communication status information of the second domain controller is obtained. The second domain controller is used to receive the opening and closing signal of the trailer mode, control the action of the right parking caliper, and send the opening and closing signal of the right parking caliper. Based on the execution status information, a control instruction set is generated. This control instruction set is used to control the vehicle to execute a towing strategy, including: When the parking caliper is in normal condition, the trailer switch communication is in normal condition, and the domain control unit communication is in normal condition, a first target instruction is generated in the control instruction set. The first target instruction is used to control the vehicle to tow using the trailer mode.

7. A processor, characterized in that, The processor is used to run a program, and the processor is configured to run a computer program to perform the control method according to any one of claims 1-5.

8. A vehicle, including a trailer mode, characterized in that, The trailer mode is controlled by the control method according to any one of claims 1-5.

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