Method for automatically connecting and detaching trailers

Abstract

The present invention relates to the technology of coupling and decoupling trailers in the field of intelligent transportation management systems for commercial vehicles, and a method for automatic coupling and decoupling of trailers. By forming a wireless mesh network with a tractor and multiple trailers, and using the number of received data packets and the signal strength of the first hop as the basis for automatic identification and matching, the present invention solves the cumbersome operation problem of manual binding, improves the reliability and accuracy of system identification, and can realize the automatic identification, matching and sorting of the transceiver of the tractor and the transceiver of a single trailer or multiple trailers.

Description

Technical Field

[0001] The present invention relates to the technical field of articulated and drop-and-hitch transportation, and particularly to a method for automatic articulated and drop-and-hitch operation. Background Art

[0002] In the drop-and-hitch transportation industry, vehicle status monitoring is generally achieved through data communication between sensors and transceivers installed on tractors and trailers. A transceiver is installed on the trailer to receive data from various sensors installed on the trailer, and then the transceiver sends the data to the transceiver or terminal device (TBOX or Gateway) or display device installed on the tractor through wired or wireless communication methods for data display or forwarding. The prior art adopts the following three solutions: The first solution uses wired communication for data transmission, and this solution requires reconnecting the data cable after articulated and drop-and-hitch operations. The second solution uses wireless transparent transmission for data transmission, and this solution is prone to data crosstalk problems in an environment where multiple vehicles coexist. The third solution uses wireless addressing communication for data transmission, and this method requires re-binding the vehicle after each articulated and drop-and-hitch operation, and this operation step is prone to omission or error.

[0003] The above three solutions all have the disadvantage of insufficient intelligence, and in addition, each solution has the following different disadvantages: The first solution: Using wired communication, the product cost and installation cost of this solution will increase, and there are problems of forgetting to connect or damage of communication lines and connectors during on-site use, resulting in system failure. The second solution: Using wireless transparent transmission communication, there will be crosstalk problems in the head vehicle data reception when multiple trailers coexist, and the reliability of data communication is not high. The third solution: Using wireless addressing communication, this solution requires manual binding after each articulated and drop-and-hitch operation, and this operation is prone to omission and binding errors. In addition, it has certain requirements for the skills of operators and is prone to binding error problems.

[0004] Therefore, there is an urgent need in the industry for a solution that can automatically identify and match tractors and trailers or multiple trailers. Summary of the Invention

[0005] Aiming at the problems existing in the prior art, the present invention provides a method for automatic articulated and drop-and-hitch operation.

[0006] The present invention provides an automatic coupling and unhitching method, which is applied to a target tractor. The target tractor and at least one trailer form a wireless mesh network. In the wireless mesh network, each trailer is used to send data packets to the target tractor and is also used to forward data packets sent by other trailers to the target tractor. The data packet includes the trailer identifier of the source trailer that sends the data packet. The first trailer that forwards the data packet is also used to record the first-hop signal strength in the forwarded data packet. The first-hop signal strength is the signal strength received by the first trailer after the data packet is sent, and the first-hop signal strength remains unchanged during the subsequent data packet forwarding process. All trailers that forward the data packet are also used to record the forwarding hop count in the forwarded data packet. The forwarding hop count represents the number of times the data packet is forwarded, and the number includes the current forwarding.

[0007] The method includes a trailer automatic identification and matching process, and the trailer automatic identification and matching process includes:

[0008] Determine a first set value, where the first set value is the total number of trailers matched by the target tractor.

[0009] Start from the forwarding hop count of 0 and execute the matching process. The matching process includes: identifying the trailer that matches the target tractor based on one or more of the trailer identifier, forwarding hop count, and first-hop signal strength included in the data packet received by the target tractor.

[0010] When the number of trailers that match the target tractor has not reached the first set value, increment the forwarding hop count by 1 and continue to execute the matching process until the number of trailers that match the target tractor reaches the first set value.

[0011] Optionally, the identifying the trailer that matches the target tractor based on one or more of the trailer identifier, forwarding hop count, and first-hop signal strength included in the data packet received by the target tractor includes:

[0012] Count the number of data packets including the same trailer identifier and the same forwarding hop count. When it is determined that the number is greater than a first threshold, calculate the average first-hop signal strength based on the first-hop signal strength and the number recorded in the data packets including the same trailer identifier and the same forwarding hop count.

[0013] Based on the average first-hop signal strength, determine the matching position of the trailer corresponding to the trailer identifier among all trailers that match the target tractor.

[0014] Optionally, the determining the matching position of the trailer corresponding to the trailer identifier among all trailers that match the target tractor based on the average first-hop signal strength includes:

[0015] For the trailers matched at the same forwarding hop count, determine the matching positions in the order from the highest to the lowest of the average first-hop signal strength.

[0016] For the trailers matched at different forwarding hop counts, determine the matching positions in the order from the smallest to the largest of the forwarding hop counts.

[0017] Optionally, the method further includes:

[0018] Locally store in the target tractor the trailer identifiers of the trailers matched with the target tractor, and the corresponding matching positions of each trailer.

[0019] Optionally, the method further includes:

[0020] When a first window time arrives, execute the trailer automatic identification and matching process; the first window time refers to a preset time period for matching the target tractor with the trailer.

[0021] Optionally, the method further includes:

[0022] Receive a first blacklist sent by other tractors, where the first blacklist includes the trailer identifiers of the trailers that have completed identification and matching with the other tractors;

[0023] Filter the received data packets based on the trailer identifiers included in the first blacklist.

[0024] Optionally, the method further includes:

[0025] Periodically send a second blacklist to the other tractors, where the second blacklist includes the trailer identifiers of the trailers that have completed identification and matching with the target tractor.

[0026] Optionally, the method further includes: a trailer automatic sorting process;

[0027] The trailer automatic sorting process includes:

[0028] Start from a forwarding hop count of 0 and execute the sorting process; the sorting process includes: calculating the average first-hop signal strength based on the first-hop signal strength recorded in the data packets including the same trailer identifier and the same forwarding hop count and the number of the data packets; determining the sorting position of the trailer corresponding to the trailer identifier among all the trailers matched with the target tractor based on the average first-hop signal strength;

[0029] Increment the forwarding hop count by 1 and continue to execute the sorting process until each of all the trailers matched with the target tractor corresponds to its own sorting position.

[0030] Optionally, determining the sorting position of the trailer corresponding to the trailer identifier among all trailers matched with the target tractor based on the average first-hop signal strength includes:

[0031] For trailers matched under the same forwarding hop count, determine the sorting position in descending order of the average first-hop signal strength;

[0032] For trailers matched under different forwarding hop counts, determine the sorting position in ascending order of the forwarding hop count.

[0033] Optionally, the method further includes:

[0034] Locally store the sorting position in the target tractor to replace the matching position.

[0035] Optionally, executing the trailer automatic sorting process includes:

[0036] When the second window time arrives, execute the trailer automatic sorting process; the second window time refers to a preset time period for sorting the target tractor and the trailer.

[0037] Optionally, the method further includes:

[0038] Synchronization information is also recorded in the data packet, and the synchronization information is used to characterize the synchronization state between the source trailer and the target tractor.

[0039] Optionally, the synchronization information is first synchronization information, and the first synchronization information is the first running duration that the source trailer has run;

[0040] Correspondingly, the method further includes:

[0041] Obtain the second running duration of the target tractor;

[0042] Filter the received data packet based on the difference between the first running duration and the second running duration, and a second threshold.

[0043] Optionally, the synchronization information is second synchronization information, and the second synchronization information is generated under the trigger of an external hardware signal and is set to a valid value;

[0044] Correspondingly, the method further includes:

[0045] Obtain the second synchronization information, and filter the received data packet when it is determined that the second synchronization information is not the valid value.

[0046] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for automatic coupling and decoupling of trailers as described above is implemented.

[0047] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, the method for automatic coupling and decoupling of trailers as described above is implemented.

[0048] The method for automatic coupling and decoupling of trailers provided by the embodiments of the present invention, by forming a wireless mesh network with a tractor and multiple trailers, and using the number of received data packets and the signal strength of the first hop as the basis for automatic identification and matching, solves the problem of cumbersome manual binding operations, increases the reliability and accuracy of system identification, and can realize the automatic identification, matching and sorting of the tractor transceiver and single-trailer transceiver or multi-trailer transceivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0050] Figure 1 It is a schematic diagram of a transceiver system provided by an embodiment of the present invention.

[0051] Figure 2 It is a schematic diagram of a display system provided by an embodiment of the present invention.

[0052] Figure 3 It is one of the flowcharts of the method for automatic coupling and decoupling of trailers provided by an embodiment of the present invention.

[0053] Figure 4a It is another flowchart of the method for automatic coupling and decoupling of trailers provided by an embodiment of the present invention.

[0054] Figure 4b It is a third flowchart of the method for automatic coupling and decoupling of trailers provided by an embodiment of the present invention.

[0055] Figure 4c It is a fourth flowchart of the method for automatic coupling and decoupling of trailers provided by an embodiment of the present invention.

[0056] Figure 4d It is a fifth flowchart of the method for automatic coupling and decoupling of trailers provided by an embodiment of the present invention.

[0057] Figure 5 It is a sixth flowchart of the method for automatic coupling and decoupling of trailers provided by an embodiment of the present invention.

[0058] Figure 6The flowchart of the automatic identification and matching process of the trailer provided by the embodiment of the present invention.

[0059] Figure 7 The flowchart of the automatic sorting process of the trailer provided by the embodiment of the present invention. Detailed implementation manners

[0060] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0061] In order to complete the automatic identification and matching of the tractor and the trailer or multiple trailers, in the prior art, when the trailer transceiver communicates with the transceiver or terminal device (TBOX or Gateway) or display device on the tractor in a wired manner, the vehicle needs to reconnect the data communication line every time a coupling and uncoupling operation is performed. This solution will increase the system cost and installation cost. In addition, whether the communication line and the connector are connected or damaged during use is also a risk existing in this solution during use. When the trailer transceiver communicates with the tractor transceiver or terminal device or display in a wireless manner, the trailer transceiver generally uses a transparent transmission method to send data to the tractor-side device or manually binds the trailer information to the tractor device with the help of a tool. The tractor device filters the addresses of the received trailer data to prevent data crosstalk. If a wireless transparent transmission solution is used for communication, there will be a risk of data crosstalk. If a manual binding method is used for communication, additional operation procedures will be added after coupling and uncoupling. These operation procedures are likely to be ignored, forgotten, or there may be a phenomenon of incorrect binding during the operation process. In addition, the above solutions have problems in terms of cost, reliability, and operation feasibility in the application of multiple trailers. In view of the problems existing in the above prior art, each embodiment of the present invention provides a solution to solve the problems of long-distance information transmission and variable positioning of the trailer combination in a single trailer or multiple trailer combinations, so as to make it possible to realize the intelligent and networked management of automatic matching, automatic positioning, monitoring, and safe operation of the trailer in a formation-variable application environment during the logistics transportation process. After the vehicle is reorganized, the tractor and the trailer or multiple trailer transceivers can be automatically identified and matched and automatically sorted. Each embodiment of the present invention adopts a wireless mesh network MESH solution to reduce the product cost, and uses the number of data frames and the received signal strength indication (RSSI) value as the basis for matching and sorting to ensure the reliability and accuracy of the system.

[0062] Figure 1 The schematic diagram of the transceiver system provided by the embodiment of the present invention Figure 2 The schematic diagram of the display system provided by the embodiment of the present invention, such asFigure 1 and Figure 2 As shown in Figure 2 , in the embodiments of the present invention, different system architectures are adopted according to different application scenarios. The first architecture is that transceivers are installed on both the tractor and the trailer, and the second architecture is that a display is installed on the tractor and a transceiver is installed on the trailer.

[0063] In the first solution, the tractor transceiver, the trailer transceiver, and the trailer transceiver in the second solution have the same external structure and hardware design. The hardware structure is introduced as follows:

[0064] Sub-1G communication unit: Responsible for receiving sensor data and communicating between transceivers.

[0065] 2.4G and 5G communication units: Responsible for communicating with intelligent devices, sensor devices, and devices with this communication function.

[0066] External communication interface: Includes RS232, RS485, CAN, and CANFD communication interfaces, used to communicate with external devices such as receiving commands, files, and response messages.

[0067] Processing unit: Responsible for receiving, parsing, and processing various types of data and managing various functions of the system (alarm management, fault management, etc.).

[0068] Storage unit: Responsible for storing upgrade firmware and system setting parameters.

[0069] Power management unit: Responsible for providing power supply for the above units and controlling the charging and discharging of the battery.

[0070] The hardware structure of the tractor display in the second solution is introduced as follows:

[0071] 2.4G and 5G communication units: Responsible for communicating with intelligent devices, sensor devices, and devices with this communication function.

[0072] Display unit: Responsible for interface display and human-machine interaction.

[0073] Button control unit: Combined with the display unit to realize the human-machine interaction function.

[0074] Processing unit: Responsible for receiving, parsing, and processing various types of data and managing various functions of the system (alarm management, fault management, etc.).

[0075] Storage unit: Responsible for storing upgrade firmware and system setting parameters.

[0076] Power management unit: Responsible for providing power supply for the above units and controlling the charging and discharging of the battery.

[0077] Figure 3It is one of the method flowcharts provided by the embodiments of the present invention for automatic connection, detachment and towing. The method is applicable to a target tractor, and the target tractor and at least one trailer form a wireless mesh network, such as a wireless MESH network. In the wireless mesh network, each trailer is used to send data packets to the target tractor and also used to forward data packets sent by other trailers to the target tractor. The data packets include trailer identifiers (such as trailer address and other information) of the source trailer that sends the data packets. The target tractor and at least one trailer can both be regarded as a node in the wireless MESH network. In the wireless MESH network, each node can send data packets to other nodes, and the node identifier of the node is carried in the data packets. The receiving node can then know from which node (such as the source trailer) the data packet is sent based on the node identifier (such as the trailer identifier of the source trailer). The data packets can also include the node identifier of the destination node (such as the trailer identifier of the target tractor). The receiving node or the forwarding node can then know the destination node (such as the target tractor) of the data packet and can forward the data packet hop by hop to the target tractor. In the embodiments of the present invention, each node in the wireless MESH network designates a window period, and within this window period, a data packet sent by other nodes can only be forwarded once, that is, the forwarded data packet is ignored and not processed to prevent the same data frame from oscillating in the network.

[0078] The first trailer that forwards the data packet is also used to record the first-hop signal strength in the forwarded data packet. The first-hop signal strength is the signal strength received by the first trailer after the data packet is sent, and the first-hop signal strength remains unchanged during the subsequent forwarding process of the data packet. Specifically, in order to identify the trailers that can be matched and better sort the matched trailers in the subsequent process, each trailer in the embodiments of the present invention also has the following function: for any data packet, after the data packet is sent by the source node, the first trailer that forwards the data packet is also used to record a first-hop signal strength in the forwarded data packet. The first-hop signal strength represents the signal strength received by the first trailer after a data packet is sent. After each subsequent forwarding and being received by other trailers, the first-hop signal strength in the data packet remains unchanged. As can be seen from the above, the first-hop signal strength is the signal strength when a data packet is received by the first node trailer after the data packet is sent, rather than the signal strength when the target tractor finally receives the data packets forwarded by at least one trailer.

[0079] In addition, all trailers that forward data packets are also used to record the forwarding hop count in the forwarded data packets. The forwarding hop count represents the number of times the data packet is forwarded, and this number includes the current forwarding. Specifically, the forwarding hop count represents the number of times a data packet is forwarded, that is, the forwarding hop count is incremented by 1 for each forwarding. For example, after a data packet is sent by a source trailer and directly received by the target tractor without being forwarded by any other trailers, the forwarding hop count included in the data packet at this time is 0 because the data packet does not pass through the forwarding of other trailers between the source trailer and the target tractor. Another example, after a data packet is sent by a source trailer and is received by the target tractor only after being forwarded by another trailer, the forwarding hop count included in the data packet at this time is 1 because the data packet passes through the forwarding of only one trailer between the source trailer and the target tractor, and the forwarding hop count in the data packet can be recorded by the intermediate trailer that forwards the data packet, specifically, the forwarding hop count can be updated from the previous 0 to 1. And so on, no more elaboration. After receiving a data packet, the target tractor can know through the included forwarding hop count how many intermediate trailers the data packet has passed through before reaching the target tractor.

[0080] Furthermore, after receiving a data packet, if the target tractor detects that the forwarding hop count is 0, it means that after the data packet is sent from the source trailer, the first one to receive the data packet is the target tractor. Then, at this time, the target tractor can use the signal strength when receiving the data packet as the first-hop signal strength of the data packet. If it detects that the forwarding hop count is 2, it means that after the data packet is sent from the source trailer, it has passed through the forwarding of 2 trailers. And it can also know, based on the first-hop signal strength included in the data packet, the signal strength when the first trailer that receives the data packet after it is sent from the source trailer receives the data packet.

[0081] As Figure 3 shown, the method for automatically connecting and detaching trailers includes a trailer automatic identification and matching process, and the trailer automatic identification and matching process may include the following steps:

[0082] Step 301: Determine a first set value, where the first set value is the total number of trailers to be matched set by the target tractor;

[0083] Establish a data connection with the tractor transceiver or the tractor display through a dedicated App installed on the user terminal. The user can operate the App to set the number of trailers that the tractor transceiver or the display needs to hitch, that is, the first set value. For example, if the total number of trailers to be matched set by the target tractor is 3, then the first set value is 3. After the setting of the number of trailers that the tractor transceiver or the display needs to hitch is successful, the trailer automatic identification and matching function will be started.

[0084] Step 302: Start from a forwarding hop count of 0 and perform the matching process; the matching process includes: identifying the trailer that matches the target tractor based on one or more of the trailer identifier, forwarding hop count, and first-hop signal strength included in the data packet received by the target tractor.

[0085] Specifically, when the first window time arrives, the target tractor executes the automatic trailer identification and matching process. The first window time can be set in advance based on actual requirements. When the first window time arrives, the target tractor receives data packets sent by all trailers. Herein, the first window time refers to a preset time period for the target tractor to match with the trailers.

[0086] The target tractor first matches the trailers that directly send data packets without forwarding, that is, starts from the forwarding hop count of 0 included in the data packet and performs the matching process. The target tractor counts all data packets with a forwarding hop count of 0 and divides these data packets according to the trailer identifier included therein, so as to divide the data packets corresponding to each same trailer identifier and a forwarding hop count of 0. Then, based on the quantity of these data packets and the first-hop signal strength included in each data packet, the trailer that matches the target tractor is identified. Specifically, it may include: counting the quantity of data packets including the same trailer identifier and the same forwarding hop count, and when it is determined that the quantity is greater than the first threshold, calculating the average first-hop signal strength based on the first-hop signal strength and quantity recorded in the data packets including the same trailer identifier and the same forwarding hop count, that is, adding up the first-hop signal strengths included in all data packets with a trailer identifier and a forwarding hop count of 0 and dividing by the quantity of data packets to obtain the average first-hop signal strength. Then, based on the average first-hop signal strength, determine the matching position of the trailer corresponding to the trailer identifier among all trailers that match the target tractor.

[0087] Illustrate by way of example, Figure 4a This is the second flowchart of the automatic coupling and uncoupling method provided by the embodiment of the present invention. As Figure 4a shown, there are 3 trailers near the target tractor, namely Trailer #1, Trailer #2, and Trailer #3. When the first window time arrives, the target tractor receives data packets sent by Trailer #1, Trailer #2, and Trailer #3, and then starts to perform the matching process.

[0088] Specifically, start from a forwarding hop count of 0:

[0089] Assume that Trailer #1, Trailer #2, and Trailer #3 can all directly send data packets to the target tractor. Then, the target tractor counts the number of data packets with the same trailer identifier and a forwarding hop count of 0. For example, the number of data packets with a forwarding hop count of 0 sent by Trailer #1 is N1, the number of data packets with a forwarding hop count of 0 sent by Trailer #2 is N2, and the number of data packets with a forwarding hop count of 0 sent by Trailer #3 is N3. Then, compare the magnitudes of N1 and the first threshold, N2 and the first threshold, and N3 and the first threshold respectively. Assume that N1, N2, and N3 are all greater than the first threshold, and proceed to the next step.

[0090] Calculate the sum of the first-hop signal strengths included in the N1 data packets sent by Trailer #1, and then divide by N1 to obtain the average first-hop signal strength corresponding to Trailer #1. Similarly, calculate the average first-hop signal strength corresponding to Trailer #2 and the average first-hop signal strength corresponding to Trailer #3 respectively. Assume that the average first-hop signal strength of Trailer #1 received by the tractor is Trailer[0].RSSI[0], the average first-hop signal strength of Trailer #2 is Trailer[1].RSSI[0], and the average first-hop signal strength of Trailer #3 is Trailer[2].RSSI[0]. After comparison, it is known that: Trailer[0].RSSI[0] > Trailer[1].RSSI[0] > Trailer[2].RSSI[0]. Then, it can be determined that the matching positions corresponding to Trailer #1, Trailer #2, and Trailer #3 are "Position 1", "Position 2", and "Position 3" respectively, indicating that Trailer #1, Trailer #2, and Trailer #3 are distributed from near to far from the target tractor.

[0091] Step 303: In the case where the number of trailers matched with the target tractor has not reached the first set value, increment the forwarding hop count by 1, and continue to execute the matching process until the number of trailers matched with the target tractor reaches the first set value.

[0092] Figure 4b This is the third flowchart of the automatic coupling and uncoupling method provided by the embodiment of the present invention. As Figure 4b shown, based on the embodiment provided in Figure 4a Assume that N1 is greater than the first threshold, but N2 and N3 are not greater than the first threshold. Then, at this time, only Trailer #1 is successfully matched with the target tractor. However, the total number of trailers set by the target tractor is 3, and the number of trailers matched with the target tractor, which is 1, has not reached the first set value of 3. Then, at this time, the forwarding hop count can be incremented by 1, and the matching process is continued, that is, for a forwarding hop count of 1, the matching process is executed again.

[0093] Specifically, if only Trailer[0].RSSI[0] is valid and the number of data packets received by the other Trailer #2 and Trailer #3 is less than the set first threshold, it can be determined at this time that Trailer #1 is the trailer closest to the tractor, and the average first-hop signal strength of 1 hop is continued to be compared. Since the signals of Trailer #2 and Trailer #3 cannot be directly transmitted to the tractor, both Trailer #2 and Trailer #3 need to be forwarded by Trailer #1 before reaching the tractor. In addition, in the embodiment of the present invention, the first-hop signal strength in the data packet refers to the signal strength when a frame of signal is received for the first time. Each time it is forwarded later, the hop count in the data frame will increase by one, but the first-hop signal strength remains unchanged. Therefore, when the tractor compares the average first-hop signal strength of 1 hop, it is to determine the trailer to be compared with Trailer #1. The following situations may occur after comparison:

[0094] Trailer[1].RSSI[1]>Trailer[2].RSSI[1]

[0095] According to this result, it is easy to determine that Trailer #2 is close to Trailer #1 and Trailer #3 is far from Trailer #1. Therefore, the arrangement order is obtained through this comparison, that is, the matching positions corresponding to Trailer #1, Trailer #2, and Trailer #3 are "Position 1", "Position 2", and "Position 3" respectively, which can show that Trailer #1, Trailer #2, and Trailer #3 are distributed from near to far from the target tractor.

[0096] Figure 4c This is the fourth flowchart of the automatic coupling and uncoupling method provided by the embodiment of the present invention. As Figure 4c shown, on the basis of the embodiments provided in Figure 4a and Figure 4b if Trailer[1].RSSI[1] is valid, that is, the RSSI value of Trailer #2 is valid, but the number of received data packets of Trailer #3 is less than the set first threshold, it is necessary to continue to compare the average first-hop signal strength of 2 hops at this time.

[0097] Since Trailer #3 cannot transmit signals directly to Trailer #1, the information of Trailer #3 needs to be relayed by Trailer #2 to reach Trailer #1. From the above description, it is known that the signals of Trailer #2 cannot reach the tractor directly. Therefore, the data packet sent by Trailer #3 reaches Trailer #1 after being relayed once by Trailer #2, and then reaches the tractor after being relayed once by Trailer #1. So, the data packet sent by Trailer #3 reaches the tractor after two hops. At this time, the transceiver of the tractor will compare the average first-hop signal strength of the two hops. Since the average first-hop signal strength of the two hops is only from Trailer #3, it is easy to determine the sorting result, that is, the matching positions corresponding to Trailer #1, Trailer #2, and Trailer #3 are "Position 1", "Position 2", and "Position 3" respectively, which indicates that Trailer #1, Trailer #2, and Trailer #3 are distributed from near to far from the target tractor.

[0098] It can be understood that in the embodiment of the present invention, based on the average first-hop signal strength, determining the matching position of the trailer corresponding to the trailer identifier among all trailers matched with the target tractor includes:

[0099] For the trailers matched under the same number of relay hops, determining the matching position according to the order of the average first-hop signal strength from high to low;

[0100] For the trailers matched under different numbers of relay hops, determining the matching position according to the order of the number of relay hops from small to large.

[0101] Comparing 0 hops means finding the trailer closer to the tractor. Comparing 1 hop means finding the trailer closer to Trailer #1 (assuming Trailer #1 is the first vehicle to be hooked). Comparing 2 hops means finding the vehicle closer to Trailer #2. Comparing 3 hops means finding the trailer closer to Trailer #3, and so on.

[0102] Optionally, after the target tractor completes the trailer automatic identification and matching process to determine the matching positions corresponding to the matched trailers respectively, the method may further include:

[0103] Storing locally in the target tractor the trailer identifiers of the trailers matched with the target tractor, and the matching positions corresponding to each trailer respectively.

[0104] Based on the above embodiments, the first window time can be set to check whether a specified number of trailer transceivers are matched, or whether there is a situation where a previously matched trailer transceiver is lost. When it is detected that the number of trailers matched with the target tractor does not reach the first set value, the trailer transceiver automatic identification process can be entered.

[0105] Based on the above embodiments, to solve the problem of matching confusion caused by data crosstalk in the parallel state of multiple vehicles, the method may further include:

[0106] Receiving a first blacklist sent by other towing vehicles, where the first blacklist includes the trailer identifiers of the trailers that have completed identification and matching with the other towing vehicles;

[0107] Filtering the received data packets based on the trailer identifiers included in the first blacklist.

[0108] Specifically, the transceiver or display of the towing vehicle will automatically filter the data sent by the trailer transceivers in the blacklist. Here, the blacklist refers to the trailer identifiers that have been matched by the transceiver or display of other nearby towing vehicles, such as the trailer transceiver addresses, to prevent incorrect matching by other devices. For trailers not in the blacklist, the transceiver or display of the towing vehicle first filters the trailer transceivers with the number of received data packets less than the set threshold, and then compares the average first-hop signal strength of the received data, i.e., the average RSSI value, and selects the trailer with the strongest signal as one of the matched trailer transceivers. Each automatic identification process will output a matching object until all unmatched or lost trailer transceivers are successfully matched.

[0109] Optionally, the method further includes:

[0110] The target towing vehicle periodically sends a second blacklist to other towing vehicles, where the second blacklist includes the trailer identifiers of the trailers that have completed identification and matching with the target towing vehicle.

[0111] The embodiment of the present invention designs the time interval for the transceiver of the towing vehicle to broadcast the address of the trailer transceiver that has been matched by itself. This interval is configurable and is used for other receivers to establish the blacklist of the trailer transceiver.

[0112] Figure 4dThis is the fifth flowchart of the method for automatic coupling and uncoupling provided by the embodiments of the present invention. In some scenarios, for example, three trailers that have been successfully matched before are lost due to some uncertain reasons. That is, the number of trailers set by the target tractor is 3, and 3 trailers have been successfully matched through the previous trailer automatic identification and matching process, such as Trailer #1, Trailer #2, and Trailer #3 respectively. However, it is detected within a certain window period that Trailer #2 is no longer in communication connection with the tractor, that is, Trailer #2 is lost. At this time, the identification and matching process of new trailers needs to be continued. After identification and matching, Trailer #4 is found. Based on the matching positions of the previous three trailers, Trailer #4 occupies the "2nd position" before the lost Trailer #2. However, it is unknown whether the distance between the newly matched Trailer #4 and the target tractor is farther than that of Trailer #1 and closer than that of Trailer #3. Therefore, the trailer automatic sorting process provided by the embodiments of the present invention needs to be executed at this time.

[0113] The trailer automatic sorting process described above includes:

[0114] Starting from a forwarding hop count of 0, execute the sorting process; the sorting process includes: calculating the average first-hop signal strength based on the first-hop signal strength and the quantity recorded in the data packets including the same trailer identifier and the same forwarding hop count; determining the sorting position of the trailer corresponding to the trailer identifier among all the trailers matched with the target tractor based on the average first-hop signal strength.

[0115] Increment the forwarding hop count by 1 and continue to execute the sorting process until all the trailers matched with the target tractor have their respective sorting positions.

[0116] It can be seen that the trailer automatic sorting process described above is similar to the trailer automatic identification and matching process provided in the above embodiments. It also calculates the average first-hop signal strength from the data packets of 0 hops, and then sorts the average first-hop signal strength to determine the sorting positions of the trailers. If the sorting cannot be completely performed based on the data packets of 0 hops, continue to execute another round of calculation and sorting of the average first-hop signal strength from the data packets of 1 hop until all the trailers matched with the target tractor have their respective sorting positions. In the above sorting process, for the trailers matched under the same forwarding hop count, determine the sorting position in descending order of the average first-hop signal strength; for the trailers matched under different forwarding hop counts, determine the sorting position in ascending order of the forwarding hop count.

[0117] For example, as Figure 4d shown, before sorting, the target tractor has successfully identified and matched Trailer #1, Trailer #4, and Trailer #3, and the corresponding matching positions of Trailer #1, Trailer #4, and Trailer #3 are the "1st position", the "2nd position", and the "3rd position" respectively. Start sorting:

[0118] Specifically, starting from a forwarding hop count of 0:

[0119] Assume that Trailer #1, Trailer #4, and Trailer #3 can all directly send data packets to the target tractor. Then, the target tractor counts the number of data packets with the same trailer identifier and a forwarding hop count of 0. For example, the number of data packets with a forwarding hop count of 0 sent by Trailer #1 is N1, the number of data packets with a forwarding hop count of 0 sent by Trailer #4 is N4, and the number of data packets with a forwarding hop count of 0 sent by Trailer #3 is N3. Then, compare the magnitudes of N1 and the first threshold, N4 and the first threshold, and N3 and the first threshold respectively. Assume that N1, N4, and N3 are all greater than the first threshold, and proceed to the next step.

[0120] Calculate the sum of the first-hop signal strengths included in the N1 data packets sent by Trailer #1, and then divide by N1 to obtain the average first-hop signal strength corresponding to Trailer #1. Similarly, calculate the average first-hop signal strength corresponding to Trailer #4 and the average first-hop signal strength corresponding to Trailer #3 respectively. Assume that the average first-hop signal strength of Trailer #1 received by the tractor is Trailer[0].RSSI[0], the average first-hop signal strength of Trailer #4 is Trailer[3].RSSI[0], and the average first-hop signal strength of Trailer #3 is Trailer[2].RSSI[0]. After comparison, it is known that Trailer[0].RSSI[0] > Trailer[2].RSSI[0] > Trailer[3].RSSI[0]. Then, it can be determined that after sorting: the sorting positions corresponding to Trailer #1, Trailer #3, and Trailer #4 are "Position 1", "Position 2", and "Position 3" respectively.

[0121] Assume that N1 is greater than the first threshold, but N4 and N3 are not greater than the first threshold. Then, at this time, only Trailer #1 matches successfully with the target tractor. However, the total number of trailers set by the target tractor is 3, and the number of trailers matching the target tractor, which is 1, has not reached the first set value of 3. Then, at this time, the forwarding hop count can be incremented by 1, and the matching process can be continued, that is, for a forwarding hop count of 1, the matching process is executed again.

[0122] Specifically, if only Trailer[0].RSSI[0] is valid and the number of data packets received by the other Trailer #4 and Trailer #3 is less than the set first threshold, it can be determined at this time that Trailer #1 is the trailer closest to the tractor, and the average first-hop signal strength of 1 hop is continued to be compared. Since the signals of Trailer #4 and Trailer #3 cannot be directly transmitted to the tractor, both Trailer #4 and Trailer #3 need to be forwarded by Trailer #1 before reaching the tractor. In addition, in the embodiment of the present invention, the first-hop signal strength in the data packet refers to the signal strength when a frame of signal is first received. Each time it is forwarded later, the hop count in the data frame will increase by one, but the first-hop signal strength remains unchanged. Therefore, when the tractor compares the average first-hop signal strength of 1 hop, it is to determine the trailer to be compared with Trailer #1. The following situations may occur after the comparison:

[0123] Trailer[2].RSSI[1]>Trailer[3].RSSI[1]

[0124] Based on this result, it is easy to determine that Trailer #3 is close to Trailer #1 and Trailer #4 is far from Trailer #1. Therefore, the sorting order is obtained through this comparison, that is, the sorting positions corresponding to Trailer #1, Trailer #3, and Trailer #4 are "Position 1", "Position 2", and "Position 3", respectively.

[0125] Optionally, the method further includes:

[0126] Storing the sorting position locally in the target tractor to replace the matching position.

[0127] Optionally, the execution of the trailer automatic sorting process includes:

[0128] When the second window time arrives, execute the trailer automatic sorting process. Specifically, when the automatic identification process is completed and a trailer transceiver is successfully matched, the automatic sorting function of the trailer transceiver will be started. A second window time will be enabled before the automatic function is executed. This second window time can be set, and when the second window time arrives, the automatic sorting function will be executed. Among them, the second window time refers to a preset time period for sorting the target tractor and the trailer.

[0129] In the embodiment of the present invention, the window times for automatic identification and automatic sorting are designed respectively, and both of these window times can be configured to control the speed, accuracy, and reliability of automatic matching and automatic sorting.

[0130] In each embodiment of the present invention, the number of received data packet events and the received signal strength are used as the basis for matching recognition and sorting. Since the wireless signal strength and the distance are in an inverse relationship, and the signal strength and the reception rate are in a direct relationship, it is a relatively feasible solution to use this method to determine whether the tractor and the trailer are connected or to sort the trailers in the application of multiple trailers.

[0131] Optionally, the method further includes:

[0132] Synchronization information is also recorded in the data packet, and the synchronization information is used to represent the synchronization state between the source trailer and the target tractor.

[0133] Specifically, in the embodiment of the present invention, the source trailer records synchronization information in the data packet to notify the target tractor of the synchronization state between the trailer and the target tractor.

[0134] The synchronization information may be first synchronization information, and the first synchronization information is the first running duration that the source trailer has run. Correspondingly, the method further includes:

[0135] Obtain the second running duration of the target tractor;

[0136] Filter the received data packet based on the difference between the first running duration and the second running duration, and a second threshold.

[0137] Specifically, in the embodiment of the present invention, it is defined that there is a data area called the synchronization signal check field in the data packet. The synchronization signal here is a time value, which represents the time that the device sending this data packet has run. When the tractor device, including the tractor transceiver and the tractor display, checks the time synchronization field value of the received data packet and makes a difference between this value and the time value that it has currently run, the absolute value of this difference will be compared with a duration threshold, that is, the second threshold. This threshold can be changed. The smaller the threshold, the higher the recognition accuracy. The vehicles within the threshold will enter the subsequent processes of comparing the number of data packets and the average first-hop signal strength to perform vehicle recognition matching and sorting, and the devices outside the threshold will be ignored and not execute the subsequent processes.

[0138] Because the tractor device and the trailer device use the same power supply, when the vehicle starts, they are powered on at the same time and run at the same time, so their running times should be the same. While the devices on other vehicles have a relatively large difference in running time from them. Therefore, using this method can solve the problem of errors in the tractor device's recognition matching and sorting when multiple vehicles are parked side by side in a parking lot environment. Just like the blacklist filtering mentioned before, this embodiment adds a layer of time synchronization filtering, which can make the recognition matching and sorting more accurate and reliable.

[0139] The synchronization information may also be second synchronization information, which is generated under the trigger of an external hardware signal and set to a valid value. Accordingly, the method further includes:

[0140] Obtain the second synchronization information, and filter the received data packet when it is determined that the second synchronization information is not the valid value.

[0141] Specifically, in the embodiment of the present invention, it is defined that there is a data area called a synchronization signal check field in the data packet. The synchronization signal here is generated by the trigger of an external hardware signal. When the hardware signal is triggered, the signal is valid, and when the hardware signal is not triggered, the signal is invalid. When the tractor device, including the tractor transceiver and the tractor display, checks whether the synchronization signal of the received data packet is valid. If the synchronization signal is valid, it will enter the subsequent processes of comparing the number of data packets and comparing the average first-hop signal strength to perform vehicle identification and sorting. If it is invalid, it will not enter the subsequent processes.

[0142] Because there is a signal line of the trailer transceiver connected to the trailer brake signal line or the side light control signal line. When synchronization is required, stepping on the brake or turning on the side light will trigger the synchronization signal. When the trailer transceiver detects that the synchronization signal is valid, the synchronization signal data field in the broadcast data frame will be set to a valid value. When the brake is not stepped on or the side light is not turned on, the data field in the broadcast data frame of the trailer transceiver is an invalid value. Therefore, this method can solve the problem of errors in the identification, matching, and sorting of the tractor device when multiple vehicles are parked side by side in a parking lot environment. Just like the blacklist filtering mentioned before, this embodiment adds a layer of signal value synchronization filtering function, which can make the identification, matching, and sorting more accurate and reliable.

[0143] The method provided by the embodiment of the present invention can realize the automatic identification and matching of the tractor transceiver and the single-trailer transceiver or multiple-trailer transceivers. The tractor transceiver and the single-trailer or multiple-trailer transceivers are networked in the form of a wireless MESH network. The method of filtering the same data packet within a specified time and the blacklist identification mechanism are adopted to solve the problems of oscillation of the same data frame in the network and data reception crosstalk.

[0144] Compared with the prior art, the wireless MESH networking method solves the problems of wiring, wire harness, and connector costs. The wireless MESH networking method and the blacklist mechanism solve the problems of long-distance data reception stability and data crosstalk. Based on the number of received data packets and the RSSI value as the basis for automatic identification and matching, the reliability and accuracy of system identification are increased, and the cumbersome operation problem of manual binding is solved.

[0145] Figure 5 This is the sixth flowchart of the automatic coupling and uncoupling method provided by the embodiment of the present invention, asFigure 5 As shown, after the process starts, it first detects whether there is an unmatched trailer or whether the trailer is lost. If not, the process ends; if so, when reaching the matching recognition window, the recognition and matching process is performed; and when reaching the sorting window, the automatic sorting process is performed.

[0146] Figure 6 This is the flowchart of the automatic trailer recognition and matching process provided by the embodiment of the present invention. As Figure 6 shown, in this automatic trailer recognition and matching process, the data in the blacklist is first filtered. The blacklist refers to the transceiver addresses of the trailers that have been matched by other nearby tractor transceivers or displays, to prevent the target tractor from making a wrong match.

[0147] Then, it is judged whether the six-level signal strength has been traversed. If not, it is judged whether the set maximum total number of trailers has been traversed. If not, when it is judged that the number of data packets received at this level is greater than the threshold, it is further judged whether the average first-hop signal strength at this level is greater than the reference value; if it is greater than the reference value, the trailer identifier registered at this level is saved, and the average first-hop signal strength at this level is set as the reference value. If the total number of trailers has been traversed, it is checked whether the reference value is a valid value and whether the stored trailer identifier is a valid value. If both are valid values, the recognized trailer information is stored, and the recognized trailer is set as invalid and does not participate in the subsequent matching process.

[0148] Specifically, the embodiment of the present invention designs a multi-level signal strength recognition strategy. The specific number of levels can be configured. The default number of levels can be six, indicating the number of hops for the trailer transceiver data to be transmitted to the tractor transceiver. Here, the number of hops represents the number of times a data packet is forwarded. Each time it is forwarded, the number of hops is incremented by 1, from 0 to 5 hops, a total of 6 levels, corresponding to the situation where a tractor connects 6 trailers. For each level, a total first-hop signal strength and a parameter for counting the number of received data frames are designed. The total first-hop signal strength represents the sum of the first-hop signal strengths of each data packet. In actual application, according to the total first-hop signal strength of each data packet divided by the total number of received data packets, the average first-hop signal strength of the device at each level is calculated, and then the devices with the maximum signal strength from level 0 to level 5 are respectively compared and searched; first search level 0 to see if there is a device with the number of received data packets exceeding the set threshold. If so, compare the average first-hop signal strength, and use this method to find the device with the maximum average first-hop signal strength in level 0; if found, this device is the trailer at level 0; if not found, search for the device with the maximum average first-hop signal strength in level 1, and use this method to sequentially find the trailers at level 1, level 2, until the trailer at level 5.

[0149] Figure 7 This is the flowchart of the automatic trailer sorting process provided by the embodiment of the present invention. As Figure 7 shown, in this automatic trailer sorting process, the automatic sorting process is the same asFigure 6 The trailer automatic recognition and matching process is similar. The automatic sorting function also sorts based on the number of received data packets and the RSSI value of the first-hop signal strength of the data packets. The sorting order starts from 0. First, it checks whether the number of data packets sent by the trailer transceiver received exceeds the set minimum threshold. If the number of received data packets is less than the set minimum threshold, it ignores this trailer and checks the information of the next trailer. If it exceeds, it compares whether the average RSSI value is greater than the reference RSSI value. If it is greater than the reference value, it records the index value of this trailer transceiver and sets the average first-hop signal strength of the data sent by this trailer transceiver as the reference value. It checks a set number of trailers in turn to find the maximum value, which is the serial number of the corresponding trailer transceiver found in this cycle. It loops multiple times according to this method, and this number is the number of trailer transceivers set to be connected. After all loops are executed, the sorting of all trailer transceivers is completed.

[0150] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the automatic connection and detachment method provided in the above embodiments.

[0151] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and this computer program is executed by a processor to implement the automatic connection and detachment method provided in the above embodiments.

[0152] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatic hook-up and drop-off, characterized in that: Applied to a target tractor, the target tractor and at least one trailer form a wireless mesh network, in which each trailer is used to send a data packet to the target tractor and to forward a data packet sent to the target tractor by other trailers, wherein the data packet includes a trailer identifier of a source trailer that sends the data packet; the first trailer that forwards the data packet is also used to record a first-hop signal strength in the forwarded data packet, wherein the first-hop signal strength is a signal strength received by the first trailer after the data packet is sent, and the first-hop signal strength remains unchanged during subsequent data packet forwarding; all trailers that forward the data packet are also used to record a forwarding hop count in the forwarded data packet, wherein the forwarding hop count indicates the number of times the data packet is forwarded, and the number of times includes this forwarding; The method includes a trailer automatic identification and matching process, and the trailer automatic identification and matching process includes: Determine a first set value, where the first set value is the total number of trailers matched with the target tractor; Starting from the forwarding hop count of 0, a matching process is performed; the matching process includes: based on the trailer identifier, the forwarding hop count and the first hop signal strength contained in the data packet received by the target tractor, identifying the trailer matching the target tractor; When the number of trailers matching the target tractor does not reach the first set value, the forwarding hop count is increased by 1, and the matching process is continued until the number of trailers matching the target tractor reaches the first set value.

2. The method for automatic connection, drop and hooking according to claim 1, characterized in that: The method of identifying a trailer matching the target tractor based on the trailer identifier, forwarding hop count, and first hop signal strength contained in the data packet received by the target tractor includes: Counting the number of data packets including the same trailer identifier and the same forwarding hop number, and when it is determined that the number is greater than a first threshold, calculating an average first-hop signal strength based on the first-hop signal strength and the number recorded in the data packets including the same trailer identifier and the same forwarding hop number; Based on the average first-hop signal strength, a matching position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor is determined.

3. The method for automatic connection, drop and hooking according to claim 2, characterized in that: The determining, based on the average first-hop signal strength, a matching position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor, comprises: For the trailers matched under the same forwarding hop count, the matching positions are determined in descending order of the average first-hop signal strengths; For the trailers matched under different forwarding hops, the matching positions are determined in the order of the forwarding hops from small to large.

4. The method for automatic connection, drop and hooking according to claim 3, characterized in that: The method further comprises: The trailer identifiers of the trailers matching the target tractor and the matching positions corresponding to the trailers are stored locally on the target tractor.

5. The method for automatic connection, drop and hooking according to any one of claims 1 to 4, characterized in that: The method further comprises: When the first window time arrives, the trailer automatic identification and matching process is executed; the first window time refers to a preset time period for matching the target tractor with the trailer.

6. The method for automatic connection, drop and hooking according to claim 1, characterized in that: The method further comprises: Receiving a first blacklist sent by other tractors, wherein the first blacklist includes trailer identifiers of trailers that have been identified and matched with the other tractors; The received data packets are filtered based on the trailer identifiers included in the first blacklist.

7. The method for automatic connection, drop-off and hooking according to claim 6, characterized in that: The method further comprises: A second blacklist is periodically sent to the other tractors, wherein the second blacklist includes trailer identifiers of trailers that have completed identification and matching with the target tractor.

8. The method for automatic connection, drop and hooking according to claim 2, characterized in that: The method further includes: an automatic trailer sequencing process; The automatic trailer sorting process includes: Starting from the forwarding hop count of 0, a sorting process is performed; the sorting process includes: calculating an average first-hop signal strength based on the first-hop signal strength recorded in the data packets including the same trailer identifier and the same forwarding hop count and the number of the data packets; determining a sorting position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor based on the average first-hop signal strength; The forwarding hop count is increased by 1, and the sorting process is continued until all trailers matching the target tractor have their corresponding sorting positions.

9. The method for automatic connection, drop-off and hooking according to claim 8, characterized in that: The determining, based on the average first-hop signal strength, a sorting position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor, comprises: For the trailers matched under the same forwarding hop count, the sorting position is determined according to the order of the average first-hop signal strength from high to low; For the trailers matched under different forwarding hops, the sorting positions are determined according to the order of the forwarding hops from small to large.

10. The method for automatic connection, drop and hooking according to claim 8, characterized in that: The method further comprises: The sorting position is stored locally on the target tractor to replace the matching position.

11. The method for automatic connection, drop and hooking according to claim 8, characterized in that: The process of executing automatic trailer sorting includes: When the second window time arrives, the automatic trailer sorting process is executed; the second window time refers to a preset time period for sorting the target tractor and the trailer.

12. The method for automatic connection, drop and hooking according to claim 1, characterized in that: The method further comprises: The data packet also records synchronization information, and the synchronization information is used to characterize the synchronization state between the source trailer and the target tractor.

13. The method for automatic connection, drop and hooking according to claim 12, characterized in that: The synchronization information is first synchronization information, and the first synchronization information is a first running time of the source trailer; Accordingly, the method further comprises: Obtaining a second running time of the target tractor; The received data packets are filtered based on the difference between the first running time and the second running time, and a second threshold.

14. The method for automatic connection, drop and hooking according to claim 12, characterized in that: The synchronization information is second synchronization information, which is generated under the triggering of an external hardware signal and is set to a valid value; Accordingly, the method further comprises: The second synchronization information is obtained, and when it is determined that the second synchronization information is not the valid value, the received data packet is filtered.

15. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for automatic connection and drop-off is implemented as described in any one of claims 1 to 14.

16. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for automatic connection and drop-off is implemented as described in any one of claims 1 to 14.

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