A light trailer reversing assistance detection method

Abstract

A method for assisting in the reversing detection of a light-duty tractor-trailer includes step-by-step angle detection, auxiliary preparation detection, and auxiliary adjustment detection. The angle detection module, auxiliary observation module, and display module, under the control of the control module, work together to control the extension and rotation of the telescopic devices. This allows the driver to always observe the position of the trailer's rear and wheels by examining the outer ends and extension lengths of the four telescopic devices during reversing. Even if the trailer is small in size, width, or length, the driver can always observe the image of the outer ends of the telescopic devices in the rearview mirror, thus determining the position of the trailer wheels and rear. Furthermore, by combining the extension of the telescopic devices on both sides with the status of the tractor, the driver can determine whether the trailer is properly aligned, making the observation of trailer reversing more accurate and convenient.

Description

Technical Field

[0001] This invention relates to the field of motor vehicle driver assistance technology, specifically to a method for assisting in the reversing detection of a light-duty tractor-trailer. Background Technology

[0002] To facilitate the transport of light goods or vehicles, there exists a type of light-duty tractor-trailer, which is a special type of trailer that typically consists of a tractor unit and a trailer attached to the rear. It can be towed by trucks or other vehicles. This type of trailer is usually smaller, lighter, and more maneuverable than other types of trailers, making it suitable for situations requiring driving in narrow streets or urban environments. The newly added C6 driving qualification meets people's driving needs for light-duty tractor-trailers.

[0003] While trailers offer convenience to some extent, their reversing direction is actually opposite to that of the tractor unit. This connection between the trailer and tractor unit inherently presents a significant challenge to the driver's skills when reversing, making the task difficult. Furthermore, the driver can only observe the trailer's reversing status through the rearview mirror. This is especially true when the trailer is small in size, width, or length, making it impossible for the driver to effectively judge whether the trailer is aligned or to determine the actual position of the trailer wheels or rear end, further increasing the difficulty of reversing. Summary of the Invention

[0004] To address the technical problems existing in the background art, the present invention provides a method for assisting in the reversing detection of light-duty tractor-trailers.

[0005] The technical solution of this invention is as follows:

[0006] A method for auxiliary detection of a light-duty tractor-trailer reversing, used for auxiliary detection of the trailer's position when the tractor is reversing, includes the following steps:

[0007] S1, Angle detection;

[0008] The control module automatically receives the reversing signal, controls the angle detection module to work, and feeds back the angle information to the control module. The angle detection module completes the offset direction and offset angle information of the trailer relative to the tractor.

[0009] The reversing signal is the reverse gear of the tractor, the angle detection module is installed on the trailer, and the angle information is the deflection angle information between the centerline of the trailer and the centerline of the tractor.

[0010] S2, auxiliary preparation test;

[0011] The control module generates corresponding control commands based on the angle information to control the action of the auxiliary observation module, and feeds back the action information of the auxiliary observation module to the display module according to the control commands, completes the auxiliary preparation detection work, and then issues a reversing permission prompt.

[0012] The auxiliary observation module includes a telescopic device, which is connected to the trailer via a rotation drive device. The rotation axis of the telescopic device is vertical and can be rotated to be perpendicular to the axis of the tractor under the action of the rotation drive device. The telescopic device includes a first telescopic device, a second telescopic device, a third telescopic device, and a fourth telescopic device respectively located at the left wheel position, the right wheel position, the left rear corner, and the right rear corner of the trailer, and the outer ends of the telescopic devices all point to the outside of the trailer.

[0013] The control command is set to control the rotation and extension of the telescopic device, and after the telescopic device completes its movement, the driver can observe the outer end of the telescopic device or the wheels and rear of the trailer in the rearview mirrors on both sides of the tractor.

[0014] The display module includes a first display screen, a second display screen, a third display screen, and a fourth display screen, which respectively display the values ​​X1, X2, X3, and X4. X1, X2, X3, and X4 are the outer ends of the first telescopic device, the second telescopic device, the third telescopic device, and the fourth telescopic device, respectively. The driver can determine the position information of the trailer wheels, i.e., the rear end, based on the distance information relative to the two sides of the trailer and the image information of the outer ends of the telescopic devices in the rearview mirror.

[0015] S3, Auxiliary adjustment detection;

[0016] S3.1 If the deflection angle between the trailer centerline and the tractor centerline changes after reversing begins, the angle detection module will feed back the changed angle information to the control module in real time. The control module will control the rotation drive device to operate in real time according to the changed angle information, so that the telescopic device axis is always perpendicular to the tractor axis.

[0017] During steps S3.2 and S3.1, the control module controls the telescopic device in real time according to the changing angle information, so that the driver can always obtain image information of the outer end of the telescopic device or the trailer wheels and rear of the vehicle in the rearview mirrors on both sides of the tractor.

[0018] During steps S3.3 and S3.2, the control module can feed back the action information of the telescopic device to the display module in real time according to the control command.

[0019] S4. Detection stopped;

[0020] After the reversing signal stops for at least 5 seconds, the control module stops the operation of the angle detection module and the display module, and controls the auxiliary observation module to rotate the telescopic device to a position where the axis is perpendicular to the trailer axis, and the telescopic device is fully retracted.

[0021] Through the aforementioned auxiliary detection methods, when a trailer is reversing, the driver can always determine the position of the trailer's rear and wheels by observing the position and extension length of the telescopic device under the assistance of the auxiliary observation module. Even if the trailer is small in size, width, or length, the driver can always observe the image of the telescopic device's outer end in the rearview mirror under the telescopic action of the device, thereby determining the position of the trailer's wheels and rear. Furthermore, by combining the extension of the telescopic devices on both sides with the status of the tractor itself, the driver can determine whether the trailer is aligned, making the observation of trailer reversing more accurate and convenient.

[0022] As described above, in a preferred embodiment of the reversing auxiliary detection method for a light-duty tractor-trailer, a warning ball is provided at the outer end of the telescopic device, making it easier for the driver to capture the image of the outer end of the telescopic device in the rearview mirror.

[0023] To ensure the telescopic device functions properly at night, the warning ball also has a light-emitting function.

[0024] As a further preferred embodiment, the lower side of the warning ball is provided with a downward-facing LED light, enabling the driver to better observe the environmental information around the trailer through the rearview mirror.

[0025] As described above, in the reversing auxiliary detection method for a light-duty tractor-trailer, the telescopic device is a multi-stage telescopic device, which makes the arrangement of the telescopic device more space-saving and can have a longer telescopic distance.

[0026] Furthermore, the telescopic device is a multi-stage telescopic electric cylinder, which makes it easier to control the telescopic length of the device.

[0027] Furthermore, the rotation drive device is movably connected to the bottom of the trailer via a magnetic attraction device. This makes the installation and arrangement of the telescopic device quicker and more convenient. On the other hand, the telescopic device can be displaced when it encounters an obstacle to prevent damage to its own structure.

[0028] As described above, in a reversing auxiliary detection method for a light-duty tractor-trailer, the first and third display screens are arranged vertically and are located inside the left A-pillar of the tractor vehicle, while the second and fourth display screens are arranged vertically and are located inside the right A-pillar of the tractor vehicle, making it more convenient and faster for the driver to observe the extension of the telescopic device.

[0029] It should be noted that the control module also includes a toggle switch. The control module can control the operation of the angle detection module, the display module, and the auxiliary observation module only when the toggle switch is turned to the on state. This allows the driver to choose whether to use the reversing auxiliary detection function according to driving needs, increasing the practicality of the device.

[0030] Specifically, the angle detection module includes two distance sensors located on both sides of the front of the trailer. The changes in the distance between the two sides of the front of the trailer and the two sides of the rear of the tractor can reflect the deflection angle information between the axles of the tractor and the trailer.

[0031] The beneficial effects of this invention are as follows: This invention is a method for assisting in the reversing detection of a light-duty tractor-trailer, including step angle detection, auxiliary preparation detection, and auxiliary adjustment detection. Under the action of the auxiliary observation module, the driver can always determine the position of the trailer's rear and wheels by observing the position of the outer end of the telescopic device and its extension length. Even if the trailer is small in size, width, or length, the driver can always observe the image of the outer end of the telescopic device in the rearview mirror under the telescopic action of the telescopic device, thereby determining the position of the trailer's wheels and rear. Furthermore, by combining the extension of the telescopic devices on both sides and the status of the tractor itself, the driver can determine whether the trailer is properly aligned, making the observation of trailer reversing more accurate and convenient. Attached Figure Description

[0032] The solutions and advantages of this application will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0033] In the attached diagram:

[0034] Figure 1 This is a flowchart of the auxiliary detection method in the embodiment;

[0035] Figure 2 This is a flowchart of step S2 in the embodiment;

[0036] Figure 3 This is a flowchart of step S3 in the embodiment;

[0037] Figure 4 This is a diagram illustrating the effect of the auxiliary detection method when the axles of the tractor and trailer coincide in the embodiment.

[0038] Figure 5 This is a diagram illustrating the effect of the auxiliary detection method when the tractor veers to the right in the embodiment.

[0039] Figure 6 This is a diagram illustrating the effect of the auxiliary detection method when the tractor veers to the left in the embodiment.

[0040] Figure 7 This is a schematic diagram of the auxiliary observation module in the embodiment;

[0041] The components represented by the various reference numerals in the diagram are:

[0042] 1. Tractor; 11. Rearview mirror; 12. Display module; 2. Trailer; 21. Mounting unit; 22. Wheel; 23. Angle detection module; 24. Auxiliary observation module; 241. Rotation drive device; 242. Telescopic device; 243. Warning ball; 3. Observation marking line. Detailed Implementation

[0043] Exemplary embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings.

[0044] Example

[0045] This embodiment provides a method for assisting in the reversing detection of a light-duty tractor-trailer. (See also...) Figure 4 This is used for auxiliary detection of the position of the trailer 2 when the tractor 1 is reversing. The tractor 1 has rearview mirrors 11 on both sides of the front cab, and the environment behind the tractor 1 can be observed through the rearview mirrors 11. The trailer 2 includes a mounting part 21 located in the middle of its front end and wheels 22 located in the middle of its two sides. The trailer 2 is connected to the middle of the rear end of the tractor 1 through the mounting part 21 and can be driven by the tractor 1.

[0046] In this embodiment, combined with Figure 1 The auxiliary detection method (the above-mentioned auxiliary detection method for reversing a light tractor-trailer 2) is implemented based on a control module, an angle detection module 23, an auxiliary observation module 24, and a display module 12. Specifically, the auxiliary detection method includes the following steps:

[0047] S1, Angle detection;

[0048] The control module automatically receives the reversing signal, controls the angle detection module 23 to work, and feeds back the angle information to the control module. The angle detection module 23 completes the offset direction and offset angle information of the trailer 2 relative to the tractor 1.

[0049] In this step, the control module can be a PLC controller, and the reversing signal is the reversing gear of the tractor 1. That is, when the tractor 1 is in the reversing gear, the reversing signal can be transmitted to the control module. The control module receives the reversing signal and starts working, controlling the angle detection module 23 to run.

[0050] Furthermore, the angle detection module 23 is installed on the trailer 2, and the angle information is the deflection angle information between the central axis of the trailer 2 and the central axis of the tractor 1. Specifically, the angle detection module 23 includes two distance sensors located on both sides of the front of the trailer 2, and can detect the distance between it and the rear of the tractor 1 on the side closest to it. By the change in distance between the two sides of the front of the trailer 2 and the two sides of the rear of the tractor 1, the deflection angle information between the axes of the tractor 1 and the trailer 2 can be obtained.

[0051] Furthermore, the angle detection module 23 can transmit the detected angle information back to the control module;

[0052] S2, auxiliary preparation test;

[0053] The control module generates corresponding control commands based on the angle information to control the movement (rotation and / or extension) of the auxiliary observation module 24, and feeds back the movement information of the auxiliary observation module 24 to the display module 12 according to the control commands, completes the auxiliary preparation detection work, and then issues a reversing permission prompt.

[0054] In this step, the control module pre-stores control information that corresponds one-to-one with the angle information, and controls the operation of the auxiliary observation module 24 according to the received angle information;

[0055] Furthermore, in combination Figure 7 The auxiliary observation module 24 includes a telescopic device 242 and a rotation drive device 241. The telescopic device 242 is connected to the bottom of the trailer 2 through the rotation drive device 241. The rotation axis of the telescopic device 242 is vertical. The telescopic device 242 can rotate to the point where its axis is perpendicular to the axis of the tractor 1 under the drive of the drive device.

[0056] Furthermore, the auxiliary observation module 24 is provided with four sets of telescopic devices 242, which are respectively the first telescopic device, the second telescopic device, the third telescopic device and the fourth telescopic device. They are respectively located behind the left wheel 22 of the trailer 2, behind the right wheel 22, the left rear corner and the right rear corner of the trailer 2, and the outer end of the telescopic device 242 all points to the outside of the trailer 2.

[0057] Furthermore, the control command is set to control the rotation and extension of the telescopic device 242, and after the telescopic device 242 completes its movement, the driver can observe the outer end of the telescopic device 242 or the wheels 22 and rear of the trailer 2 in the rearview mirrors 11 on both sides of the tractor 1.

[0058] Furthermore, step S2 is combined with Figure 2 as well as Figures 4-6Specifically, after the angle detection module 23 operates and measures the angle information, and feeds the angle information back to the control module, the control module first determines whether the images of the wheel 22 and the rear of the vehicle can be fed back to the rearview mirror 11 at that angle. That is, whether the driver can observe the image information of the wheel 22 and the rear of the vehicle through the rearview mirror 11 in the cab. The judgment condition of the control system is preset, that is, whether the absolute value of the angle meets the first minimum value. The first minimum value is set as the minimum deflection angle at which the trailer 2 can observe the wheel 22 and the rear of the trailer 2 through the rearview mirror 11 at that angle. Figure 4 The system determines whether the wheels 22 and rear of trailer 2 are located between the observation markings on both sides (blind spot) at that angle. The control system's judgment results fall into the following categories:

[0059] a: The single-side rearview mirror 11 can display the image of the wheel 22 and the rear of the vehicle;

[0060] That is, when the trailer 2 is turned to one side so that the rearview mirror 11 on that side can observe the image information of the wheel 22 and the rear of the vehicle, the control system controls the telescopic device 242 on the opposite side (the other side) to rotate and extend so that the rearview mirror 11 on the opposite side can display the image of the outer end of the telescopic device 242.

[0061] b: Neither of the two rearview mirrors 11 can display the image of the wheel 22 or the rear of the vehicle;

[0062] When the absolute value of the angle is less than the first minimum value, both the wheel 22 and the rear of the vehicle are in the blind spot of the rearview mirror 11. At this time, the control system controls the telescopic devices 242 on both sides to rotate and extend so that both rearview mirrors 11 can display the image of the outer end of the telescopic device 242.

[0063] Furthermore, the telescopic device 242 also includes a warning ball 243 located at its outer end, which makes it easier for the driver to capture the image of the outer end of the telescopic device 242 in the rearview mirror 11. To ensure the nighttime use function of the telescopic device 242, the warning ball 243 also has a light-emitting function. Specifically, the lower side of the warning ball 243 is provided with a downward-facing LED light, which allows the driver to better observe the environmental information around the trailer 2 through the rearview mirror 11.

[0064] Specifically, regarding the structure and arrangement of the telescopic device 242, the telescopic device 242 is a multi-stage telescopic device 242, which makes the arrangement of the telescopic device 242 more space-saving and can have a longer telescopic distance. In this embodiment, the telescopic device 242 is a multi-stage telescopic electric cylinder, which makes the telescopic length of the telescopic device 242 easier to control. The rotation drive device 241 is movably connected to the bottom of the trailer 2 through a magnetic attraction device. On the one hand, it makes the installation and arrangement of the telescopic device 242 faster and more convenient. On the other hand, the telescopic device 242 can generate displacement when it encounters an obstacle to prevent damage to its own structure.

[0065] Furthermore, the display module 12 includes a first display screen, a second display screen, a third display screen, and a fourth display screen, which respectively display the values ​​X1, X2, X3, and X4. X1, X2, X3, and X4 are the outer ends of the first telescopic device, the second telescopic device, the third telescopic device, and the fourth telescopic device, respectively, and the extension distance information relative to both sides of the trailer 2. Based on this distance information and combined with the image information of the outer end of the telescopic device 242 inside the rearview mirror 11, the driver can determine the position information of the wheels 22 and the rear of the trailer 2.

[0066] In a preferred embodiment, the first and third displays are arranged vertically and are located inside the left A-pillar of the tractor 1, while the second and fourth displays are arranged vertically and are located inside the right A-pillar of the tractor 1, making it more convenient and faster for the driver to observe the extension of the telescopic device 242.

[0067] S3, Auxiliary adjustment detection;

[0068] S3.1, Combination Figure 3 If the deflection angle between the centerline of trailer 2 and the centerline of tractor 1 changes after the reversing starts, the angle detection module 23 will feed back the changed angle information to the control module in real time. The control module will control the rotation drive device 241 to move in real time according to the changed angle information, so that the axis of telescopic device 242 is always perpendicular to the axis of tractor 1.

[0069] During steps S3.2 and S3.1, the control module controls the telescopic device 242 to move in real time according to the changing angle information, so that the driver can always obtain the image information of the outer end of the telescopic device 242, or the wheels 22 and the rear of the trailer 2 in the rearview mirrors 11 on both sides of the tractor 1.

[0070] During steps S3.3 and S3.2, the control module feeds back the action information of the telescopic device 242 to the display module 12 in real time according to the control command.

[0071] S4. Detection stopped;

[0072] After the reversing signal stops for at least 5 seconds, that is, after the tractor 1 is out of reverse gear for 5 seconds, the control module controls the angle detection module 23 and the display module 12 to stop operating, and controls the auxiliary observation module 24 to operate, so that the telescopic device 242 rotates to a position where the axis is perpendicular to the axis of the trailer 2, and the telescopic device 242 is completely retracted.

[0073] It should be noted that the control module also includes a toggle switch. The control module can control the operation of the angle detection module 23, the display module 12 and the auxiliary observation module 24 only when the toggle switch is turned to the on state, so that the driver can choose whether to use the reversing auxiliary detection function according to the driving needs, which increases the practicality of the device.

[0074] Through the aforementioned auxiliary detection method, when trailer 2 is reversing, the driver can always determine the position of the rear of trailer 2 and the position of wheels 22 by observing the position of the outer end of telescopic device 242 and its extension length under the action of auxiliary observation module 24. Even if trailer 2 is small in size, width, or length, the driver can always observe the image of the outer end of telescopic device 242 in the rearview mirror 11 under the telescopic action of telescopic device 242, and thus determine the position of trailer 2 wheels 22 and rear of trailer 2. In addition, the driver can also determine whether trailer 2 is straight by combining the extension of telescopic devices 242 on both sides and the status of tractor 1, making the observation of trailer 2 reversing more accurate and convenient.

Claims

1. A light trailer backing assist detection method for assisting the detection of the position of a trailer (2) when a towing vehicle (1) is reversing with the trailer (2) behind it, characterised in that, Includes the following steps: S1, Angle detection; The control module automatically receives the reversing signal, controls the angle detection module (23) to work, and feeds back the angle information to the control module; The reversing signal is the reversing gear of the tractor (1), the angle detection module (23) is installed on the trailer (2), and the angle information is the deflection angle information between the centerline of the trailer (2) and the centerline of the tractor (1); S2, auxiliary preparation test; The control module generates corresponding control commands based on the angle information to control the action of the auxiliary observation module (24), and feeds back the action information of the auxiliary observation module (24) to the display module (12) according to the control commands, completes the auxiliary preparation detection work, and then issues a reversing permission prompt; The auxiliary observation module (24) includes a telescopic device (242), which is connected to the trailer (2) through a rotation drive device (241) and can be rotated to a position where its axis is perpendicular to the axis of the tractor (1) through the rotation drive device (241). The telescopic device (242) includes a first telescopic device, a second telescopic device, a third telescopic device, and a fourth telescopic device respectively located at the left wheel position, the right wheel position, the left rear corner, and the right rear corner of the trailer (2), and the outer ends of the telescopic devices (242) all point to the outside of the trailer (2). The control command is set to control the extension and retraction of the telescopic device (242), and enable the driver to observe the outer ends of the first telescopic device (242) and the third telescopic device (242) in the rearview mirror (11) on the left side of the tractor (1), and to observe the outer ends of the second telescopic device (242) and the fourth telescopic device (242) in the rearview mirror (11) on the right side of the tractor (1); The display module (12) includes a first display screen, a second display screen, a third display screen and a fourth display screen, which respectively display the values ​​X1, X2, X3 and X4. X1, X2, X3 and X4 are respectively the extension distance information of the outer ends of the first telescopic device, the second telescopic device, the third telescopic device and the fourth telescopic device relative to the two sides of the trailer (2). S3, Auxiliary adjustment detection; S3.1 If the deflection angle information between the centerline of the trailer (2) and the centerline of the tractor (1) changes after the reversing starts, the angle detection module (23) will feed back the changed angle information to the control module in real time. The control module will control the rotation drive device (241) to move in real time according to the changed angle information, so that the axis of the telescopic device (242) is always perpendicular to the axis of the tractor (1). S3.2 and S3.1 are performed. The control module controls the telescopic device (242) to move in real time according to the changing angle information, so that the driver can always get the image of the outer end of the four telescopic devices (242) in the rearview mirrors (11) on both sides of the tractor (1). During steps S3.3 and S3.2, the control module feeds back the action information of the telescopic device (242) to the display module (12) in real time according to the control command. S4. Detection stopped; After the reversing signal stops for at least 5 seconds, the control module controls the angle detection module (23) and the display module (12) to stop running, and controls the auxiliary observation module (24) to move, so that the telescopic device (242) rotates to a position where the axis is perpendicular to the axis of the trailer (2), and the telescopic device (242) is completely retracted.

2. The method of claim 1, wherein, The outer end of the telescopic device (242) is provided with a warning ball (243).

3. The method of claim 2, wherein, The warning ball (243) has a light-emitting function.

4. The method of claim 3, wherein, The warning ball (243) is equipped with a downward-facing LED light on its lower side.

5. The method of claim 1, wherein, The telescopic device (242) is a multi-stage telescopic device (242).

6. The method of claim 5, wherein, The telescopic device (242) is a multi-stage telescopic electric cylinder.

7. The method of claim 1, wherein, The rotation drive device (241) is movably connected to the underside of the trailer (2) via a magnetic attraction device.

8. A method of detecting the reversing of a light trailer according to any one of claims 1 to 7, characterised in that, The first and third display screens are arranged vertically and are located inside the left A-pillar of the tractor (1). The second and fourth display screens are arranged vertically and are located inside the right A-pillar of the tractor (1).

9. A method for assisting in the reversing detection of a light-duty tractor-trailer according to any one of claims 1-7, characterized in that, The control module includes a toggle switch. The control module can control the operation of the angle detection module (23), the display module (12), and the auxiliary observation module (24) only when the toggle switch is toggled to the on state.

10. A method of detecting the reversing of a light trailer according to any one of claims 1 to 7, wherein, The angle detection module (23) includes two distance sensors located on both sides of the front of the trailer (2). The change in distance between the two sides of the front of the trailer (2) and the two sides of the rear of the tractor (1) can reflect the deflection angle information between the axis of the tractor (1) and the trailer (2).

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