Method and device for coping with abnormal disconnection of trailer, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicles, and discloses a method and device for dealing with abnormal disconnection of a trailer, electronic equipment and a vehicle. The method comprises the steps that based on a preset judgment strategy, the connection state of the trailer and a tractor is monitored and judged through a multi-mode sensor; when it is judged that the connection state is abnormal unhooking, a trailer unhooking signal is generated and sent to a vehicle-mounted bus to trigger a corresponding safety mechanism, and the safety mechanism comprises an acousto-optic self-starting mechanism and a self-adaptive driving control mechanism; the self-adaptive driving control mechanism is used for executing a corresponding safe driving strategy through an intelligent driving function in combination with current environment information; and when an instruction that the driver takes over the control right of the tractor is received, the control right of the tractor is returned to the driver. According to the invention, the monitoring function of the multi-mode sensor is combined with the intelligent driving function, so that the potential safety hazard caused by abnormal disconnection of the trailer is effectively solved, and the driving safety and reliability in the transportation process are obviously improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, device, electronic equipment and vehicle for coping with abnormal disconnection of a trailer. Background Art

[0002] In modern transportation, the combined transport mode of tractors and trailers is widely used in the field of cargo transportation. However, in actual operation, due to loose mechanical connections, electrical connection failures, or external environmental interference, the trailer and tractor may be abnormally disconnected (i.e., uncoupled). This abnormal situation will not only cause damage to the trailer and tractor themselves, but may also cause serious traffic accidents and endanger the safety of other vehicles and people on the road.

[0003] Traditional trailer connection systems mainly rely on mechanical and electrical connection devices, lacking real-time monitoring of the connection status and intelligent response mechanisms. Once the trailer is abnormally uncoupled, the driver may not be able to detect it in time, resulting in serious traffic accidents or property losses. In addition, existing vehicle control systems usually only provide simple alarm functions and lack intelligent response strategies based on environmental information, making it difficult to effectively ensure driving safety.

[0004] In recent years, with the development of multimodal sensor technology, intelligent driving technology and Internet of Vehicles technology, new possibilities have been provided for solving the above problems. Multimodal sensors can monitor the connection status between trailers and tractors in real time, and combined with the environmental perception capabilities of intelligent driving systems, more precise safety control can be achieved. However, there is currently no technical solution that can fully cover the scenario of abnormal disconnection of trailers, especially in terms of adaptive driving control under complex road conditions and driver takeover mechanisms. Therefore, the development of a solution that can monitor the connection status between trailers and tractors in real time and combine intelligent driving technology to achieve adaptive safety control has become a technical problem that the industry urgently needs to solve. Summary of the invention

[0005] In view of the above problems, the present disclosure provides a method, device, electronic device and vehicle for dealing with abnormal disconnection of a trailer, which overcomes the above problems or at least partially solves the above problems. The technical solution is as follows:

[0006] In a first aspect, the present invention provides a method for dealing with abnormal disconnection of a trailer, comprising:

[0007] Based on the preset judgment strategy, the connection status between the trailer and the tractor is monitored and judged through the multimodal sensor;

[0008] When it is determined that the connection state is abnormally uncoupled, a trailer uncoupling signal is generated and sent to the vehicle bus to trigger a corresponding safety mechanism, wherein the safety mechanism includes an acoustic and optical self-starting mechanism and an adaptive driving control mechanism;

[0009] The adaptive driving control mechanism uses intelligent driving functions and combines current environmental information to execute corresponding safe driving strategies;

[0010] When receiving the instruction from the driver to take over the control of the tractor, the control of the tractor is returned to the driver.

[0011] In order to accurately determine the change in the connection state between the trailer and the tractor, preferably, based on a preset judgment strategy, the connection state between the trailer and the tractor is monitored and determined by a multimodal sensor, specifically:

[0012] When the trailer is connected, the physical connection state, electrical connection state and normal distance range between the trailer and the tractor are obtained through a multimodal sensor;

[0013] When the physical connection state is abnormal, based on the judgment strategy, it is determined that the trailer has a risk of pre-uncoupling, and a corresponding alarm message is generated and sent;

[0014] If the speed of the tractor vehicle is greater than a preset speed threshold, and the electrical connection state is abnormally disconnected, and / or exceeds the normal distance range, based on the judgment strategy, the connection state is determined to be abnormally disconnected.

[0015] In order to respond quickly when the trailer is abnormally unhooked and minimize potential safety hazards, preferably, the corresponding safety mechanism is triggered, specifically:

[0016] When the trailer unhooking signal is obtained, a trailer unhooking alarm is generated and sent;

[0017] Based on the safety mechanism, the tractor is controlled to automatically turn on the double flashes and / or sound the horn for warning;

[0018] The control of the tractor is taken over by the intelligent driving system to achieve safe braking of the tractor.

[0019] In order to flexibly adjust the behavior of the tractor in different environments and ensure driving safety to the maximum extent in the case of abnormal uncoupling of the trailer, preferably, the adaptive driving control mechanism uses the intelligent driving function and combines the current environmental information to execute the corresponding safe driving strategy, specifically:

[0020] Acquiring front object information, wherein the front object information includes a front vehicle within a preset distance in front of the tractor;

[0021] If the leading vehicle does not exist, braking the tractor to keep a first safety distance between the tractor and the trailer;

[0022] If the leading vehicle exists, the tractor is braked to keep a second safety distance between the tractor and the trailer, where the second safety distance is associated with the distance between the tractor and the leading vehicle; and the second safety distance is smaller than the first safety distance.

[0023] In order to flexibly adjust the driving strategy of the tractor, minimize the risk of accidents, and ensure the safety of the driver, the trailer and other traffic participants, preferably, the front object information, the side lane information and the rear trailer information are obtained, the front object information includes the predicted driving trajectory of the dynamic obstacle and / or the position of the static obstacle, and the rear trailer information includes the real-time vehicle speed and heading angle of the trailer;

[0024] Acquire the rear trailer information and determine the trailer's expected driving trajectory;

[0025] Obtaining the predicted driving trajectory of the dynamic obstacle and / or the position of the static obstacle, and determining whether the predicted driving trajectory of the trailer collides with the predicted driving trajectory of the dynamic obstacle and / or the static obstacle;

[0026] If there is a collision, determining whether the value attribute of the dynamic obstacle and / or the static obstacle exceeds a preset importance threshold;

[0027] When the value attribute exceeds the important threshold, the tractor is controlled to gradually decelerate, shorten the distance between the tractor and the trailer, and after the tractor touches the trailer, increase the braking force to stop the trailer from moving;

[0028] When the value attribute does not exceed the important threshold or there is no collision, determining whether it is safe to change lanes based on the side lane information;

[0029] When it is safe to change lanes, the direction of the tractor is adjusted to avoid the dynamic obstacle and / or the static obstacle;

[0030] When it is impossible to change lanes safely, the tractor is controlled to gradually slow down to shorten the distance between the tractor and the trailer.

[0031] In order to more accurately predict the behavior of the trailer under complex road conditions (especially scenarios involving ramps) and adopt appropriate braking strategies, thereby effectively reducing the risk of accidents and ensuring driving safety, preferably, the road slope information is obtained, and the trailer's predicted driving trajectory is corrected based on the road slope information; when the trailer's predicted driving trajectory includes a direction opposite to the current driving direction, the braking deceleration of the tractor is increased.

[0032] In order to effectively reduce the chain reaction and secondary accidents caused by abnormal uncoupling of the trailer, preferably, a communication coordination mechanism is also included, specifically:

[0033] When it is determined that the connection state is abnormally uncoupled, the tractor sends relevant information to surrounding vehicles based on vehicle network technology, and the relevant information includes the location of the trailer and the expected driving trajectory.

[0034] In order to dynamically adjust the intervention strategy of the intelligent driving system according to different situations, so as to ensure driving safety while taking into account the driver's operating needs and the complexity of the actual scene, preferably, the judgment strategy also includes risk classification, specifically:

[0035] When it is determined that the connection state is abnormally unhooked, judging the risk level of the trailer according to the speed and weight of the trailer at this time;

[0036] If the speed of the trailer is less than the preset speed threshold, and the weight of the trailer is less than the preset weight threshold, the risk level at this time is judged to be low risk, and the intervention time of the intelligent driving system is adjusted to the first preset time length;

[0037] If the speed of the trailer is not less than the preset speed threshold, or the weight of the trailer is not less than the preset weight threshold, the risk level at this time is determined to be medium risk, and the intervention time of the intelligent driving system is adjusted to a second preset time length;

[0038] If the speed of the trailer is not less than the preset speed threshold, and the weight of the trailer is not less than the preset weight threshold, the risk level at this time is judged to be high risk, and the intervention time of the intelligent driving system is adjusted to immediate intervention;

[0039] The first preset time length is greater than the second preset time length.

[0040] In order to take the driver's own state into consideration, thereby realizing a more intelligent and personalized safety control strategy and further improving driving safety, preferably, a driver state monitoring mechanism is also included, specifically:

[0041] Collecting the driver's facial image in real time, and judging the driver's attention state at this time through a preset attention assessment model, wherein the attention state includes concentration and distraction;

[0042] When the driver is paying attention, maintaining the intervention time;

[0043] When the driver is distracted, the intervention time is shortened.

[0044] In a second aspect, the present invention provides a vehicle control device, comprising:

[0045] A judgment module, used to monitor and judge the connection status between the trailer and the tractor through a multimodal sensor based on a preset judgment strategy;

[0046] A trigger module, for generating and sending a trailer unhooking signal to the vehicle bus when the connection state is determined to be abnormal unhooking, so as to trigger a corresponding safety mechanism, wherein the safety mechanism includes an acoustic and optical self-starting mechanism and an adaptive driving control mechanism;

[0047] An execution module, used for the adaptive driving control mechanism to execute a corresponding safe driving strategy through an intelligent driving function in combination with current environmental information;

[0048] The recovery module is used to return the control of the tractor to the driver when receiving an instruction from the driver to take over the control of the tractor.

[0049] In a third aspect, the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the methods described above when executing the program.

[0050] In a fourth aspect, the present invention provides a vehicle, comprising the vehicle control device or the electronic device.

[0051] The embodiments of the present application disclose a method, device, electronic device and vehicle for dealing with abnormal disconnection of a trailer. The method uses a multimodal sensor to obtain the physical connection status, electrical connection status and normal distance range between the trailer and the tractor in real time, which can detect potential pre-decoupling risks earlier and issue warning information. This design significantly improves the accuracy and reliability of trailer connection status monitoring. When it is determined that the trailer is abnormally uncoupled, a trailer uncoupling signal is generated and sent to the vehicle bus, triggering safety mechanisms including an acoustic and visual self-starting mechanism and an adaptive driving control mechanism, specifically including: automatically turning on the double flash lights and whistle warnings to alert surrounding vehicles and pedestrians; the intelligent driving system takes over the control of the tractor and performs safe braking operations to ensure that the vehicle quickly decelerates or stops. Based on the current environmental information (such as information about objects in front, side lanes, and trailers behind), the intelligent driving system can flexibly adjust the driving strategy: if there are no other vehicles in front, the tractor brakes to maintain the first safe distance; if there are vehicles in front, the second safe distance is adjusted according to the distance to the front vehicle, and the predicted driving trajectory of dynamic obstacles and the position of static obstacles are comprehensively considered to avoid collision risks; in special cases (such as large road slopes), the calculation of the predicted driving trajectory of the trailer is further optimized, and the braking deceleration is increased to enhance safety. Using the Internet of Vehicles technology, the tractor can send information such as the location and predicted driving trajectory of the trailer to surrounding vehicles, realize information sharing among traffic participants, and thus reduce the probability of secondary accidents. A risk grading mechanism is introduced to determine the risk level of the trailer according to its speed and weight, and dynamically adjust the intervention time of the intelligent driving system. At the same time, the driver's attention state is evaluated in real time through the driver status monitoring mechanism, and the intervention time of the intelligent driving system is shortened when the driver's attention is distracted, ensuring safety at critical moments. In summary, the present invention effectively solves the safety hazard when the trailer is abnormally disconnected through the combination of multimodal sensor monitoring, intelligent driving function application and communication coordination mechanism, and significantly improves the driving safety and reliability during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0053] Figure 1 A flowchart of a method for coping with abnormal trailer disconnection provided by an embodiment of the present invention;

[0054] Figure 2 A schematic structural diagram of a vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] like Figure 1 As shown, in some embodiments of the present application, this embodiment provides a method for dealing with abnormal disconnection of a trailer. Specifically, the method includes the following steps:

[0057] Step S101: Based on a preset judgment strategy, the connection status between the trailer and the tractor is monitored and judged by a multimodal sensor.

[0058] As described above, this step uses multimodal sensors to monitor the connection status between the trailer and the tractor in real time, and combines a preset judgment strategy to evaluate whether the connection is normal. Specifically, multimodal sensors may include but are not limited to physical connection sensors (such as mechanical pressure sensors), electrical connection sensors (such as current or voltage detection devices), and distance sensors (such as ultrasonic, lidar, or millimeter wave radar). These sensors obtain data from multiple dimensions to ensure comprehensive perception of the connection status.

[0059] The physical connection status is used to monitor whether there are signs of mechanical looseness or detachment between the trailer and the tractor. The electrical connection status is used to check whether the circuit between the trailer and the tractor remains connected, such as brake light signals, power supply lines, etc. The normal distance range is used to monitor the relative position between the trailer and the tractor through the distance sensor to determine whether it exceeds the preset safety distance threshold. By comprehensively analyzing the above information, it is possible to accurately determine whether the connection status between the trailer and the tractor is abnormal, thereby providing a reliable basis for subsequent safety mechanisms.

[0060] For example, suppose a tractor is driving on a highway, and the trailer is connected to the tractor through a hook, and power and communication signals are transmitted between the two through cables. At this time, the system starts the multimodal sensor for monitoring: the physical connection sensor detects that the pressure value at the hook is lower than the normal range, indicating that there may be a risk of loosening; the electrical connection sensor finds that the brake light signal of the trailer is interrupted, indicating that the circuit connection may be disconnected; the distance sensor measures that the distance between the trailer and the tractor is gradually increasing, exceeding the set safety distance threshold. Based on the above monitoring results, the system combines the preset judgment strategy to conclude that there is a risk of abnormal decoupling between the trailer and the tractor. Subsequently, the system generates an alarm message and triggers the corresponding safety mechanism.

[0061] It should be noted that in a specific implementation scenario, a multimodal sensor type expansion solution can be adopted on the basis of the above solution, that is, a visual sensor is set up to capture the image of the connection part between the trailer and the tractor through a camera, and the state of the mechanical connection (such as whether the hook is completely closed) is identified through image processing technology; a vibration sensor is set up to monitor the difference in vibration frequency between the trailer and the tractor to determine whether there is a tendency to loosen or disengage; a temperature sensor is set up to detect the temperature change of the connection part between the trailer and the tractor to identify abnormal conditions caused by friction or other reasons. A preset judgment strategy optimization solution is adopted, that is, the judgment threshold of each sensor is dynamically adjusted according to the actual operating environment of the vehicle (such as road conditions, weather conditions), for example, the threshold range of the distance sensor is appropriately relaxed on a slippery road to avoid misjudgment; by performing time series analysis on the historical data of the multimodal sensor, the potential risk of decoupling is predicted, for example, if the physical connection sensor detects multiple consecutive pressure fluctuations, an early warning is issued. The influence scheme of external environmental factors is adopted, that is, external environmental factors (such as wind speed, slope, road adhesion, etc.) are incorporated into the judgment strategy. For example, in a strong wind environment, the tolerance range of the distance sensor is appropriately increased to avoid slight swings caused by wind being mistaken for decoupling. The above optional schemes all belong to the protection scope of this application.

[0062] Step S102: when it is determined that the connection state is abnormally uncoupled, a trailer uncoupling signal is generated and sent to the vehicle bus to trigger a corresponding safety mechanism, which includes an acoustic and optical self-starting mechanism and an adaptive driving control mechanism.

[0063] As mentioned above, after detecting abnormal uncoupling between the trailer and the tractor, the system quickly transmits the uncoupling signal through the vehicle bus and activates the preset safety mechanism to deal with the emergency. Including: after confirming the abnormal uncoupling, the system will generate a standardized signal (such as a specific frame under the CAN bus protocol) and transmit the signal to the relevant modules through the vehicle bus; through the sound and light self-starting mechanism, intuitive and rapid warnings are achieved, that is, to remind the driver and other road participants to pay attention to the current dangerous situation, for example, automatically turn on the double flash lights, sound the horn or issue a voice alarm; through the adaptive driving control mechanism, the intelligent driving system takes over the control of the vehicle and executes a dynamic safe driving strategy in combination with real-time environmental information. Through the synergy of the above mechanisms, the system can respond quickly when an abnormal uncoupling event occurs, minimizing the risk of accidents.

[0064] For example, suppose a tractor is driving at high speed and the trailer suddenly uncouples from the tractor due to a mechanical failure. At this time, the system detects through multimodal sensors that the physical connection between the trailer and the tractor has been disconnected, the electrical connection is interrupted, and the distance between the two is rapidly increasing. The system immediately determines that the connection state is abnormally uncoupled and generates a trailer uncoupling signal. The trailer uncoupling signal is sent to each related module through the vehicle bus: based on the sound and light self-starting mechanism, the tractor is controlled to automatically turn on the double flash lights and continuously sound the horn to warn surrounding vehicles; based on the adaptive driving control mechanism, the intelligent driving system takes over the control of the vehicle, gradually slows down according to the road conditions ahead, and tries to find a safe parking area. Through this series of operations, the system not only reminds the driver and other traffic participants, but also takes proactive measures to avoid secondary accidents.

[0065] It should be noted that in specific implementation scenarios, based on the above scheme, an optimization scheme for trailer uncoupling signal can be adopted, that is, the specific format of trailer uncoupling signal can be defined to ensure that it can be correctly identified by all modules on the vehicle bus, for example, using a standardized CAN protocol frame structure and clearly identifying the relevant information of the uncoupling event (such as timestamp, location, etc.) in the data field; setting a high priority for the trailer uncoupling signal to ensure that it is processed first in the vehicle bus communication to avoid delays caused by other low-priority tasks. A multi-mode alarm scheme can be adopted, that is, in addition to the traditional double flash lights and horns, more types of warning methods can be added, for example, eye-catching text prompts pop up on the in-vehicle display screen, or the seat vibration device can be used to remind the driver; the alarm intensity can be adjusted according to the risk level of abnormal uncoupling, for example, for low-risk scenarios, only the double flash lights are activated, while for high-risk scenarios, the double flash lights, horns and voice alarms are activated at the same time. Adopt a log recording and post-analysis solution, that is, when the safety mechanism is triggered, all relevant information of the decoupling event (such as time, location, sensor data, etc.) is recorded for subsequent analysis and improvement; the detailed information of the decoupling event is uploaded to the cloud server for fleet managers or maintenance personnel to view, to help identify potential problems and optimize system performance. The above optional solutions all fall within the scope of protection of this application.

[0066] Step S103: The adaptive driving control mechanism executes a corresponding safe driving strategy through an intelligent driving function in combination with current environmental information.

[0067] As mentioned above, the intelligent driving system is used to take over the control of the vehicle, and the driving strategy is dynamically adjusted according to the real-time collected environmental information to ensure safe parking or risk avoidance operations in the event of abnormal uncoupling of the trailer. Specifically, it includes: intelligent driving function, which uses automatic driving technology to achieve comprehensive control of the tractor, including but not limited to braking, steering and acceleration functions; environmental information, including information about objects in front (such as pedestrians, vehicles or other obstacles), side lane information (such as whether it can change lanes) and the expected driving trajectory of the rear trailer; safe driving strategy, based on the above environmental information, formulate and implement specific driving plans, such as deceleration, lane change or emergency braking. By combining intelligent driving functions with real-time environmental perception, the system can flexibly respond to various complex road conditions and maximize driving safety.

[0068] For example, suppose a tractor is driving on a highway and the trailer is abnormally uncoupled. At this point, the intelligent driving system takes over the vehicle control and starts to collect current environmental information, including: a slow-moving truck is detected 50 meters ahead; the right lane is idle, and there is a fast-approaching vehicle in the left lane; the trailer is gradually deviating from the lane and may slide towards the right guardrail. The system formulates a safe driving strategy based on the above information, specifically: first determine whether the truck in front will affect the deceleration process. Since the truck in front is slow and there is enough distance, the system decides to decelerate gradually; at the same time, evaluate the side lane conditions and find that the right lane is idle, but in order to avoid collision with the trailer, do not choose to change lanes temporarily; finally, the system controls the tractor to decelerate at a steady speed and maintain a safe distance from the trailer until it stops completely. Through this series of operations, the system successfully avoids the occurrence of secondary accidents and ensures the safety of drivers and other road participants.

[0069] It should be noted that in specific implementation scenarios, on the basis of the above solutions, an extended solution of environmental information can be adopted, including: weather condition monitoring, introducing meteorological sensors to obtain current weather conditions (such as rain, snow, fog, etc.) in real time, and incorporating this information into the driving strategy considerations, for example, appropriately reducing braking force on slippery roads to prevent the vehicle from skidding; road sign recognition, using cameras to identify road markings, speed limit signs and other traffic signs to ensure that driving strategies comply with traffic regulations, for example, slowing down in advance before entering a curve; dynamic traffic flow analysis, combining vehicle networking technology to obtain real-time dynamic information of surrounding vehicles (such as speed, direction, etc.), and optimize lane change or avoidance strategies. Adopt coping strategies for special scenarios, including: urban road scenarios, on crowded urban roads, the system needs to pay special attention to changes in pedestrians, non-motor vehicles and complex traffic lights, and formulate more sophisticated avoidance or parking strategies; mountain road scenarios, on mountain roads with large slopes or many bends, the system needs to adjust the braking force and steering angle based on the terrain characteristics to ensure vehicle stability and safety; night or low-light scenarios, enhance night vision capabilities (such as infrared sensors or high-sensitivity cameras) to ensure that environmental information can still be accurately perceived under low-light conditions. The above options are all within the scope of protection of this application.

[0070] Step S104: When receiving an instruction from the driver to take over the control of the tractor, the control of the tractor is returned to the driver.

[0071] As mentioned above, after the intelligent driving system takes over the control of the tractor, the driver is allowed to regain control of the vehicle at any time through specific instructions. This design embodies the concept of human-machine collaboration, which not only gives full play to the efficiency and safety of the intelligent driving system, but also respects the driver's operational autonomy. The driver can issue a takeover instruction through physical buttons, voice commands or other interactive methods. After receiving the takeover instruction, the system will quickly evaluate the current driving status (such as speed, position, etc.) and gradually return control to the driver while ensuring safety. In order to avoid risks caused by sudden handover, the system will provide necessary auxiliary support during the handover process, such as maintaining the current steering or braking status until the driver has full control of the vehicle. Through this mechanism, the system can give full play to the advantages of intelligence in emergency situations, while ensuring that the driver can intervene in time to deal with complex or special scenarios.

[0072] For example, suppose a tractor has an abnormal uncoupling of its trailer on a highway, and the intelligent driving system has taken over the vehicle control and executed the operation of deceleration and maintaining a safe distance. At this time: the driver observes that the road ahead is clear and believes that he can handle the current situation by himself, so he presses the "take over" button on the steering wheel. After the system detects the takeover command, it immediately starts the control handover procedure: check the current status of the tractor (such as whether the speed has dropped to a safe range); remind the driver to prepare for the takeover operation (for example, through the dashboard display prompt information or seat vibration reminder). After confirming that the driver is ready, the system gradually reduces the intervention in the vehicle, including releasing the brake pedal, stopping steering control, etc., and finally completely returns the control to the driver. After the driver takes over, he can choose to continue to slow down, stop or take other actions according to the actual situation. Through this process, the system not only ensures the safety of the handover, but also fully respects the driver's operating intention.

[0073] It should be noted that in specific implementation scenarios, on the basis of the above-mentioned solutions, diversified solutions for driver takeover commands can be adopted, including: physical buttons, in addition to traditional steering wheel buttons, more convenient physical control methods can be added, such as toggle switches on foot pedals or dedicated buttons on the center console; voice command recognition, introducing high-precision voice recognition technology, allowing drivers to issue takeover commands through voice commands (such as "take over the vehicle"), thereby improving operational convenience; gesture recognition, capturing the driver's gesture movements (such as specific gesture symbols) through the in-car camera to achieve contactless takeover command input. A safety assurance scheme for the handover of control is adopted, including: dynamic evaluation of handover conditions. After receiving the takeover instruction, the system will evaluate the current driving environment and vehicle status in real time to ensure that the handover conditions meet safety requirements. For example, if the vehicle is still in a high-speed driving state, the handover is performed after deceleration is completed first; transition phase auxiliary function. During the handover process, the system can retain some auxiliary functions (such as lane keeping or automatic braking) to help the driver smoothly transition to manual driving mode; risk warning prompts. If the system detects that the current environment is at a high risk (such as obstacles ahead or congestion in the side lane), it will issue a clear warning to the driver and recommend that the takeover operation be postponed. A driver status monitoring and optimization scheme is adopted, including: attention assessment linkage. Combined with the results of the driver status monitoring module, it is determined whether the driver has the ability to take over. For example, if it is detected that the driver is distracted or seriously fatigued, the handover is delayed and reminded to concentrate; takeover ability test. In some high-risk scenarios, the system can require the driver to complete a simple test task (such as pressing a specified button or adjusting the steering wheel angle) to verify whether he has the ability to take over. The above optional schemes all fall within the scope of protection of this application.

[0074] In some embodiments of the present application, in order to accurately determine the change in the connection state between the trailer and the tractor, based on a preset judgment strategy, the connection state between the trailer and the tractor is monitored and determined by a multimodal sensor, specifically:

[0075] When the trailer is connected, the physical connection state, electrical connection state and normal distance range between the trailer and the tractor are obtained through a multimodal sensor;

[0076] When the physical connection state is abnormal, based on the judgment strategy, it is determined that the trailer has a risk of pre-uncoupling, and a corresponding alarm message is generated and sent;

[0077] If the speed of the tractor vehicle is greater than a preset speed threshold, and the electrical connection state is abnormally disconnected, and / or exceeds the normal distance range, based on the judgment strategy, the connection state is determined to be abnormally disconnected.

[0078] As mentioned above, when the trailer and tractor are normally connected, multimodal sensors are used to collect three types of key information, including: physical connection status, detecting whether the mechanical connection between the trailer and the tractor is stable, such as whether the hook is locked, whether the connecting parts are loose, etc.; electrical connection status, checking whether the electrical circuit between the trailer and the tractor is normally connected, including the status of circuits such as brake light signals and power supply; normal distance range, measuring the actual distance between the trailer and the tractor, and comparing it with the preset normal distance range to determine whether the two remain within a reasonable range.

[0079] If the multimodal sensor detects an abnormality in the physical connection state (such as a loose hook or displacement of the connection component), the system will determine that the trailer is at risk of pre-unhooking based on the preset judgment strategy. At this time, the system generates and sends a corresponding warning message to remind the driver of potential safety hazards.

[0080] When one of the following conditions is met, the system further determines that the connection status between the trailer and the tractor is abnormally disconnected: the speed of the tractor is greater than the preset speed threshold and the electrical connection status is abnormally disconnected; the actual distance between the trailer and the tractor exceeds the preset normal distance range; or both of the above situations occur at the same time.

[0081] Through comprehensive analysis of the above conditions, the system finally confirms that the connection status between the trailer and the tractor has changed from normal to abnormal disconnection, and triggers subsequent safety mechanisms.

[0082] In some embodiments of the present application, in order to respond quickly when the trailer is abnormally unhooked and minimize potential safety hazards, the corresponding safety mechanism is triggered, specifically:

[0083] When the trailer unhooking signal is obtained, a trailer unhooking alarm is generated and sent;

[0084] Based on the safety mechanism, the tractor is controlled to automatically turn on the double flashes and / or sound the horn for warning;

[0085] The control of the tractor is taken over by the intelligent driving system to achieve safe braking of the tractor.

[0086] As mentioned above, when the system receives a trailer uncoupling signal, it immediately generates a trailer uncoupling alarm and sends it to the relevant modules or devices. This alarm is used to notify the driver and other system components that the trailer has been abnormally uncoupled and emergency measures need to be taken. Based on the triggered safety mechanism, the system controls the tractor to automatically turn on the hazard lights and / or start the horn function, that is, by lighting up the hazard lights to issue a visual warning to surrounding vehicles and pedestrians, indicating that the tractor is currently in an abnormal state and needs attention; by honking the horn to issue an auditory warning to nearby traffic participants, the warning effect is further enhanced.

[0087] After confirming that the trailer is unhooked, the intelligent driving system takes over control of the tractor and performs the following operations: Control braking, that is, based on the current vehicle speed, road conditions and other environmental information, the intelligent driving system calculates the appropriate braking intensity, gradually slows down until it stops, and ensures that the tractor can stop safely; Prevent secondary accidents, that is, by taking over the steering wheel and other key control systems, avoid secondary accidents caused by the driver's untimely response or other external interference.

[0088] In some embodiments of the present application, in order to flexibly adjust the behavior of the tractor in different environments and ensure driving safety to the maximum extent possible in the event of abnormal uncoupling of the trailer, the adaptive driving control mechanism uses the intelligent driving function and combines the current environmental information to execute the corresponding safe driving strategy, specifically:

[0089] Acquiring front object information, wherein the front object information includes a front vehicle within a preset distance in front of the tractor;

[0090] If the leading vehicle does not exist, braking the tractor to keep a first safety distance between the tractor and the trailer;

[0091] If the leading vehicle exists, the tractor is braked to keep a second safety distance between the tractor and the trailer, where the second safety distance is associated with the distance between the tractor and the leading vehicle; and the second safety distance is smaller than the first safety distance.

[0092] As mentioned above, the system uses multimodal sensors (such as cameras, radars, etc.) to obtain real-time information about objects within a preset distance range in front of the tractor. This information includes but is not limited to whether there are other vehicles in front (the front vehicle), the speed, position, and expected driving trajectory of the front vehicle.

[0093] If it detects that there are no other vehicles (front vehicles) within a preset distance in front of the tractor, the system will control the tractor to brake and keep the first safe distance between the tractor and the trailer. The first safe distance is a fixed value pre-set based on the physical characteristics of the tractor and trailer (such as weight, speed, etc.) and road conditions, and is intended to ensure that even if the trailer continues to slide, it will not collide with the tractor.

[0094] If another vehicle (the vehicle ahead) is detected within a preset distance in front of the tractor, the system will dynamically adjust the second safety distance between the tractor and the trailer based on the distance between the tractor and the vehicle ahead. The second safety distance is smaller than the first safety distance because it is necessary to consider both the presence of the vehicle ahead and its possible motion state. The system will comprehensively analyze factors such as the distance between the tractor and the vehicle ahead, the speed change trend of the vehicle ahead, and dynamically calculate a reasonable distance that can ensure the safety of the tractor and trailer without posing a threat to the vehicle ahead.

[0095] The second safety distance is not a fixed value, but is related to the distance between the tractor and the vehicle in front. For example, if the vehicle in front is far away and the speed is stable, the second safety distance can be appropriately increased; if the vehicle in front is close or is decelerating, the second safety distance will be reduced accordingly, because the deceleration of the trailer can be regarded as constant, and the safety distance from the trailer is easier to control.

[0096] In some embodiments of the present application, in order to flexibly adjust the driving strategy of the tractor, minimize the risk of accidents, and ensure the safety of the driver, trailer and other traffic participants, the front object information, side lane information and rear trailer information are obtained, the front object information includes the predicted driving trajectory of dynamic obstacles and / or the position of static obstacles, and the rear trailer information includes the real-time speed and heading angle of the trailer;

[0097] Acquire the rear trailer information and determine the trailer's expected driving trajectory;

[0098] Obtaining the predicted driving trajectory of the dynamic obstacle and / or the position of the static obstacle, and determining whether the predicted driving trajectory of the trailer collides with the predicted driving trajectory of the dynamic obstacle and / or the static obstacle;

[0099] If there is a collision, determining whether the value attribute of the dynamic obstacle and / or the static obstacle exceeds a preset importance threshold;

[0100] When the value attribute exceeds the important threshold, the tractor is controlled to gradually decelerate, shorten the distance between the tractor and the trailer, and after the tractor touches the trailer, increase the braking force to stop the trailer from moving;

[0101] When the value attribute does not exceed the important threshold or there is no collision, determining whether it is safe to change lanes based on the side lane information;

[0102] When it is safe to change lanes, the direction of the tractor is adjusted to avoid the dynamic obstacle and / or the static obstacle;

[0103] When it is impossible to change lanes safely, the tractor is controlled to gradually slow down to shorten the distance between the tractor and the trailer.

[0104] As mentioned above, the system obtains the following three types of key information in real time through multimodal sensors (such as cameras, radars, lidars, etc.): information about objects in front, including the expected trajectory of dynamic obstacles (such as the movement trends of pedestrians and other vehicles) and the location of static obstacles (such as guardrails, road signs, etc.); side lane information, including whether there is enough space in the side lane for the tractor to change lanes safely, and the distribution of other vehicles; rear trailer information, including the real-time speed and heading angle of the trailer, which is used to predict the expected trajectory of the trailer.

[0105] Based on the trailer information (vehicle speed and heading angle) behind, the system calculates and determines the trailer's expected driving trajectory after abnormal uncoupling. This trajectory reflects the trailer's possible direction and range of movement. The system compares and analyzes the trailer's expected driving trajectory with the expected driving trajectory of the dynamic obstacle in front or the position of the static obstacle to determine whether there is a possibility of collision. If there is a risk of collision, the value attribute of the obstacle is further evaluated; if there is no risk of collision, the subsequent safe lane change or deceleration logic is entered.

[0106] In the case of a collision risk, the system determines whether the value attribute of a dynamic obstacle or a static obstacle exceeds a preset importance threshold. The value attribute is usually graded according to the type of obstacle (e.g. pedestrians have higher priority than ordinary objects). If the value attribute of an obstacle exceeds the importance threshold (e.g. a pedestrian or other high-priority target), the system will prioritize protecting the obstacle; if the value attribute of the obstacle does not exceed the importance threshold (e.g. an ordinary obstacle), the next decision is made.

[0107] If the value attribute of the obstacle exceeds the important threshold, the system will take the following measures: control the tractor to gradually slow down and shorten the distance between the tractor and the trailer; when the tractor touches the trailer, increase the braking force to force the trailer to stop moving, thereby avoiding damage to high-priority obstacles.

[0108] If the value attribute of the obstacle does not exceed the important threshold or there is no collision risk, the system will determine whether it is possible to change lanes safely based on the side lane information: if it is possible to change lanes safely, the direction of the tractor will be adjusted to avoid dynamic obstacles or static obstacles, while trying to maintain a safe distance from the trailer; if it is not possible to change lanes safely, the tractor will be controlled to gradually slow down and shorten the distance to the trailer to reduce the possibility of the trailer losing control.

[0109] In some embodiments of the present application, in order to more accurately predict the behavior of the trailer under complex road conditions (especially scenarios involving ramps), and adopt appropriate braking strategies, thereby effectively reducing the risk of accidents and ensuring driving safety, the road slope information is obtained, and the trailer's predicted driving trajectory is corrected based on the road slope information; when the trailer's predicted driving trajectory includes a direction opposite to the current driving direction, the braking deceleration of the tractor is increased.

[0110] As mentioned above, the system obtains the road slope information of the current road section in real time through sensors (such as inertial measurement units, terrain map data or vehicle-mounted radar, etc.). This information includes the angle and direction of the slope (uphill or downhill) so that its impact on the trailer movement can be analyzed later.

[0111] Based on the road slope information obtained, the system re-evaluates and corrects the trailer's predicted driving trajectory after abnormal uncoupling. For example, on a downhill section, the trailer may accelerate and slide due to gravity; on an uphill section, the trailer may slow down or even stop. The system adjusts the trailer's speed, acceleration, and possible movement direction based on the slope information to generate a more accurate predicted driving trajectory.

[0112] If the revised trailer's predicted trajectory indicates that the trailer may move in the opposite direction of the current direction of travel, the system will recognize this special situation. When the system determines that the trailer's predicted trajectory includes moving in the opposite direction of the current direction of travel, the system will increase the tractor's braking deceleration to prevent the trailer from losing control or colliding with other vehicles. The increase in braking deceleration is dynamically adjusted according to the size of the slope and the speed of the trailer.

[0113] In some embodiments of the present application, in order to effectively reduce the chain reaction and secondary accidents caused by abnormal uncoupling of the trailer, a communication coordination mechanism is also included, specifically:

[0114] When it is determined that the connection state is abnormally uncoupled, the tractor sends relevant information to surrounding vehicles based on vehicle network technology, and the relevant information includes the location of the trailer and the expected driving trajectory.

[0115] As mentioned above, the system monitors the connection status between the trailer and the tractor through multimodal sensors. When an abnormality is detected in the physical connection, electrical connection, or distance range, it is determined that the trailer and the tractor have been abnormally disconnected. After confirming the abnormal disconnection, the tractor uses vehicle networking technology (such as DSRC, 5G-V2X and other communication protocols) to establish a real-time communication connection with surrounding vehicles. Through this technology, the tractor can quickly transmit relevant information to nearby traffic participants.

[0116] The key information sent by the tractor to the surrounding vehicles includes: the location of the trailer, which provides the trailer's current precise geographic coordinates to help surrounding vehicles understand the trailer's specific location; the trailer's expected driving trajectory, which is generated based on the system's prediction of the trailer's motion state (such as speed, heading angle, and possible movement path), so that surrounding vehicles can predict the trailer's behavior in advance.

[0117] After receiving the above information, surrounding vehicles can adjust their driving behavior according to the trailer's location and expected driving trajectory. For example, if the trailer's expected driving trajectory is close to a surrounding vehicle, the vehicle may choose to slow down or change lanes to avoid a collision; if the trailer is sliding at high speed, surrounding vehicles may take the initiative to make room to provide a larger buffer area for the trailer.

[0118] In some embodiments of the present application, in order to dynamically adjust the intervention strategy of the intelligent driving system according to different situations, so as to ensure driving safety while taking into account the driver's operating needs and the complexity of the actual scene. The judgment strategy also includes risk classification, specifically:

[0119] When it is determined that the connection state is abnormally unhooked, judging the risk level of the trailer according to the speed and weight of the trailer at this time;

[0120] If the speed of the trailer is less than the preset speed threshold, and the weight of the trailer is less than the preset weight threshold, the risk level at this time is judged to be low risk, and the intervention time of the intelligent driving system is adjusted to the first preset time length;

[0121] If the speed of the trailer is not less than the preset speed threshold, or the weight of the trailer is not less than the preset weight threshold, the risk level at this time is determined to be medium risk, and the intervention time of the intelligent driving system is adjusted to a second preset time length;

[0122] If the speed of the trailer is not less than the preset speed threshold, and the weight of the trailer is not less than the preset weight threshold, the risk level at this time is judged to be high risk, and the intervention time of the intelligent driving system is adjusted to immediate intervention;

[0123] The first preset time length is greater than the second preset time length.

[0124] As mentioned above, the system monitors the connection status of the trailer and the tractor through multimodal sensors. When an abnormality is detected in the physical connection, electrical connection or distance range, it is determined that the trailer and the tractor have been abnormally disconnected. After confirming the abnormal disconnection, the system further analyzes the speed and weight of the trailer as the main basis for judging the risk level: for trailer speed, the system obtains the current actual speed of the trailer and compares it with the preset speed threshold; for trailer weight, the system combines the trailer's load information (which can be obtained through sensors or pre-stored data) and compares it with the preset weight threshold.

[0125] Based on the speed and weight of the trailer, the system divides the risk into the following three levels and adjusts the intervention time of the intelligent driving system for different levels. Low risk: If the speed of the trailer is less than the preset speed threshold and the weight of the trailer is less than the preset weight threshold, the risk level at this time is judged to be low risk. In this case, the intervention time of the intelligent driving system is adjusted to the first preset time. The first preset time is relatively long, allowing the driver more time to take over the control of the vehicle. Medium risk: If the speed of the trailer is not less than the preset speed threshold, or the weight of the trailer is not less than the preset weight threshold, the risk level at this time is judged to be medium risk. In this case, the intervention time of the intelligent driving system is adjusted to the second preset time. The second preset time is shorter than the first preset time, indicating that the system needs to take over the vehicle faster to deal with potential risks. High risk: If the speed of the trailer is not less than the preset speed threshold and the weight of the trailer is not less than the preset weight threshold, the risk level at this time is judged to be high risk. In this case, the intelligent driving system intervenes immediately without waiting for additional time delay. This rapid response mechanism is suitable for the most dangerous situations, ensuring that timely measures are taken to avoid accidents.

[0126] The first preset time is longer than the second preset time, reflecting the principle that the higher the risk level, the faster the intelligent driving system intervenes. This design ensures that the system can give the driver more reaction time when the risk is low, and quickly take over vehicle control when the risk is high.

[0127] In some embodiments of the present application, in order to consider the driver's own state, a more intelligent and personalized safety control strategy is implemented to further improve driving safety. A driver state monitoring mechanism is also included, specifically:

[0128] Collecting the driver's facial image in real time, and judging the driver's attention state at this time through a preset attention assessment model, wherein the attention state includes concentration and distraction;

[0129] When the driver is paying attention, maintaining the intervention time;

[0130] When the driver is distracted, the intervention time is shortened.

[0131] As mentioned above, the system obtains the driver's facial image information in real time through the in-car camera or other image acquisition devices. These image data include but are not limited to the driver's eyes, head posture, facial expressions and other features. The system inputs the collected facial images into a preset attention assessment model, which analyzes and classifies the driver's attention state based on a machine learning algorithm. Specifically: if the driver's eyes are looking forward, the head posture is stable, and there is no obvious distraction, it is judged to be in a "focused" state; if the driver's eyes are closed, he frequently lowers his head or is distracted (such as using a mobile phone, talking to passengers, etc.), it is judged to be in a "distracted" state.

[0132] According to the driver's attention state, the system dynamically adjusts the intervention time of the intelligent driving system: if the driver is in a state of concentration, the system believes that the driver has sufficient reaction ability, so the original intervention time is maintained, which means that the system will gradually take over control of the vehicle within a predetermined time frame, giving the driver more time to adapt and take over the operation; if the driver is in a state of distraction, the system believes that the driver may not be able to respond to the emergency in time, so the intervention time of the intelligent driving system is shortened. This rapid intervention mechanism can take over control of the vehicle more quickly and avoid safety hazards caused by delayed driver response.

[0133] By adjusting the intervention time based on the driver's status, the system can achieve more precise safety control in different scenarios: when the driver is concentrating, the system minimizes interference with the driver's operations and respects his driving autonomy; when the driver's attention is distracted, the system quickly takes over the vehicle to ensure that effective measures are taken in emergency situations.

[0134] Compared with the prior art, the embodiment of the present application discloses a method for dealing with abnormal disconnection of a trailer. The method uses a multimodal sensor to obtain the physical connection status, electrical connection status, and normal distance range between the trailer and the tractor in real time, which can detect potential pre-uncoupling risks earlier and issue warning information. This design significantly improves the accuracy and reliability of trailer connection status monitoring. When it is determined that the trailer is abnormally uncoupled, a trailer uncoupling signal is generated and sent to the vehicle bus, triggering safety mechanisms including an acoustic and visual self-starting mechanism and an adaptive driving control mechanism, specifically including: automatically turning on the double flash lights and whistle warnings to alert surrounding vehicles and pedestrians; the intelligent driving system takes over the control of the tractor and performs safe braking operations to ensure that the vehicle quickly decelerates or stops. Based on the current environmental information (such as information about objects in front, side lanes, and trailers behind), the intelligent driving system can flexibly adjust the driving strategy: if there are no other vehicles in front, the tractor brakes to maintain the first safe distance; if there are vehicles in front, the second safe distance is adjusted according to the distance to the front vehicle, and the predicted driving trajectory of dynamic obstacles and the position of static obstacles are comprehensively considered to avoid collision risks; in special cases (such as large road slopes), the calculation of the predicted driving trajectory of the trailer is further optimized, and the braking deceleration is increased to enhance safety. Using the Internet of Vehicles technology, the tractor can send information such as the location and predicted driving trajectory of the trailer to surrounding vehicles, realize information sharing among traffic participants, and thus reduce the probability of secondary accidents. A risk grading mechanism is introduced to determine the risk level of the trailer according to its speed and weight, and dynamically adjust the intervention time of the intelligent driving system. At the same time, the driver's attention state is evaluated in real time through the driver status monitoring mechanism, and the intervention time of the intelligent driving system is shortened when the driver's attention is distracted, ensuring safety at critical moments. In summary, the present invention effectively solves the safety hazard when the trailer is abnormally disconnected through the combination of multimodal sensor monitoring, intelligent driving function application and communication coordination mechanism, and significantly improves the driving safety and reliability during transportation.

[0135] Based on the same inventive concept as the above method, the embodiment of the present application also proposes a vehicle control device, such as Figure 2 FIG. 1 is a schematic diagram of the structure of a vehicle control device, the device comprising:

[0136] A judgment module, used to monitor and judge the connection status between the trailer and the tractor through a multimodal sensor based on a preset judgment strategy;

[0137] A trigger module, for generating and sending a trailer unhooking signal to the vehicle bus when the connection state is determined to be abnormal unhooking, so as to trigger a corresponding safety mechanism, wherein the safety mechanism includes an acoustic and optical self-starting mechanism and an adaptive driving control mechanism;

[0138] An execution module, used for the adaptive driving control mechanism to execute a corresponding safe driving strategy through an intelligent driving function in combination with current environmental information;

[0139] The recovery module is used to return the control of the tractor to the driver when receiving an instruction from the driver to take over the control of the tractor.

[0140] Based on the same inventive concept as the above method, an embodiment of the present application also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the above methods when executing the program.

[0141] Based on the same inventive concept as the above method, an embodiment of the present application also proposes a vehicle, including the above vehicle control device or the above electronic device.

[0142] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0143] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0144] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0145] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0146] 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 above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for dealing with abnormal disconnection of a trailer, characterized in that: include: Based on the preset judgment strategy, the connection status between the trailer and the tractor is monitored and judged through the multimodal sensor; When it is determined that the connection state is abnormally uncoupled, a trailer uncoupling signal is generated and sent to the vehicle bus to trigger a corresponding safety mechanism, wherein the safety mechanism includes an acoustic and optical self-starting mechanism and an adaptive driving control mechanism; The adaptive driving control mechanism uses intelligent driving functions and combines current environmental information to execute corresponding safe driving strategies; When receiving the instruction from the driver to take over the control of the tractor, the control of the tractor is returned to the driver.

2. The method according to claim 1, characterized in that The method based on the preset judgment strategy monitors and judges the connection status between the trailer and the tractor through the multimodal sensor, specifically: When the trailer is connected, the physical connection state, electrical connection state and normal distance range between the trailer and the tractor are obtained through a multimodal sensor; When the physical connection state is abnormal, based on the judgment strategy, it is determined that the trailer has a risk of pre-uncoupling, and a corresponding alarm message is generated and sent; If the speed of the tractor vehicle is greater than a preset speed threshold, and the electrical connection state is abnormally disconnected, and / or exceeds the normal distance range, based on the judgment strategy, the connection state is determined to be abnormally disconnected.

3. The method according to claim 2, characterized in that The security mechanism corresponding to the trigger is specifically: When the trailer unhooking signal is obtained, a trailer unhooking alarm is generated and sent; Based on the safety mechanism, the tractor is controlled to automatically turn on the double flashes and / or sound the horn for warning; The control of the tractor is taken over by the intelligent driving system to achieve safe braking of the tractor.

4. The method according to claim 2, characterized in that The adaptive driving control mechanism uses intelligent driving functions and combines current environmental information to execute corresponding safe driving strategies, specifically: Acquiring front object information, wherein the front object information includes a front vehicle within a preset distance in front of the tractor; If the leading vehicle does not exist, braking the tractor to keep a first safety distance between the tractor and the trailer; If the leading vehicle exists, the tractor is braked to keep a second safety distance between the tractor and the trailer, where the second safety distance is associated with the distance between the tractor and the leading vehicle; and the second safety distance is smaller than the first safety distance.

5. The method according to claim 2, characterized in that Acquire front object information, side lane information, and rear trailer information, wherein the front object information includes the predicted driving trajectory of dynamic obstacles and / or the position of static obstacles, and the rear trailer information includes the real-time speed and heading angle of the trailer; Acquire the rear trailer information and determine the trailer's expected driving trajectory; Obtaining the predicted driving trajectory of the dynamic obstacle and / or the position of the static obstacle, and determining whether the predicted driving trajectory of the trailer collides with the predicted driving trajectory of the dynamic obstacle and / or the static obstacle; If there is a collision, determining whether the value attribute of the dynamic obstacle and / or the static obstacle exceeds a preset importance threshold; When the value attribute exceeds the important threshold, the tractor is controlled to gradually decelerate, shorten the distance between the tractor and the trailer, and after the tractor touches the trailer, increase the braking force to stop the trailer from moving; When the value attribute does not exceed the important threshold or there is no collision, determining whether it is safe to change lanes based on the side lane information; When it is safe to change lanes, the direction of the tractor is adjusted to avoid the dynamic obstacle and / or the static obstacle; When it is impossible to change lanes safely, the tractor is controlled to gradually slow down to shorten the distance between the tractor and the trailer.

6. The method according to claim 5, characterized in that The road slope information is obtained, and the predicted driving trajectory of the trailer is corrected based on the road slope information; when the predicted driving trajectory of the trailer includes a direction opposite to the current driving direction, the braking deceleration of the tractor is increased.

7. The method according to claim 5, characterized in that It also includes communication coordination mechanisms, specifically: When it is determined that the connection state is abnormally uncoupled, the tractor sends relevant information to surrounding vehicles based on vehicle network technology, and the relevant information includes the location of the trailer and the expected driving trajectory.

8. The method according to claim 1, characterized in that The judgment strategy also includes risk classification, specifically: When it is determined that the connection state is abnormally unhooked, judging the risk level of the trailer according to the speed and weight of the trailer at this time; If the speed of the trailer is less than the preset speed threshold, and the weight of the trailer is less than the preset weight threshold, the risk level at this time is judged to be low risk, and the intervention time of the intelligent driving system is adjusted to the first preset time length; If the speed of the trailer is not less than the preset speed threshold, or the weight of the trailer is not less than the preset weight threshold, the risk level at this time is determined to be medium risk, and the intervention time of the intelligent driving system is adjusted to a second preset time length; If the speed of the trailer is not less than the preset speed threshold, and the weight of the trailer is not less than the preset weight threshold, the risk level at this time is judged to be high risk, and the intervention time of the intelligent driving system is adjusted to immediate intervention; The first preset time length is greater than the second preset time length.

9. The method according to claim 8, characterized in that It also includes a driver status monitoring mechanism, specifically: Collecting the driver's facial image in real time, and judging the driver's attention state at this time through a preset attention assessment model, wherein the attention state includes concentration and distraction; When the driver is paying attention, maintaining the intervention time; When the driver is distracted, the intervention time is shortened.

10. A vehicle control device, characterized in that: include: A judgment module, used to monitor and judge the connection status between the trailer and the tractor through a multimodal sensor based on a preset judgment strategy; A trigger module, for generating and sending a trailer unhooking signal to the vehicle bus when the connection state is determined to be abnormal unhooking, so as to trigger a corresponding safety mechanism, wherein the safety mechanism includes an acoustic and optical self-starting mechanism and an adaptive driving control mechanism; An execution module, used for the adaptive driving control mechanism to execute a corresponding safe driving strategy through an intelligent driving function in combination with current environmental information; The recovery module is used to return the control of the tractor to the driver when receiving an instruction from the driver to take over the control of the tractor.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 9 is implemented.

12. A vehicle, characterized in that: Includes the vehicle control device according to claim 10 or the electronic device according to claim 11.

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