Trailer docking method and system

Abstract

The invention provides a trailer docking method and system, and the method comprises the following steps: obtaining a vehicle steering signal, and obtaining a radian value of a trailer trajectory; and drawing a trailer trajectory according to the preset trailer point location and the radian value, and guiding the vehicle to be butted with the trailer. By using the steering angle information of the steering vehicle, the track line of the trailer hook is dynamically adjusted, a reference is provided for a driver in the reversing process, the pain point that no reference object exists between the driver and the trailer in the reversing process is solved, and the driver is assisted in accurately achieving connection between the driving vehicle and the trailer.

Description

Technical Field

[0001] The present invention relates to the technical field of trailer docking, and in particular to a trailer docking method and system. Background Art

[0002] Trailers or pallets are often used to carry goods, and a hitch device is provided at the front end. When transporting the goods, the hitch device at the front end needs to be connected to the trailer hook of the driving vehicle. The trailer hook of the driving vehicle is often located in the middle area of ​​the rear of the vehicle. The driver can back up the driving vehicle to the trailer position based on experience and the approximate position of the trailer hitch device, and adjust the position of the driving vehicle under the command of a third person or when the driver gets off the vehicle to check, and complete the docking between the backing vehicle's trailer hook and the trailer hitch device.

[0003] In the existing process of establishing a trailer docking between the self-vehicle (i.e., the driving vehicle) and the RV, the RV remains stationary, and the self-vehicle needs to reverse and approach the RV in order to connect the self-vehicle with the RV. In the actual reversing process, since there is no reference object for the driver to refer to or guide, the driver needs to adjust the position of the self-vehicle several times before successfully connecting with the RV, resulting in relatively low efficiency of trailer docking. Summary of the invention

[0004] In view of the shortcomings of the prior art described above, an object of the present invention is to provide a trailer docking method and system for solving the problem in the prior art that in the actual reversing process, since there is no reference object for the driver to use as a reference or guide, the driver needs to adjust the position of his own vehicle multiple times before successfully connecting with the RV, resulting in relatively low trailer docking efficiency.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a trailer docking method, comprising the following steps:

[0006] Obtain the vehicle's steering signal and obtain the arc value of the trailer's trajectory line;

[0007] According to the preset trailer position and arc value, the trailer trajectory line is drawn to guide the vehicle to dock with the trailer.

[0008] In one embodiment of the present invention, obtaining a vehicle steering signal to obtain a radian value of a trailer trajectory line includes:

[0009] Obtain the steering angle information of the steering wheel when the vehicle turns, and obtain the turning radius of the vehicle;

[0010] The turning radius is converted into the arc value of the trailer trajectory.

[0011] In one embodiment of the present invention, the steering angle information of the steering wheel when the vehicle turns is obtained to obtain the turning radius of the vehicle, including: converting the steering angle information into a wheel rotation angle, and obtaining the turning radius according to the vehicle size parameters.

[0012] In one embodiment of the present invention, the vehicle size parameters include: the front and rear wheel wheelbases, the front wheel track and the kingpin center distance of the front wheels.

[0013] In one embodiment of the present invention, the calculation formula of the turning radius is: Among them, R is the turning radius, L is the front and rear wheel wheelbase, A is the front wheel track, K is the center distance between the two kingpins of the front wheels, and α is the front outer wheel turning angle of the vehicle.

[0014] In one embodiment of the present invention, a trailer trajectory line is drawn according to a preset trailer point and an arc value, including: establishing a preset trailer point, making the trailer trajectory line pass through the preset trailer point and extend in the reverse direction of the vehicle, and adjusting the arc of the trailer trajectory line to correspond to the arc value.

[0015] In one embodiment of the present invention, the trailer trajectory line includes: a trailer hook guide line passing through a preset trailer point, and a wheel guide line and a vehicle body guide line arranged parallel to the trailer guide line.

[0016] In one embodiment of the present invention, the trailer trajectory line is drawn, and then the method further includes: transmitting the trailer trajectory line to a vehicle computer display for display, and dynamically adjusting the curvature of the trailer trajectory line according to the real-time angle change of the steering wheel.

[0017] In one embodiment of the present invention, transmitting the trailer trajectory to a vehicle display includes: displaying the trailer trajectory in at least one interactive interface of a reversing image and a panoramic image included in the vehicle display.

[0018] The present invention also provides a trailer docking system, comprising: an arc conversion unit, which obtains a vehicle steering signal to obtain an arc value of a trailer trajectory line; and a trajectory drawing unit, which draws a trailer trajectory line according to a preset trailer point position and an arc value to guide the vehicle to dock with the trailer.

[0019] Beneficial effects of the present invention: The present invention proposes a trailer docking method and system, which determines the curvature value of the trailer trajectory line corresponding to the current vehicle body angle according to the vehicle body angle information. And it is also possible to draw a trailer trajectory line passing through the preset trailer point based on the position of the trailer hook at the rear of the vehicle. And when the vehicle body angle changes, the curvature value of the trailer trajectory line will be controlled to make corresponding adjustments, so that the curvature of the trailer trajectory line can also be dynamically adjusted with the change of the vehicle body angle, guiding the vehicle and the trailer to complete the docking in a real-time manner. Through the above method, that is, according to the steering angle information of the steering vehicle, the trailer trajectory line is dynamically adjusted, providing a reference for the driver in the process of reversing to dock the trailer, solving the problem of no reference point between the driver and the trailer during the reversing process, and can better assist the driver to accurately complete the connection between the vehicle and the trailer. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Flow chart of the docking method of the present invention.

[0021] Figure 2 It is a state diagram showing a wheel in a normal state in a preferred embodiment of the present invention.

[0022] Figure 3 It is a schematic diagram showing the state when the front outer wheel turning angle and the front inner wheel turning angle are formed in a preferred embodiment of the present invention.

[0023] Figure 4 Shown is a schematic diagram of calculating the turning radius of a car in a preferred embodiment of the present invention.

[0024] Figure 5 The figure shows a state diagram of a vehicle in reverse according to a preferred embodiment of the present invention.

[0025] Figure 6 It is a framework diagram of the docking system of the present invention. DETAILED DESCRIPTION

[0026] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0027] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0028] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0029] See also Figure 1 The present invention provides a trailer docking method, comprising the following steps:

[0030] Obtain the vehicle's steering signal and obtain the arc value of the trailer's trajectory line;

[0031] According to the preset trailer position and arc value, the trailer trajectory line is drawn to guide the vehicle to dock with the trailer.

[0032] In one embodiment of the present invention, the arc value of the trailer trajectory line is obtained by the step of obtaining a vehicle steering signal. It can be seen that when the vehicle and the trailer are docked, the vehicle steering signal can be a steering signal when reversing, and of course it can also be a steering signal corresponding to the forward driving state obtained in order to facilitate reversing, such as driving forward for a distance before reversing. The arc value of the trailer trajectory line is obtained by converting the steering angle corresponding to the steering signal. In other words, the arc value will increase with the increase of the steering angle and decrease with the decrease of the steering angle. Moreover, when forming the arc value of the trailer trajectory line, it can be that no matter whether the vehicle is in forward driving or reverse driving, the arc value of the arc trajectory line corresponds to the arc value of the arc trajectory line when reversing. By the step of drawing the trailer trajectory line according to the preset trailer point and arc value, guiding the vehicle to dock with the trailer. It can be seen that when drawing the trailer trajectory line, the trailer trajectory line is drawn as the trailer trajectory line when reversing, whether the vehicle is in a reversing state or a forward driving state. In other words, by designing a trailer operating system on the vehicle computer, when entering the trailer docking system, the trailer trajectory line for reversing will be automatically generated by default, whether it is reversing or driving forward. And through the generated trailer trajectory line, the corresponding trailer points of the vehicle and the trailer are further guided to make corresponding free adjustments and docking. Through the above steps, it can be seen that when the vehicle docks with the trailer, by combining the steering angle information of the steering vehicle, a dynamic trailer trajectory line is realized to provide a reference for the driver during the reversing process, solving the problem that there is no reference between the driver and the trailer during the reversing process or that another person is needed to direct the process, and can assist the driver to accurately realize the connection between the vehicle and the trailer.

[0033] In one embodiment of the present invention, obtaining a vehicle steering signal to obtain a radian value of a trailer trajectory line includes:

[0034] Obtain the steering angle information of the steering wheel when the vehicle turns, and obtain the turning radius of the vehicle;

[0035] The turning radius is converted into the arc value of the trailer trajectory.

[0036] For the step: obtaining the steering angle information of the steering wheel when the vehicle turns, and obtaining the turning radius of the vehicle. It can be seen that when obtaining the vehicle turning signal, the steering angle information of the steering wheel when the driver turns the steering wheel while driving the vehicle can be collected by using sensors, etc. For example, when turning the steering wheel clockwise or counterclockwise, the corresponding steering angle information of the forward steering wheel and the steering angle information of the reverse steering wheel can be obtained. Based on the steering angle information obtained, the turning radius of the vehicle when reversing left or right is further generated. Of course, when obtaining the vehicle turning signal, the wheel rotation angle can also be directly obtained, and the turning radius of the vehicle can be further calculated based on the wheel steering angle. For the step: converting the turning radius to obtain the radian value of the trailer trajectory. It can be seen that after converting the turning radius of the vehicle, the corresponding radian value is obtained by the shape of the arc formed according to the turning radius. Moreover, there may be a negative correlation between the curvature value and the turning radius, that is, the greater the steering wheel angle and the smaller the turning radius, the greater the curvature value of the corresponding trailer trajectory line, and the curvature of the formed trailer trajectory line will increase accordingly, thereby better guiding the trailer trajectory line during the vehicle reversing process.

[0037] In one embodiment of the present invention, the steering angle information of the steering wheel when the vehicle turns is obtained to obtain the turning radius of the vehicle, including: converting the steering angle information into the wheel rotation angle, and obtaining the turning radius according to the vehicle's overall size parameters. That is, during the vehicle steering process, when the vehicle turns the steering wheel, it directly corresponds to the change in the wheel rotation angle. That is, the larger the steering wheel rotation angle, the larger the corresponding wheel rotation angle. During the trailer docking process, when the first parameter obtained is the steering angle information of the vehicle's steering wheel, in order to realize the calculation of the vehicle's turning radius, it is necessary to convert the steering angle information of the steering wheel into the wheel rotation angle. And the turning radius of the vehicle under the corresponding steering wheel steering angle information is further calculated by using the wheel steering angle combined with the vehicle's overall size parameters. Therefore, based on the turning radius, the arc value of the trailer trajectory line is further converted.

[0038] In one embodiment of the present invention, the vehicle size parameters include: the front and rear wheel wheelbases, the front wheel track and the center distance between the two kingpins of the front wheels. In the process of converting the wheel rotation angle according to the steering wheel steering angle information using the vehicle size parameters, at least the relevant parameters of the front and rear wheel wheelbases, the front wheel track and the center distance between the two kingpins of the front wheels need to be set. Of course, the vehicle size parameters can also include the rear wheel track, the front overhang length, the candidate length, the distance from the kingpin to the center line of the outer wheel track, the vehicle width, the front inner wheel turning angle of the vehicle, etc.

[0039] See also Figures 2 to 4In a preferred embodiment, the front wheelbase is recorded as A; the rear wheelbase is recorded as B; the front overhang length is recorded as C; the rear overhang length is recorded as D; the distance from the kingpin to the centerline of the outer wheel track is recorded as E; the center distance between the two kingpins is recorded as K; the wheelbase is recorded as L; the vehicle width is recorded as W; the turning radius of the car is recorded as R; the turning angle of the front outer wheel of the car is recorded as α; and the turning angle of the front inner wheel of the car is recorded as β. According to the wheelbase L, the turning angle of the front outer wheel of the car α, and the distance from the kingpin to the centerline of the outer wheel track E, the turning radius of the car is obtained. And because K+2E=A, that is Further converted to Therefore, when the K value is obtained, R can be calculated. According to the Alman core formula: We get K = L (cotα - cotβ), and import the calculation formula to get

[0040] The calculation formula of the turning radius is further obtained as: Wherein, R is the turning radius, L is the wheelbase of the front and rear wheels, A is the wheelbase of the front wheels, K is the center distance between the two kingpins of the front wheels, and α is the front outer wheel turning angle of the vehicle. In this embodiment, after the turning radius R is calculated according to the front outer wheel turning angle α of the vehicle, the arc value of the trailer track line is further assigned according to the turning radius R. This makes it easy to obtain the dynamic arc value of the trailer track line when the front outer wheel turning angle α changes, so as to dynamically draw the trailer track line.

[0041] In one embodiment of the present invention, a vehicle is provided with a preset trailer hook at the rear of the vehicle, and the trailer hook corresponds to the preset trailer point of the present invention. The trailer hook can be located at any position of the rear of the vehicle, and is generally located in the middle of the rear of the vehicle. After the trailer hook of the vehicle is determined, the preset trailer point is established. Specifically, according to the preset trailer point and the arc value, the trailer trajectory line is drawn, including: establishing the preset trailer point, making the trailer trajectory line pass through the preset trailer point and extend in the reverse direction of the vehicle, and adjusting the arc of the trailer trajectory line to correspond to the arc value.

[0042] In this embodiment, when drawing the trailer track line according to the trailer hook position of the vehicle, it is necessary to determine the preset trailer point according to the trailer hook position. And the drawn trailer track line also needs to pass through the preset trailer point. That is to say, the preset trailer point can be set on the trailer track line. Of course, the preset trailer point can also be set on the extension line of the trailer track line. In order to better guide the vehicle when reversing, the trailer track line will also extend in the reversing direction of the vehicle. And the extension length and width of the trailer track line can be specifically calibrated according to the actual size of the vehicle and the size of the trailer hook. When the vehicle is in a straight line, that is, the steering wheel of the vehicle is in the return state, the trailer track line at this time can be a straight line state. When the steering wheel of the vehicle generates a steering angle, it is converted into the arc value of the trailer track line accordingly, so as to adjust the arc of the trailer track line. And guide the vehicle to reverse according to the arc direction of the trailer track line.

[0043] Specifically, the trailer trajectory line includes: a trailer hook guide line passing through a preset trailer point, and a wheel guide line and a vehicle body guide line arranged parallel to the trailer guide line.

[0044] In one embodiment of the present invention, when drawing the trailer trajectory line, only a trailer hook guide line passing through the preset trailer point can be set to guide the trailer hook position of the vehicle through the trailer hook guide line to complete the docking of the trailer hook with the trailer. Of course, after the trailer hook guide line is set, a wheel guide line and a body guide line can be further set to achieve wheel guidance and body guidance in the process of guiding the trailer hook position. Specifically, the length of the wheel guide line and the body guide line can be set to be consistent with the length of the trailer hook guide line, and they are set parallel to the trailer hook guide line. For example, when the trailer hook is located in the middle position of the rear of the vehicle, the trailer hook guide line will pass through the trailer hook and extend in the reverse direction of the rear of the vehicle. The wheel guide line will be formed on both sides of the trailer hook guide line, and the position of the wheel guide line corresponds to the wheel position of the vehicle. The body guide line is located on the outside of the two wheel guide lines, and the extension line of the body guide line corresponds to the contour line on both sides of the body width. It is possible not only to guide the docking between the trailer hook and the trailer through the trailer hook guide line, but also to guide the wheels and body contours of the vehicle when the trailer is docked.

[0045] In one embodiment of the present invention, a trailer trajectory is drawn according to a preset trailer point and arc value, and the trailer trajectory can be displayed on the driver's mobile terminal through the Internet of Things or on the vehicle's on-board display. Specifically, when the drawn trailer trajectory is controlled to be displayed on the on-board display, that is, after the trailer trajectory is drawn, it also includes: transmitting the trailer trajectory to the vehicle's on-board display for display, and dynamically adjusting the arc of the trailer trajectory according to the real-time angle change of the steering wheel.

[0046] In this embodiment, in order to more conveniently guide the docking between the vehicle and the trailer for the drawn trailer trajectory line, the guidance can be performed by displaying it on the vehicle display. Specifically, when controlling the display, the trailer trajectory line with the preset trailer point and the initial arc value is uploaded to the vehicle display. When the driver enters the trailer docking mode, the trailer trajectory line information can be viewed by viewing the trailer docking image displayed in the vehicle display. And when reversing according to the trailer trajectory line, that is, when the driver operates the steering wheel and generates a steering wheel angle, the system will generate a corresponding arc value according to the real-time angle change of the steering wheel. And through the arc value returned to the vehicle display, the arc of the trailer trajectory line in the vehicle display is dynamically adjusted corresponding to the corresponding arc value.

[0047] Preferably, transmitting the trailer trajectory line to the vehicle's on-board display includes: displaying the trailer trajectory line in at least one interactive interface of a reversing image and a panoramic image included in the vehicle's on-board display.

[0048] In one embodiment of the present invention, after the trailer trajectory line is drawn, when it is displayed on the vehicle display, it can be displayed in the reversing image in the reversing mode, that is, the distance warning line behind the vehicle during reversing can be displayed, and the trailer trajectory line can also be displayed at the same time. Thereby, in the reversing mode, reversing and trailer docking guidance can be achieved simultaneously. The trailer trajectory line can also be displayed in the panoramic image. That is, in the full vehicle image, by adding the trailer trajectory line to the rear of the vehicle, the guidance for trailer docking can be further achieved. Of course, the trailer trajectory line can also be a separate trailer docking system. That is, in a separate trailer docking mode, the trailer docking can be completed by displaying the trailer trajectory line separately. Therefore, during use, the trailer trajectory line can be used in combination with reversing images in other forms, or the trailer trajectory line can be used alone.

[0049] Specifically, when the trailer track line is used in conjunction with the reversing image and the panoramic image, in the displayed image, the trailer track line can be displayed as a track line linear color, linear width, linear length and other appearance parameters that are distinguished from other auxiliary track lines in the reversing image and the panoramic image. Of course, when the trailer hook guide line, wheel guide line and body guide line in the reversing track line are used together, they can also be distinguished by specific linear color, linear width, linear length and other appearance parameters to reduce misjudgment of the guide line during use.

[0050] See also Figure 4 In a preferred embodiment, after the turning radius R of the front outer wheel turning angle α is determined, the radian value of each trajectory line corresponding to each point on the turning radius R can be further determined, so as to further assign the radian value of the trailer trajectory line when the trailer hook is located on the turning radius R according to the turning radius R. Specifically, the radian value is an arc line obtained by taking the intersection of the front wheel turning radius and the rear wheel turning radius as the center O and the turning radius R of the front outer wheel of the car as the radius, and the curvature of the arc line is expressed as the radian value. And taking each point x on the turning radius R as the radius R x The arc values ​​obtained are all the same, that is, the arc value of the turning radius R. Of course, the arc corresponding to the trailer trajectory is also a point on the turning radius R, so its arc value is also the same as the arc value of the turning radius R. Therefore, when drawing the trailer trajectory, the arc trajectory can be obtained with the distance from the point on the turning radius R passing through the trailer hook to the center O as the radius R1, that is, the trailer hook guide line corresponding to the arc value can be obtained. The arc trajectory can be drawn with the distance from the intersection of the width-direction contour of the rear of the vehicle and the length-direction contour of both sides of the vehicle body to the center O on the turning radius R as the radius R2 and the radius R3 respectively, that is, the body guide lines corresponding to the arc value on both sides of the trailer hook guide line can be obtained. Of course, it is also possible to use the distance from the intersection of the extension line of the rear wheel extending to the rear of the vehicle and the width-direction contour of the rear of the vehicle to the center O as the radius to obtain the wheel guide line corresponding to the arc value, which will not be repeated here.

[0051] See also Figure 5In a preferred embodiment, the left part of the figure is the reversing trajectory of the vehicle during the reversing process. Specifically, during the reversing process of the vehicle, a trailer trajectory will be formed behind the rear of the vehicle. Among them, the formed trailer trajectory includes two linear lines: one is the trailer hook trajectory (i.e. the trailer hook guide line mentioned above), and the other is the body auxiliary line. In the body auxiliary line, it can be set as needed, such as wheel guide line, body guide line, etc. The wheel guide line can guide the movement trajectory of the wheel when reversing to dock the trailer. The body guide line can be used to guide the body contour on both sides of the body width when moving during the reversing process. The right part of the figure is the image information of the trailer trajectory presented in the trailer docking image when the vehicle is reversing. Among them, because the trailer hook of a general vehicle is located in the middle area of ​​the rear of the vehicle. Therefore, in the image, the middle yellow line is the trailer hook trajectory line, also known as the trailer hook guide line. The yellow lines on both sides of the trailer hook guide line are the body auxiliary lines. The vehicle body auxiliary lines may also be subdivided according to specific usage scenarios and requirements, that is, the guidance of the wheels and the guidance of the vehicle body contour may be performed in the form of wheel guide lines, vehicle body guide lines, etc.

[0052] like Figure 6 As shown, the present invention also provides a trailer docking system, including: an arc conversion unit, the arc conversion unit obtains a vehicle steering signal to obtain an arc value of a trailer trajectory line; and a trajectory drawing unit, the trajectory drawing unit draws a trailer trajectory line according to a preset trailer point position and an arc value to guide the vehicle to dock with the trailer.

[0053] In a trailer docking system of the present embodiment, a radian conversion unit is used to obtain the vehicle body angle according to the vehicle's turning signal when the vehicle is docking with the trailer, and then the radian value that forms the trailer trajectory line is converted. In addition, a trajectory drawing unit is used to further draw the trailer trajectory line according to specific information such as the vehicle's overall size parameters and the obtained trailer trajectory line radian value. The trailer trajectory line can then be sent to the vehicle's on-board system display or the driver's mobile device for display, so that the driver can guide the vehicle to the location of the trailer and complete the docking with the trailer based on the guidance of the trailer trajectory line without the need for the command of others. The trailer can be a motorhome, trailer, or other transport vehicle, carriage, etc. that needs to be towed by another vehicle to move.

[0054] In summary, the present invention determines the curvature value of the trailer trajectory line corresponding to the current vehicle body angle according to the vehicle body angle information. And it can also draw the trailer trajectory line passing through the preset trailer point based on the position of the trailer hook at the rear of the vehicle. And when the vehicle body angle changes, the curvature value of the trailer trajectory line will be controlled to make corresponding adjustments, so that the curvature of the trailer trajectory line can also be dynamically adjusted with the change of the vehicle body angle, guiding the vehicle and the trailer to complete the docking in a real-time manner. Through the above-mentioned method, that is, according to the steering angle information of the steering vehicle, the trailer trajectory line is dynamically adjusted, providing a reference for the driver in the process of reversing and docking the trailer, solving the problem of no reference point between the driver and the trailer during the reversing process, and can better assist the driver to accurately complete the connection between the vehicle and the trailer. Therefore, the present invention effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0055] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A trailer docking method, characterized in that: The steps include: Obtain the vehicle's steering signal and obtain the arc value of the trailer's trajectory line; According to the preset trailer point and the arc value, the trailer trajectory line is drawn to guide the vehicle to dock with the trailer.

2. The trailer docking method according to claim 1, characterized in that: Obtain the vehicle's steering signal and obtain the arc value of the trailer's trajectory, including: Obtaining steering angle information of the steering wheel when the vehicle turns, and obtaining a turning radius of the vehicle; The turning radius is converted to obtain the arc value of the trailer trajectory line.

3. The trailer docking method according to claim 2, characterized in that: Obtaining steering angle information of the steering wheel when the vehicle turns to obtain the turning radius of the vehicle, including: The steering angle information is converted into a wheel rotation angle, and the turning radius is obtained according to the vehicle size parameters.

4. The trailer docking method according to claim 3, characterized in that: The vehicle size parameters include: the front and rear wheel wheelbases, the front wheel track and the kingpin center distance of the front wheels.

5. The trailer docking method according to claim 3, characterized in that: The calculation formula of the turning radius is: Wherein, R is the turning radius, L is the wheelbase of the front and rear wheels, A is the front wheel track, K is the center distance between the two kingpins of the front wheels, and α is the front outer wheel turning angle of the vehicle.

6. The trailer docking method according to claim 1, characterized in that: Drawing the trailer trajectory line according to the preset trailer point position and the arc value includes: A preset trailer point is established, the trailer track line passes through the preset trailer point and extends in the reverse direction of the vehicle, and the curvature of the trailer track line is adjusted to correspond to the curvature value.

7. The trailer docking method according to claim 6, characterized in that: The trailer track line includes: a trailer hook guide line passing through a preset trailer point, and a wheel guide line and a vehicle body guide line arranged parallel to the trailer guide line.

8. The trailer docking method according to claim 1, characterized in that: Drawing the trailer trajectory line, and then also including: The trailer trajectory line is transmitted to the vehicle computer display for display, and the curvature of the trailer trajectory line is dynamically adjusted according to the real-time angle change of the steering wheel.

9. The trailer docking method according to claim 8, characterized in that: Transmitting the trailer trajectory to a vehicle computer display of the vehicle includes: The trailer trajectory line is displayed in at least one interactive interface of a reversing image and a panoramic image included in the vehicle display.

10. A trailer docking system, characterized in that: include: A radian conversion unit, wherein the radian conversion unit obtains a vehicle steering signal and obtains a radian value of a trailer track line; as well as A trajectory drawing unit is used to draw the trailer trajectory line according to a preset trailer point and the arc value, so as to guide the vehicle to dock with the trailer.

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