Trailer train, turning information detection method, electronic equipment and storage medium

Abstract

The invention discloses a trailer train, a turning information detection method and electronic equipment, and belongs to the technical field of vehicle detection. The trailer train comprises a corner monitoring device, a tractor and a semitrailer, at least one sensor is arranged on a chassis of the semitrailer, and the measured value of the sensor is determined by the position relation between the sensor and a traction disc; the turning angle monitoring device is used for acquiring a measured value of the sensor and determining turning information of the trailer train according to the measured value; wherein the turning information is used for describing the turning angle and / or turning direction of the tractor relative to the semitrailer. According to the invention, the turning information of the trailer train can be efficiently detected at low cost on the premise of reducing the interference of the external environment.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle detection, and in particular to a trailer train, a turning information detection method, an electronic device and a storage medium. Background Art

[0002] Trailer trains are widely used in the field of logistics and transportation. Trailer trains include tractors and semi-trailers. A towing pin is installed at the front end of the semi-trailer, and a towing plate is installed at the rear end of the tractor; when connecting, the towing pin of the semi-trailer is inserted into the towing plate of the tractor.

[0003] With the development of science and technology and the advancement of the development plan of the new energy vehicle industry, the level of intelligent driving of trailer trains is getting higher and higher. Intelligent driving requires real-time acquisition of various operating conditions of trailer trains. The turning information between the tractor and the semi-trailer is a very important parameter.

[0004] In related technologies, laser radar, ultrasonic radar, wireless positioning, wire sensor and image recognition are usually used to detect the turning information between the tractor and the semi-trailer. However, these technologies have obvious defects: on the one hand, the operating environment of the trailer train is relatively harsh, and there are pollution sources such as rain, stains, dust and even metal debris. These sensors require regular manual maintenance and cleaning. If the cleaning is not timely, these pollution sources will affect the performance of the sensor, resulting in misjudgment, failure or even malfunction. On the other hand, most of the above sensors have the problem of high cost and are difficult to be widely promoted and popularized. In addition, the above sensors have weak adaptability to the environment and are easily affected by environmental factors such as temperature and humidity.

[0005] Therefore, how to detect the turning information of the trailer train at low cost and efficiently under the premise of reducing external environmental interference is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0006] The purpose of the present application is to provide a trailer train, a turning information detection method and an electronic device, which can detect the turning information of the trailer train at low cost and efficiently under the premise of reducing external environmental interference.

[0007] In order to solve the above technical problems, the present application provides a trailer train, the trailer train comprising a turning angle monitoring device, a tractor and a semi-trailer, the traction pin of the semi-trailer cooperates with the traction disk of the tractor to achieve connection, at least one sensor is arranged on the chassis of the semi-trailer, and the measurement value of the sensor is determined by the positional relationship between the sensor and the traction disk;

[0008] The turning angle monitoring device is used to obtain the measurement value of the sensor and determine the turning information of the trailer train based on the measurement value; wherein the turning information is information used to describe the turning angle and / or turning direction of the tractor relative to the semi-trailer.

[0009] Optionally, the sensor is a proximity sensor for outputting an analog signal or a switching signal.

[0010] Optionally, if the sensor is a proximity sensor for outputting a switch signal, the process of the turning angle monitoring device determining the turning information of the trailer train according to the measured value includes:

[0011] A state change sequence of the proximity sensor is determined according to the measurement value, and turning information of the trailer train is determined according to the state change sequence; wherein, during the turning process of the trailer train, the proximity sensor switches between a first state and a second state, the first state being a state in which a detection area of ​​the proximity sensor is not blocked by the traction disk, and the second state being a state in which the detection area of ​​the proximity sensor is blocked by the traction disk, and the state change sequence is used to describe the order in which the proximity sensor switches between the first state and the second state.

[0012] Optionally, the traction disc is a saddle-shaped traction disc, and at least one first mounting hole is provided on the chassis of the semitrailer at a position corresponding to the bell mouth of the traction disc, and a first proximity sensor is provided in the first mounting hole; when the turning angle of the tractor is 0, the detection areas of all the first proximity sensors are not blocked by the traction disc, and when the turning angle of the tractor is greater than a preset value, the detection area of ​​at least one of the first proximity sensors is blocked by the traction disc;

[0013] Correspondingly, the process of the turning angle monitoring device determining the turning information of the trailer train according to the state change sequence includes:

[0014] The current state of the first proximity sensor is determined according to the state change sequence; if all the first proximity sensors are currently in the first state, it is determined that the turning angle of the tractor is 0; if at least one of the first proximity sensors is currently in the second state, it is determined that the turning angle of the tractor is greater than the preset value.

[0015] Optionally, the chassis of the semitrailer is provided with N second mounting holes and N third mounting holes, the second mounting holes are provided with second proximity sensors, the third mounting holes are provided with third proximity sensors, when the turning angle of the tractor is 0, the detection areas of all the second proximity sensors and all the third proximity sensors are blocked by the traction disc, when the tractor turns left and the turning angle is greater than When the detection area of ​​the i-th second proximity sensor is not blocked by the traction disc, when the trailer train turns right and the turning angle is greater than When the detection area of ​​the i-th third proximity sensor is not blocked by the traction disk, i is the serial number of the proximity sensor, 1≤i≤N;

[0016] Correspondingly, the process of the turning angle monitoring device determining the turning information of the trailer train according to the state change sequence includes: judging whether the second proximity sensor and the third proximity sensor are both in the second state at present according to the state change sequence; if so, determining that the turning angle of the tractor is 0; if not, determining the turning angle and turning direction of the tractor according to the sequence number of the second proximity sensor or the third proximity sensor in the first state.

[0017] Optionally, the traction disk includes an auxiliary detection structure, the auxiliary detection structure is provided with a plurality of through holes, each of the through holes is at the same distance from the rotation center of the traction disk, at least one fourth mounting hole is provided on the chassis of the semi-trailer, at least two fourth proximity sensors are provided in all the fourth mounting holes, and during the turning process of the trailer train, the through holes on the auxiliary detection structure pass through the detection area of ​​the fourth proximity sensor in sequence, and the area of ​​the through holes is larger than the area of ​​the detection area of ​​the fourth proximity sensor.

[0018] Optionally, the total number of the fourth proximity sensors is 2, and when the turning angle of the tractor is 0, the detection areas of the two fourth proximity sensors are not blocked by the auxiliary detection structure, and when the turning angle of the tractor is greater than 0, the detection area of ​​at least one of the fourth proximity sensors is blocked by the auxiliary detection structure.

[0019] Optionally, the total number of the fourth proximity sensors is 2, and when the turning angle of the tractor is 0, the detection areas of the two fourth proximity sensors are blocked by the auxiliary detection structure, and when the turning angle of the tractor is greater than 0, the detection area of ​​at least one of the fourth proximity sensors is not blocked by the auxiliary detection structure.

[0020] Optionally, at least one strip-shaped shielding plate is provided on the traction plate, at least one fifth mounting hole is provided on the chassis of the semi-trailer, a fifth proximity sensor is provided in the fifth mounting hole, and when the trailer train turns, the strip-shaped shielding plate passes through the detection area of ​​the fifth proximity sensor.

[0021] The present application also provides a turning information detection method, which is applied to a turning angle monitoring device of a trailer train, wherein the trailer train further includes a tractor and a semitrailer, wherein a traction pin of the semitrailer cooperates with a traction disk of the tractor to achieve connection, and at least one sensor is arranged on the chassis of the semitrailer, and a measurement value of the sensor is determined by a positional relationship between the sensor and the traction disk. The turning information detection method includes:

[0022] Obtaining a measurement value of the sensor;

[0023] The turning information of the trailer train is determined according to the measurement value; wherein the turning information is information for describing the turning angle and / or turning direction of the tractor relative to the semi-trailer.

[0024] Optionally, if the sensor is a proximity sensor for outputting an analog signal, determining the turning information of the trailer train according to the measured value includes:

[0025] If the measurement value of the proximity sensor is greater than the distance threshold, determining that the proximity sensor is in the first state;

[0026] If the measurement value of the proximity sensor is less than or equal to the distance threshold, determining that the proximity sensor is in the second state;

[0027] A state change sequence of the proximity sensor is determined, and turning information of the trailer train is determined according to the state change sequence.

[0028] Optionally, if the sensor is a proximity sensor for outputting a switch signal, determining the turning information of the trailer train according to the measured value includes:

[0029] If the measurement value of the proximity sensor is 0, it is determined that the proximity sensor is in the first state;

[0030] If the measurement value of the proximity sensor is 1, it is determined that the proximity sensor is in the second state;

[0031] A state change sequence of the proximity sensor is determined, and turning information of the trailer train is determined according to the state change sequence.

[0032] Optionally, after determining the turning information of the trailer train according to the state change sequence, the method further includes:

[0033] Determining whether the turning angle of the tractor relative to the semitrailer is greater than a critical value;

[0034] If yes, a prompt message is output.

[0035] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned turning information detection method when calling the computer program in the memory.

[0036] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps of the above-mentioned turn information detection method are implemented.

[0037] The present application provides a trailer train, which includes a turning angle monitoring device, a tractor and a semi-trailer. At least one sensor is arranged on the chassis of the semi-trailer. The sensor generates a measurement value according to the positional relationship between the sensor and the traction disc during the turning process of the trailer train. When the tractor turns, the traction disc rotates synchronously with the tractor, thereby generating a changing measurement value. The turning angle monitoring device can determine the turning angle and / or turning direction of the tractor relative to the semi-trailer according to the measurement value of the sensor. The above turning information detection method based on the positional relationship between the sensor and the traction disc avoids complex data processing or signal analysis and improves the detection efficiency. The relative movement of the traction disc and the semi-trailer chassis will generate friction. The sensor is installed on the semi-trailer chassis. When the traction disc rotates, the sundries (such as dust, stains, etc.) on the surface of the sensor can be automatically removed to keep the sensor clean and reduce the interference of the external environment on the detection result. Therefore, the present application can detect the turning information of the trailer train at low cost and high efficiency under the premise of reducing the interference of the external environment. The present application also provides a turning information detection device and an electronic device, which have the above beneficial effects and are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 A schematic diagram of the appearance of a trailer train provided in an embodiment of the present application;

[0040] Figure 2 A bottom view of a semi-trailer provided in an embodiment of the present application;

[0041] Figure 3 A schematic structural diagram of a saddle-shaped traction disk provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of the installation position of the first proximity sensor provided in the embodiment of the present application;

[0043] Figure 5 A schematic diagram of the installation position of the second first proximity sensor provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of the arrangement positions of the first second proximity sensor and the third proximity sensor provided in the embodiment of the present application;

[0045] Figure 7 A schematic diagram of the arrangement positions of the second proximity sensor and the third proximity sensor provided in the embodiment of the present application;

[0046] Figure 8 A schematic diagram of the installation position of a multi-proximity sensor provided in an embodiment of the present application;

[0047] Fig. 9 A structural schematic diagram of a traction disk with an auxiliary detection structure provided in an embodiment of the present application;

[0048] Fig.10 A schematic diagram of the installation position of the first fourth proximity sensor provided in an embodiment of the present application;

[0049] Fig.11 A schematic diagram of the installation position of the second fourth proximity sensor provided in the embodiment of the present application;

[0050] Fig.12 A schematic diagram of the structure of a traction disk with a single strip-shaped shielding sheet provided in an embodiment of the present application;

[0051] Fig.13 A schematic diagram of the structure of a traction disk with multiple strip-shaped shielding plates provided in an embodiment of the present application;

[0052] Fig.14 A flowchart of a method for processing turn information provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] See also Figure 1 , Figure 1 A schematic diagram of the appearance of a trailer train provided in an embodiment of the present application. The trailer train includes a turning angle monitoring device, a tractor A and a semitrailer B. The traction pin D of the semitrailer cooperates with the traction disc C of the tractor to achieve connection. At least one sensor is provided on the chassis of the semitrailer. A mounting hole may be provided on the chassis of the semitrailer, and a sensor is provided in the mounting hole. The sensor does not affect the rotation of the traction disc. The movement direction of the traction pin is consistent with the body of the semitrailer, and the movement direction of the traction disc is consistent with the body of the tractor. This embodiment does not limit the shape of the traction disc.

[0055] In this solution, the measured value of the sensor is determined by the positional relationship between the sensor and the traction plate. The measured value of the sensor is used to describe the positional relationship between the sensor and the traction plate, such as whether there is an obstruction or the distance between the two.

[0056] The turning angle monitoring device can be installed in a tractor or a semi-trailer, and can be connected to a proximity sensor so as to determine the status of each proximity sensor in real time. The turning angle monitoring device is used to obtain the measurement value of the sensor and determine the turning information of the trailer train according to the measurement value; wherein the turning information is information used to describe the turning angle and / or turning direction of the tractor relative to the semi-trailer.

[0057] During the turning process of the trailer train, the sensor generates a measurement value based on the positional relationship between itself and the traction disc. When the tractor turns, the traction disc rotates synchronously with the tractor, thereby generating a changing measurement value. The turning angle monitoring device can determine the turning angle and / or turning direction of the tractor relative to the semi-trailer based on the measurement value of the sensor. The above-mentioned turning information detection method based on the positional relationship between the sensor and the traction disc avoids complex data processing or signal analysis and improves the detection efficiency. The relative movement of the traction disc and the semi-trailer chassis will generate friction. The sensor is installed on the semi-trailer chassis. When the traction disc rotates, it can automatically remove debris (such as dust, stains, etc.) on the surface of the sensor, keep the sensor clean, and reduce the interference of the external environment on the detection result. Therefore, the present application can detect the turning information of the trailer train at a low cost and efficiently under the premise of reducing the interference of the external environment.

[0058] The above-mentioned sensor is a proximity sensor for outputting an analog signal or a switching signal. The present embodiment can flexibly adjust the number and position of the proximity sensors according to the actual application scenario to achieve the required measurement accuracy, measurement gear and measurement range. Therefore, the schemes for adjusting the number and position of sensors based on the present embodiment are all within the protection scope of the present invention. The above-mentioned proximity sensors can be sensors based on capacitive, inductive and other measurement principles, or they can be on-off, switching, or analog sensors. The schemes implemented by changing the sensor model based on the present embodiment are all within the protection scope of the present invention.

[0059] The following is an example of a proximity sensor for outputting a switch signal to illustrate the solution for detecting turning information in this embodiment:

[0060] See also Figure 2 , Figure 2 A bottom view of a semitrailer provided in an embodiment of the present application, Figure 2 The S in the code indicates a proximity sensor. Figure 2 The dotted line in the figure represents the position of the traction disc when the tractor and the semi-trailer are connected, and the solid line box represents the chassis. The figure shows the positional relationship between the traction disc and the proximity sensor before and after the rotation. The proximity sensor can output a state quantity, i.e., a first state or a second state, according to whether a metal object is detected within a certain distance range. It can be seen that during the turning process of the trailer train, the proximity sensor switches between the first state and the second state. The first state is a state in which the detection area of ​​the proximity sensor is not blocked by the traction disc, and the second state is a state in which the detection area of ​​the proximity sensor is blocked by the traction disc.

[0061] Although the operating environment of the trailer train has pollution sources such as rain, stains, dust and even metal debris, this solution can use the contact friction between the traction plate and the trailer body to achieve cleaning and maintenance of the proximity sensor during the daily turning process of the trailer train. Therefore, this embodiment can overcome the defect that sensors in related technologies need to be cleaned and maintained in a timely manner.

[0062] The process of the turning angle monitoring device determining the turning information of the trailer train according to the measured value includes: determining the state change sequence of the proximity sensor according to the measured value, and determining the turning information of the trailer train according to the state change sequence. The above state change sequence is used to describe the order in which the proximity sensor switches between the first state and the second state.

[0063] The turning angle monitoring device can determine the turning information of the trailer train according to the state change sequence of a single proximity sensor, and can also determine the turning information of the trailer train according to the state change sequence of multiple proximity sensors.

[0064] In this embodiment, the turning angle monitoring device can obtain the state of the proximity sensor; when the tractor turns, the towing disc rotates synchronously with the tractor, blocking or releasing the detection area of ​​the proximity sensor, thereby generating a state change sequence. The turning angle monitoring device can determine the turning angle and / or turning direction of the tractor relative to the semi-trailer based on the state change sequence. The above detection method based on the state change sequence avoids complex image processing or signal analysis and improves detection efficiency. The proximity sensor has strong adaptability to the environment and reduces misjudgment caused by changes in the external environment.

[0065] As for Figure 1 For further description of the corresponding embodiment, the traction disc is a saddle-shaped traction disc, see Figure 3 , Figure 3 The present invention provides a schematic structural diagram of a saddle-shaped traction disk provided in an embodiment of the present invention, wherein the traction disk has a trumpet-shaped notch P, i.e., a trumpet mouth. At least one first mounting hole E1 is provided on the chassis of the semitrailer at a position corresponding to the trumpet mouth of the traction disk, and a first proximity sensor S1 is provided in the first mounting hole.

[0066] The first installation hole and the installation position of the first proximity sensor meet the following constraint conditions: when the turning angle of the tractor is 0, the detection areas of all the first proximity sensors are not blocked by the traction disc, and when the turning angle of the tractor is greater than a preset value, the detection area of ​​at least one of the first proximity sensors is blocked by the traction disc. The preset value can be determined according to the installation position of the first proximity sensor.

[0067] The process of the turning angle monitoring device determining the turning information of the trailer train according to the state change sequence includes: determining the current state of the first proximity sensor according to the state change sequence; if all of the first proximity sensors are currently in the first state, determining that the turning angle of the tractor is 0; if at least one of the first proximity sensors is currently in the second state, determining that the turning angle of the tractor is greater than the preset value.

[0068] The first mounting hole and the first proximity sensor can be installed at any position that meets the above constraints. As a feasible implementation, the first mounting hole and the first proximity sensor can be located at Figure 4 The location shown, Figure 4 This is a schematic diagram of the installation position of the first proximity sensor provided in an embodiment of the present application, and the viewing direction is from the bottom of the vehicle to the roof. Figure 4 1 shows a first mounting hole E1 and three first proximity sensors S1a, S1b and S1c. The first proximity sensors S1a and S1c are arranged at positions that are not blocked by the traction disk. Figure 4 In the structure shown, when the tractor and the semi-trailer are in the same direction, the three first proximity sensors are simultaneously in a state where they cannot detect the traction plate, i.e., the first state. On this basis, the trailer train may be in the following turning states:

[0069] Turning state A1: In this turning state, the tractor and the semitrailer are in the same direction. At this time, the first proximity sensors S1a, S1b and S1c cannot detect the towing disc and are therefore in the first state. At this time, it can be determined that the tractor has not turned, that is, the turning angle of the tractor relative to the semitrailer is 0.

[0070] Turning state A2: the first proximity sensors S1a and S1b cannot detect the traction disc and are therefore in the first state, while the first proximity sensor S1c can detect the traction disc and is therefore in the second state. At this time, it is determined that the tractor turns left and the turning angle is y1.

[0071] Turning state A3: the first proximity sensor S1a cannot detect the traction disc and is therefore in the first state, and the first proximity sensors S1b and S1c can detect the traction disc and are therefore in the second state. At this time, it is determined that the tractor turns left and the turning angle is y2.

[0072] Turning state A4: the first proximity sensors S1b and S1c cannot detect the traction disc and are therefore in the first state, while the first proximity sensor S1a can detect the traction disc and is therefore in the second state. At this time, it is determined that the tractor turns right and the turning angle is y1.

[0073] Turning state A5: the first proximity sensor S1c cannot detect the traction disc and is therefore in the first state, and the first proximity sensors S1a and S1b can detect the traction disc and are therefore in the second state. At this time, it is determined that the tractor turns right and the turning angle is y2.

[0074] Turning state A6: The first proximity sensors S1a, S1b and S1c can all detect that the traction sheave is in the second state, and the following judgment is made at this time:

[0075] If the turning state of the trailer train changes in the order of A1, A2, A3, A6, then it is determined that the tractor turns left and the turning angle is y3;

[0076] If the turning state change sequence of the trailer train is: A1, A4, A5, A6, then this determines that the tractor turns right and the turning angle is y3.

[0077] In the above solution, the rotation angle y1<rotation angle y2<rotation angle y3. The above solution can achieve high-precision rotation angle detection. Without changing the number of sensors, this embodiment can achieve the rotation angle measurement accuracy and measurement range by modifying the position adjustment of the first proximity sensor.

[0078] As a feasible implementation, if the required angle measurement accuracy and gear position requirements are not high, the number of first proximity sensors can be reduced to 2 to reduce equipment costs and installation and detection procedures. The first mounting hole and the first proximity sensor can be Figure 5 The location shown, Figure 5 This is a schematic diagram of the setting position of the second type of first proximity sensor provided in an embodiment of the present application, wherein the viewing direction is from the bottom of the vehicle to the top of the vehicle. When the tractor and the semi-trailer are in the same direction, the two first proximity sensors are simultaneously in a state where they cannot detect the traction disc, i.e., the first state. Figure 5 A first mounting hole E1 and two first proximity sensors S1a and S1b are shown in FIG. On this basis, the trailer train may have the following turning states:

[0079] Turning state B1: the first proximity sensors S1a and S1b cannot detect the traction disc and are therefore in the first state. At this time, it is determined that the tractor is not turning.

[0080] Turning state B2: the first proximity sensor S1a cannot detect the traction disc and is therefore in the first state, and the first proximity sensor S1b can detect the traction disc and is therefore in the second state. At this time, it is determined that the tractor turns left and the turning angle is z1.

[0081] Turning state B3: the first proximity sensor S1a can detect the traction disc and is therefore in the second state, while the first proximity sensor S1b cannot detect the traction disc and is therefore in the first state. At this time, it is determined that the tractor turns right and the turning angle is z1.

[0082] Turning state B4: The first proximity sensors S1a and S1b can both detect the traction disc and are therefore in the second state. At this time, the following judgment is made:

[0083] If the turning state of the trailer train changes in the order of: B1, B2, B4, then it is determined that the tractor turns left and the turning angle is z2;

[0084] If the turning state of the trailer train changes in the order of B1, B3, B4, then it is determined that the tractor turns right and the turning angle is z2.

[0085] In the above solution, the turning angle z1<the turning angle z2. The above solution using two first proximity sensors can detect five turning angles while realizing the left and right turning detection of the tractor.

[0086] If the angle detection accuracy requirement is further reduced, the present embodiment can further reduce the number of first sensors to 1. In the case of one first sensor, the result of whether the tractor is turning can be determined based on whether the first sensor can detect the traction plate. This solution can be applied to the working condition where only whether the tractor is turning needs to be known.

[0087] As for Figure 1 As a further introduction to the corresponding embodiment, N second mounting holes and N third mounting holes are arranged on the chassis of the semi-trailer, a second proximity sensor is arranged in the second mounting hole, and a third proximity sensor is arranged in the third mounting hole.

[0088] See also Figure 6 , Figure 6 The schematic diagram of the installation position of the first second proximity sensor and the third proximity sensor provided in the embodiment of the present application, the viewing direction is viewed from the bottom of the vehicle to the top of the vehicle, in which E2 represents the second mounting hole, E3 represents the third mounting hole, S2 represents the second proximity sensor, and S3 represents the third proximity sensor. When the turning angle of the tractor is 0, the detection areas of all the second proximity sensors and all the third proximity sensors are blocked by the traction disc. When the tractor turns left and the turning angle is greater than When the detection area of ​​the i-th second proximity sensor is not blocked by the traction disc, when the trailer train turns right and the turning angle is greater than When the detection area of ​​the i-th third proximity sensor is not blocked by the traction disk, i is the serial number of the proximity sensor, 1≤i≤N.

[0089] The process of the turning angle monitoring device determining the turning information of the trailer train according to the state change sequence includes: judging whether the second proximity sensor and the third proximity sensor are both in the second state at present according to the state change sequence; if so, determining that the turning angle of the tractor is 0; if not, determining the turning angle and turning direction of the tractor according to the sequence number of the second proximity sensor or the third proximity sensor in the first state. In addition, the present embodiment can also determine the turning angle and turning direction of the tractor according to the sequence number of the second proximity sensor or the third proximity sensor in the second state.

[0090] If there are multiple second proximity sensors or multiple third proximity sensors in the first state, the turning angle corresponding to the second proximity sensors or third proximity sensors in the first state is The maximum value of is set to the actual turning angle of the tractor relative to the semi-trailer.

[0091] See also Figure 7 , Figure 7 The schematic diagram of the second type of second proximity sensor and the third proximity sensor provided in the embodiment of the present application is viewed from the bottom of the vehicle to the top of the vehicle. In the figure, E2 represents the second mounting hole, E3 represents the third mounting hole, S2 represents the second proximity sensor, and S3 represents the third proximity sensor. The second proximity sensor and the third proximity sensor are arranged at a position just blocked by the traction disk.

[0092] Figure 7 There is a second proximity sensor S2 and a third proximity sensor S3 in the vehicle. When the tractor and the semi-trailer are in the same direction, the second proximity sensor and the third proximity sensor are both in a state where they can detect the traction plate, i.e., the second state. On this basis, the trailer train can have the following turning states:

[0093] Turning state C1: at the start-up time, if the second proximity sensor S2 and the third proximity sensor S3 can both detect that the traction disk is in the second state, it is determined that the tractor is not turning.

[0094] Turning state C2: the second proximity sensor S2 cannot detect the traction disc and is therefore in the first state, and the third proximity sensor S3 can detect that the traction disc is in the second state, at which time it is determined that the tractor is turning left and the turning angle is m1.

[0095] Turning state C3: the second proximity sensor S2 can detect that the traction disc is in the second state, and the third proximity sensor S3 cannot detect the traction disc and is therefore in the first state. At this time, it is determined that the tractor turns right and the turning angle is m1.

[0096] Turning state C4: After turning, if the second proximity sensor S2 and the third proximity sensor S3 can both detect that the traction disk is in the second state, the following judgment is made:

[0097] If the turning state of the trailer train changes in the order of: C1, C2, C4, then it is determined that the tractor turns left and the turning angle is m2.

[0098] If the turning state of the trailer train changes in the order of: C1, C3, C4, then it is determined that the tractor turns right and the turning angle is m2.

[0099] In the above solution, the turning angle m1<the turning angle m2, and the turning angle z2<the turning angle m2.

[0100] It can be seen that without changing the number of sensors, only changing the sensor positions can achieve changes in the angle measurement accuracy and measurement range.

[0101] As for Figure 1 For further description of the corresponding embodiment, the chassis of the semi-trailer can be provided with a first proximity sensor S1, a second proximity sensor S2 and a third proximity sensor S3 at the same time, see Figure 8 , Figure 8 A schematic diagram of the location of a multi-proximity sensor provided in an embodiment of the present application is shown in FIG. Figure 8The viewing direction is from the bottom of the vehicle to the top of the vehicle. In the figure, E1 represents the first mounting hole, E2 represents the second mounting hole, E3 represents the third mounting hole, S1 represents the first proximity sensor, S2 represents the second proximity sensor, and S3 represents the third proximity sensor. On this basis, the trailer train can have the following turning states:

[0102] Turning state D1: the first proximity sensor S1 cannot detect the traction disc and is therefore in the first state, the second proximity sensor S2 and the third proximity sensor S3 can detect the traction disc and are therefore in the second state, and it is determined that the tractor is not turning.

[0103] Turning state D2: the first proximity sensor S1 and the second proximity sensor S2 cannot detect the traction disc and are therefore in the first state, while the third proximity sensor S3 can detect the traction disc and is therefore in the second state. At this time, it is determined that the tractor is turning left and the turning angle is x1.

[0104] Turning state D3: the first proximity sensor S1 and the third proximity sensor S3 detect the traction disc and are therefore in the second state, while the second proximity sensor S2 cannot detect the traction disc and is therefore in the first state. At this time, it is determined that the tractor turns left and the turning angle is x2.

[0105] Turning state D4: the first proximity sensor S1 and the third proximity sensor S3 cannot detect the traction disc and are therefore in the first state, while the second proximity sensor S2 can detect the traction disc and is therefore in the second state. At this time, it is determined that the tractor turns right and the turning angle is x1.

[0106] Turning state D5: the first proximity sensor S1 and the second proximity sensor S2 detect the traction disc and are therefore in the second state, and the third proximity sensor S3 cannot detect the traction disc and is therefore in the first state. At this time, it is determined that the tractor turns right and the turning angle is x2.

[0107] Turning state D6: the first proximity sensor S1, the second proximity sensor S2 and the third proximity sensor S3 can all detect that the traction disk is in the second state, and the following judgment is made at this time:

[0108] If the turning state of the trailer train changes in the order of: D1, D2, D3, D6, then it is determined that the tractor turns left and the turning angle is x3;

[0109] If the turning state of the trailer train changes in the order of: D1, D4, D5, D6, then it is determined that the tractor turns right and the turning angle is x3.

[0110] In the above state, the turning angle x1<turning angle x2<turning angle x3, the turning angle y1<turning angle x1, and the turning angle y3<turning angle x3. The above solution can detect 7 turning states while realizing the left and right turning detection of the tractor.

[0111] As for Figure 1 According to a further description of the corresponding embodiment, the traction disk includes an auxiliary detection structure, and a plurality of through holes are arranged on the auxiliary detection structure, and the distance between each of the through holes and the rotation center of the traction disk is the same.

[0112] The auxiliary detection structure can be conveniently installed on different styles of traction discs used in the market. This embodiment can adjust the installation structure between the traction disc and the traction disc according to the type and style of the traction disc, so the changes made are within the protection scope of the present invention.

[0113] See also Fig. 9 , Fig. 9 This is a schematic structural diagram of a traction disk with an auxiliary detection structure provided in an embodiment of the present application, in which F represents the auxiliary detection structure and G represents a through hole.

[0114] Correspondingly, at least one fourth mounting hole may be provided on the chassis of the semi-trailer, and at least two fourth proximity sensors may be provided in all the fourth mounting holes. During the turning process of the trailer train, the through holes on the auxiliary detection structure pass through the detection area of ​​the fourth proximity sensor in sequence, and the area of ​​the through holes is larger than the area of ​​the detection area of ​​the fourth proximity sensor.

[0115] When the traction disk is at a certain position of the auxiliary detection structure, the two fourth proximity sensors can be at the through hole at the same time without detecting the auxiliary detection structure. The above position can be the center position of the auxiliary detection structure, and the changes made by adjusting this position are also within the protection scope of the present invention.

[0116] When the traction plate rotates to drive the auxiliary detection structure to rotate with the traction pin as the origin, the auxiliary detection structure cannot be detected whenever the fourth proximity sensor passes through the through hole; the auxiliary detection structure can be integrated or split. This embodiment does not limit the shapes of the auxiliary detection structure and the through hole.

[0117] As a feasible implementation manner, the total number of the fourth proximity sensors is 2, when the turning angle of the tractor is 0, the detection areas of the two fourth proximity sensors are not blocked by the auxiliary detection structure, and when the turning angle of the tractor is greater than 0, the detection area of ​​at least one of the fourth proximity sensors is blocked by the auxiliary detection structure.

[0118] See also Fig.10 , Fig.10This is a schematic diagram of the location of the first fourth proximity sensor provided in the embodiment of the present application. When the turning angle of the tractor is 0, the fourth proximity sensors S4a and S4b are arranged in the central through hole of the auxiliary detection structure. Except for the central through hole, the other through holes do not block at most one fourth proximity sensor. On this basis, the trailer train can have the following turning states:

[0119] Turning state F1: the fourth proximity sensors S4a and S4b are simultaneously located at the through hole of the auxiliary detection structure and cannot detect the existence of the auxiliary detection structure, so the fourth proximity sensors S4a and S4b are simultaneously in the first state, and the tractor is not turning at this time.

[0120] Turning state F2: Based on the turning state F1, if the fourth proximity sensor S4a detects the auxiliary detection structure and is therefore in the second state, and the fourth proximity sensor S4b does not detect the auxiliary detection structure and is therefore in the first state, the tractor turns left to the first angle.

[0121] Turning state F3: If the sensor goes from turning state F1 to turning state F2, and then the fourth proximity sensor S4a detects the auxiliary detection structure and is in the second state, and the fourth proximity sensor S4b detects the auxiliary detection structure and is in the second state, then the tractor turns left to the second angle.

[0122] Turning state F4: If the sensor goes through turning state F1, turning state F2, and turning state F3, and then the fourth proximity sensor S4a cannot detect the auxiliary detection structure and is therefore in the first state, and the fourth proximity sensor S4b detects the auxiliary detection structure and is therefore in the second state, then the tractor turns left to the third angle.

[0123] Turning state F5: If the sensor goes through turning state F1, turning state F2, turning state F3, and turning state F4, and then the fourth proximity sensor S4a detects the auxiliary detection structure and is therefore in the second state, and the fourth proximity sensor S4b cannot detect the auxiliary detection structure and is therefore in the first state, then the tractor turns left to the fourth angle.

[0124] Taking the turning state F1 as the starting point, during the tractor turning left, the states of the fourth proximity sensors S4a and S4b change as follows:

[0125] S4a is in the first state, S4b is in the first state;

[0126] S4a is in the second state, S4b is in the first state;

[0127] S4a is in the second state, S4b is in the second state;

[0128] S4a is in the first state, S4b is in the second state;

[0129] S4a is in the second state, S4b is in the first state;

[0130] S4a is in the second state, and S4b is in the second state.

[0131] In the process of returning to the turning state F1 from the left turning state of the tractor, the states of the fourth proximity sensors S4a and S4b change as follows:

[0132] S4a is in the second state, S4b is in the second state;

[0133] S4a is in the second state, S4b is in the first state;

[0134] S4a is in the first state, S4b is in the second state;

[0135] S4a is in the second state, S4b is in the second state;

[0136] S4a is in the second state, S4b is in the first state; ......;

[0138] S4a is in the second state, S4b is in the second state;

[0139] S4a is in the second state, S4b is in the first state;

[0140] S4a is in the first state, S4b is in the second state;

[0141] S4a is in the second state, S4b is in the second state;

[0142] S4a is in the second state, S4b is in the first state;

[0143] S4a is in the first state, and S4b is in the first state.

[0144] Taking the turning state F1 as the starting point, during the right turn of the tractor, the states of the fourth proximity sensors S4a and S4b change as follows:

[0145] S4a is in the first state, S4b is in the first state;

[0146] S4a is in the first state, S4b is in the second state;

[0147] S4a is in the second state, S4b is in the second state;

[0148] S4a is in the second state, S4b is in the first state;

[0149] S4a is in the first state, S4b is in the second state;

[0150] S4a is in the second state, and S4b is in the second state.

[0151] When the tractor is turning right, during the turning state F1, the states of the fourth proximity sensors S4a and S4b change as follows:

[0152] S4a is in the second state, S4b is in the second state;

[0153] S4a is in the first state, S4b is in the second state;

[0154] S4a is in the second state, S4b is in the first state;

[0155] S4a is in the second state, S4b is in the second state;

[0156] S4a is in the first state, S4b is in the second state; ......;

[0158] S4a is in the second state, S4b is in the second state;

[0159] S4a is in the first state, S4b is in the second state;

[0160] S4a is in the second state, S4b is in the first state;

[0161] S4a is in the second state, S4b is in the second state;

[0162] S4a is in the first state, S4b is in the second state;

[0163] S4a is in the first state, and S4b is in the first state.

[0164] According to the variation rules of the fourth proximity sensors S4a and S4b listed above and the calibrated angle values ​​made at various angles, the specific turning angle values ​​of the tractor at various states can be obtained.

[0165] As a feasible implementation manner, the total number of the fourth proximity sensors is 2. Fig.11 , Fig.11This is a schematic diagram of the setting position of the second fourth proximity sensor provided in an embodiment of the present application. When the turning angle of the tractor is 0, the fourth proximity sensors S4a and S4b are blocked by the auxiliary detection structure. The through hole setting condition of the auxiliary detection structure is: when the turning angle of the tractor is 0, the detection areas of the two fourth proximity sensors are blocked by the auxiliary detection structure, and when the turning angle of the tractor is greater than 0, the detection area of ​​at least one of the fourth proximity sensors is not blocked by the auxiliary detection structure.

[0166] When the traction disk is at a certain position of the auxiliary detection structure, the fourth proximity sensors S4a and S4b can detect the auxiliary detection structure at the same time. For example, this position is the center position of the auxiliary detection structure, and the changes made by adjusting this position are also within the protection scope of the present invention. When the traction disk rotates to drive the auxiliary detection structure to rotate with the traction pin as the origin, whenever the fourth proximity sensors S4a and S4b pass through the through hole, the auxiliary detection structure can be detected at the same time. This embodiment does not limit the number of through holes and the spacing between through holes of the auxiliary detection structure; as a feasible implementation method, the spacing between the four through holes on the left side of the auxiliary detection structure is a fixed value d, and the spacing between the four through holes on the right side is a fixed value d, and the distance between the fourth proximity sensors S4a and S4b is equal to the fixed value d.

[0167] As for Figure 1 Further introduction to the corresponding embodiment, at least one strip-shaped shielding piece is provided on the traction plate, at least one fifth mounting hole is provided on the chassis of the semi-trailer, a fifth proximity sensor is provided in the fifth mounting hole, and during the turning process of the trailer train, the strip-shaped shielding piece passes through the detection area of ​​the fifth proximity sensor.

[0168] See also Fig.12 , Fig.12 The schematic diagram of the structure of a traction disk with a single strip shielding plate provided in an embodiment of the present application. When the trailer train is turning, the strip shielding plate can shield the fifth proximity sensor.

[0169] See also Fig.13 , Fig.13 The schematic diagram of the structure of a traction plate with multiple strip shielding plates provided in the embodiment of the present application. When the trailer train turns, the strip shielding plates can shield the fifth proximity sensor in turn. Fig.12 The dotted line in represents the position of the fifth proximity sensor. Fig.13 The S5 in FIG. 1 represents the fifth proximity sensor.

[0170] As a feasible implementation, the auxiliary detection structure and the strip shielding sheet can be provided on the traction disc at the same time. The proximity sensor provided on the chassis of the semitrailer can be any one or a combination of the first proximity sensor, the second proximity sensor, the third proximity sensor, the fourth proximity sensor and the fifth proximity sensor. If there are multiple proximity sensors, the turning information can be determined according to the states of the multiple proximity sensors; for example, the corresponding turning angle can be determined according to the state of each proximity sensor, and the maximum value, minimum value or average value of all turning angles can be used as the turning angle in the turning information.

[0171] This embodiment also provides a turning information detection method, which is applied to any of the above-mentioned turning angle monitoring devices for trailer trains. The turning information detection method comprises: obtaining the measurement value of the sensor; determining the turning information of the trailer train according to the measurement value; wherein the turning information is information used to describe the turning angle and / or turning direction of the tractor relative to the semi-trailer.

[0172] If the sensor is a proximity sensor for outputting an analog signal, the process of the turning angle monitoring device determining the turning information includes: if the measurement value of the proximity sensor is greater than a distance threshold, determining that the proximity sensor is in a first state; if the measurement value of the proximity sensor is less than or equal to the distance threshold, determining that the proximity sensor is in a second state; determining a state change sequence of the proximity sensor, and determining the turning information of the trailer train according to the state change sequence.

[0173] If the sensor is a proximity sensor for outputting a switching signal, the process of the turning angle monitoring device determining the turning information includes: if the measurement value of the proximity sensor is 0, determining that the proximity sensor is in a first state; if the measurement value of the proximity sensor is 1, determining that the proximity sensor is in a second state; determining the state change sequence of the proximity sensor, and determining the turning information of the trailer train according to the state change sequence.

[0174] See also Fig.14 , Fig.14 This is a flow chart of a turning information processing method provided in an embodiment of the present application. This method can prevent the trailer train from rolling over, folding the vehicle, etc. due to unnecessary driving when turning. This method includes the following steps:

[0175] S1401: Acquire a state change sequence of the proximity sensor;

[0176] S1402: Determine the turning angle and turning direction of the trailer train at the current moment according to the state change sequence;

[0177] S1403: Determine whether the turning angle of the trailer train at the current moment is greater than a critical value; if so, proceed to S1404; if not, proceed to S1401;

[0178] The turning angle of the trailer train at the current moment refers to: the turning angle of the tractor relative to the semi-trailer at the current moment;

[0179] S1404: Output prompt information.

[0180] In this embodiment, the turning angle monitoring device can obtain the state of the proximity sensor; when the tractor turns, the traction disc rotates synchronously with the tractor, blocking or releasing the detection area of ​​the proximity sensor, thereby generating a state change sequence. The turning angle monitoring device can determine the turning angle and / or turning direction of the tractor relative to the semi-trailer according to the state change sequence. The above detection method based on the state change sequence avoids complex image processing or signal analysis and improves the detection efficiency. The proximity sensor has strong adaptability to the environment and reduces misjudgment caused by changes in the external environment; the relative movement of the traction disc and the semi-trailer chassis will generate friction. The proximity sensor is installed on the semi-trailer chassis. When the traction disc rotates, the sundries (such as dust, stains, etc.) on the sensor surface can be removed to keep the sensor clean, avoid interference of the external environment on the detection results, and no manual maintenance and cleaning is required. Therefore, this embodiment can detect the turning information of the trailer train at low cost and high efficiency under the premise of avoiding interference from the external environment.

[0181] Since the embodiments of the method part correspond to the embodiments of this part, please refer to the description of the embodiments of this part for the embodiments of the method part, which will not be repeated here.

[0182] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0183] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0184] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of this application.

[0185] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A trailer train, comprising a turning angle monitoring device, a tractor and a semitrailer, wherein a traction pin of the semitrailer cooperates with a traction disc of the tractor to achieve connection, characterized in that: At least one sensor is provided on the chassis of the semi-trailer, and the measurement value of the sensor is determined by the positional relationship between the sensor and the traction disk; The turning angle monitoring device is used to obtain the measurement value of the sensor and determine the turning information of the trailer train based on the measurement value; wherein the turning information is information used to describe the turning angle and / or turning direction of the tractor relative to the semi-trailer.

2. The trailer train according to claim 1, characterized in that: The sensor is a proximity sensor for outputting an analog signal or a switching signal.

3. The trailer train according to claim 2, characterized in that: If the sensor is a proximity sensor for outputting a switch signal, the process of the turning angle monitoring device determining the turning information of the trailer train according to the measured value includes: A state change sequence of the proximity sensor is determined according to the measurement value, and turning information of the trailer train is determined according to the state change sequence; wherein, during the turning process of the trailer train, the proximity sensor switches between a first state and a second state, the first state being a state in which a detection area of ​​the proximity sensor is not blocked by the traction disk, and the second state being a state in which the detection area of ​​the proximity sensor is blocked by the traction disk, and the state change sequence is used to describe the order in which the proximity sensor switches between the first state and the second state.

4. The trailer train according to claim 3, characterized in that: The traction disc is a saddle-shaped traction disc, at least one first mounting hole is provided on the chassis of the semitrailer at a position corresponding to the bell mouth of the traction disc, and a first proximity sensor is provided in the first mounting hole; when the turning angle of the tractor is 0, the detection areas of all the first proximity sensors are not blocked by the traction disc, and when the turning angle of the tractor is greater than a preset value, the detection area of ​​at least one of the first proximity sensors is blocked by the traction disc; Correspondingly, the process of the turning angle monitoring device determining the turning information of the trailer train according to the state change sequence includes: determining a current state of the first proximity sensor according to the state change sequence; If all the first proximity sensors are currently in the first state, it is determined that the turning angle of the tractor is 0; if at least one of the first proximity sensors is currently in the second state, it is determined that the turning angle of the tractor is greater than the preset value.

5. The trailer train according to claim 3, characterized in that: The chassis of the semitrailer is provided with N second mounting holes and N third mounting holes, the second mounting holes are provided with second proximity sensors, the third mounting holes are provided with third proximity sensors, when the turning angle of the tractor is 0, the detection areas of all the second proximity sensors and all the third proximity sensors are blocked by the traction disc, when the tractor turns left and the turning angle is greater than When the detection area of ​​the i-th second proximity sensor is not blocked by the traction disc, when the trailer train turns right and the turning angle is greater than When the detection area of ​​the i-th third proximity sensor is not blocked by the traction disk, i is the serial number of the proximity sensor, 1≤i≤N; Correspondingly, the process of the turning angle monitoring device determining the turning information of the trailer train according to the state change sequence includes: judging whether the second proximity sensor and the third proximity sensor are both in the second state at present according to the state change sequence; if so, determining that the turning angle of the tractor is 0; if not, determining the turning angle and turning direction of the tractor according to the sequence number of the second proximity sensor or the third proximity sensor in the first state.

6. The trailer train according to claim 3, characterized in that: The traction disk comprises an auxiliary detection structure, the auxiliary detection structure is provided with a plurality of through holes, each of the through holes is at the same distance from the rotation center of the traction disk, at least one fourth mounting hole is provided on the chassis of the semi-trailer, at least two fourth proximity sensors are provided in all the fourth mounting holes, and during the turning process of the trailer train, the through holes on the auxiliary detection structure sequentially pass through the detection area of ​​the fourth proximity sensor, and the area of ​​the through holes is larger than the area of ​​the detection area of ​​the fourth proximity sensor.

7. The trailer train according to claim 6, characterized in that: The total number of the fourth proximity sensors is 2. When the turning angle of the tractor is 0, the detection areas of the two fourth proximity sensors are not blocked by the auxiliary detection structure. When the turning angle of the tractor is greater than 0, the detection area of ​​at least one of the fourth proximity sensors is blocked by the auxiliary detection structure.

8. The trailer train according to claim 6, characterized in that: The total number of the fourth proximity sensors is 2. When the turning angle of the tractor is 0, the detection areas of the two fourth proximity sensors are blocked by the auxiliary detection structure. When the turning angle of the tractor is greater than 0, the detection area of ​​at least one of the fourth proximity sensors is not blocked by the auxiliary detection structure.

9. The trailer train according to claim 3, characterized in that: At least one strip-shaped shielding sheet is arranged on the traction plate, at least one fifth mounting hole is arranged on the chassis of the semi-trailer, a fifth proximity sensor is arranged in the fifth mounting hole, and during the turning process of the trailer train, the strip-shaped shielding sheet passes through the detection area of ​​the fifth proximity sensor.

10. A turning information detection method, applied to a turning angle monitoring device of a trailer train, wherein the trailer train further comprises a tractor and a semitrailer, wherein a traction pin of the semitrailer cooperates with a traction disc of the tractor to achieve connection, characterized in that: At least one sensor is provided on the chassis of the semi-trailer, and the measurement value of the sensor is determined by the positional relationship between the sensor and the traction disk. The turning information detection method includes: Obtaining a measurement value of the sensor; The turning information of the trailer train is determined according to the measurement value; wherein the turning information is information for describing the turning angle and / or turning direction of the tractor relative to the semi-trailer.

11. The turning information detection method according to claim 10, characterized in that: If the sensor is a proximity sensor for outputting an analog signal, determining the turning information of the trailer train according to the measured value includes: If the measurement value of the proximity sensor is greater than the distance threshold, determining that the proximity sensor is in the first state; If the measurement value of the proximity sensor is less than or equal to the distance threshold, determining that the proximity sensor is in the second state; A state change sequence of the proximity sensor is determined, and turning information of the trailer train is determined according to the state change sequence.

12. The turning information detection method according to claim 10, characterized in that: If the sensor is a proximity sensor for outputting a switch signal, determining the turning information of the trailer train according to the measured value includes: If the measurement value of the proximity sensor is 0, it is determined that the proximity sensor is in the first state; If the measurement value of the proximity sensor is 1, it is determined that the proximity sensor is in the second state; A state change sequence of the proximity sensor is determined, and turning information of the trailer train is determined according to the state change sequence.

13. The turning information detection method according to claim 11 or 12, characterized in that: After determining the turning information of the trailer train according to the state change sequence, the method further includes: Determining whether the turning angle of the tractor relative to the semitrailer is greater than a critical value; If yes, a prompt message is output.

14. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the turning information detection method according to any one of claims 10 to 13 when calling the computer program in the memory.

15. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the turn information detection method according to any one of claims 10 to 13 are implemented.

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