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

Abstract

The application 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 comprising the following steps: based on a preset judgment strategy, monitoring and judging the connection state of the trailer and a towing vehicle through a multi-modal sensor; when it is determined that the connection state is abnormal disconnection, generating and sending a trailer disconnection signal to a vehicle-mounted bus to trigger a corresponding safety mechanism, the safety mechanism comprising an audible and light self-starting mechanism and an adaptive driving control mechanism; the adaptive driving control mechanism executes a corresponding safe driving strategy through an intelligent driving function in combination with current environmental information; and when a driver takes over the control right of the towing vehicle, the control right of the towing vehicle is returned to the driver. Through the combination of multi-modal sensor monitoring and intelligent driving function, the safety hidden danger during abnormal disconnection of the trailer is effectively solved, and the driving safety and reliability during transportation are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a method, apparatus, electronic device, and vehicle for responding to abnormal disconnection of a trailer. Background Technology

[0002] In modern transportation, the combined transport mode of tractor-trailers is widely used in the freight transport sector. However, in actual operation, due to reasons such as loose mechanical connections, electrical connection failures, or external environmental interference, abnormal disconnection (i.e., uncoupling) may occur between the trailer and the tractor. This abnormal situation can not only damage the trailer and the tractor itself, but may also cause serious traffic accidents, endangering the safety of other vehicles and people on the road.

[0003] Traditional trailer-attaching systems rely primarily on mechanical and electrical connections, lacking real-time monitoring and intelligent response mechanisms for the connection status. In the event of an abnormal trailer disengagement, the driver may not be aware of it in time, potentially leading to serious traffic accidents or property damage. Furthermore, existing vehicle control systems typically only provide simple alarm functions, lacking intelligent response strategies based on environmental information, making it difficult to effectively ensure driving safety.

[0004] In recent years, the development of multimodal sensor technology, intelligent driving technology, and vehicle-to-everything (V2X) technology has provided new possibilities for solving the aforementioned problems. Multimodal sensors can monitor the connection status between the trailer and the tractor 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 comprehensively cover scenarios of abnormal trailer disconnection, especially in terms of adaptive driving control under complex road conditions and driver takeover mechanisms. Therefore, developing a solution that can monitor the connection status between the trailer and the tractor in real time and combine it with intelligent driving technology to achieve adaptive safety control has become a pressing technical problem for the industry. Summary of the Invention

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

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

[0007] Based on a preset judgment strategy, the connection status between the trailer and the tractor is monitored and determined by multimodal sensors;

[0008] When the connection status is determined to be abnormal unhooking, a trailer unhooking signal is generated and sent to the vehicle bus to trigger the corresponding safety mechanism, which includes an audible and visual self-starting mechanism and an adaptive driving control mechanism.

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

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

[0011] To accurately determine changes in the connection status between the trailer and the tractor, preferably, based on a preset judgment strategy, the connection status between the trailer and the tractor is monitored and determined using multimodal sensors, specifically:

[0012] During trailer connection, the physical connection status, electrical connection status, and normal distance range between the trailer and the tractor are obtained through multimodal sensors;

[0013] When the physical connection status is abnormal, based on the judgment strategy, it is determined that the trailer is at risk of pre-disengagement, and corresponding alarm information is generated and sent.

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

[0015] To respond quickly in the event of an abnormal trailer uncoupling and minimize potential safety hazards, preferably, a corresponding safety mechanism is triggered, specifically:

[0016] Upon receiving the trailer unhooking signal, a trailer unhooking alarm is generated and sent.

[0017] Based on the aforementioned safety mechanism, the tractor unit is controlled to automatically activate its hazard lights and / or sound its horn as a warning.

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

[0019] To flexibly adjust the behavior of the tractor unit under different environments and ensure maximum driving safety in the event of abnormal trailer uncoupling, preferably, the adaptive driving control mechanism uses intelligent driving functions to execute corresponding safe driving strategies based on current environmental information, specifically:

[0020] Acquire information about objects ahead, including vehicles within a preset distance ahead of the tractor;

[0021] If the preceding vehicle is not present, the tractor is braked to maintain a first safe distance between the tractor and the trailer.

[0022] If the preceding vehicle is present, the tractor is braked to maintain a second safe distance between the tractor and the trailer. The second safe distance is related to the distance between the tractor and the preceding vehicle; the second safe distance is less than the first safe 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, it is preferable to obtain information on objects in front, side lanes and trailers behind. The information on objects in front includes the expected trajectory of dynamic obstacles and / or the position of static obstacles, and the information on trailers behind includes the real-time speed and heading angle of the trailer.

[0024] Obtain the information of the trailer behind to determine the trailer's expected travel trajectory;

[0025] Obtain the predicted driving trajectory of dynamic obstacles and / or the position of static obstacles, and determine whether the predicted driving trajectory of the trailer will collide with the predicted driving trajectory of dynamic obstacles and / or the position of static obstacles;

[0026] If a collision occurs, determine whether the value attribute of the dynamic obstacle and / or static obstacle exceeds a preset importance threshold.

[0027] When the value attribute exceeds the important threshold, the tractor is controlled to gradually decelerate, shortening the distance between the tractor and the trailer. After touching the trailer, the braking force is increased to stop the trailer from moving.

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

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

[0030] When it is not safe to change lanes, the tractor unit is controlled to gradually decelerate, shortening the distance between the tractor unit and the trailer.

[0031] In order to more accurately predict the behavior of the trailer in complex road conditions (especially in scenarios involving slopes) and take appropriate braking strategies to effectively reduce the risk of accidents and ensure driving safety, preferably, the road slope information is obtained, and the expected driving trajectory of the trailer is corrected based on the road slope information; when the expected driving trajectory of the trailer includes a direction opposite to the current driving direction, the braking deceleration of the tractor is increased.

[0032] To effectively reduce the chain reaction and secondary accidents caused by abnormal trailer unhooking, preferably, a communication coordination mechanism is also included, specifically:

[0033] When the connection status is determined to be abnormal uncoupling, the tractor sends relevant information to surrounding vehicles based on vehicle networking technology. The relevant information includes the location of the trailer and the expected driving trajectory.

[0034] To dynamically adjust the intervention strategy of the intelligent driving system according to different situations, thereby ensuring driving safety while taking into account the driver's operational needs and the complexity of actual scenarios, preferably, the judgment strategy also includes risk classification, specifically:

[0035] When the connection status is determined to be abnormal unhooking, the risk level of the trailer is determined based on the speed and weight of the trailer at this time;

[0036] If the speed of the trailer is less than a preset vehicle speed threshold and the weight of the trailer is less than a preset weight threshold, then the risk level is determined to be low risk, and the intervention time of the intelligent driving system is adjusted to the first preset duration.

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

[0038] If the speed of the trailer is not less than a preset vehicle speed threshold and the weight of the trailer is not less than a preset weight threshold, then the risk level is determined to be high risk, and the intervention time of the intelligent driving system is adjusted to immediate intervention.

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

[0040] To take into account the driver's own condition and thus implement a more intelligent and personalized safety control strategy to further improve driving safety, preferably, a driver condition monitoring mechanism is also included, specifically:

[0041] The driver's facial images are captured in real time, and the driver's attention state is determined by a preset attention assessment model. The attention state includes focused attention and distracted attention.

[0042] When the driver is attentive, the intervention time is maintained;

[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] The judgment module is used to monitor and determine the connection status between the trailer and the tractor based on a preset judgment strategy using multimodal sensors.

[0046] The triggering module is used to generate and send a trailer unhooking signal to the vehicle bus when the connection status is determined to be abnormal unhooking, so as to trigger the corresponding safety mechanism, which includes an audible and visual self-starting mechanism and an adaptive driving control mechanism.

[0047] The execution module is used by the adaptive driving control mechanism to execute corresponding safe driving strategies by combining intelligent driving functions with current environmental information.

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

[0049] Thirdly, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in any of the above-mentioned embodiments.

[0050] Fourthly, the present invention provides a vehicle including the vehicle control device or the electronic device.

[0051] This application discloses a method, apparatus, electronic device, and vehicle for responding to abnormal trailer disconnection. The method uses multimodal sensors to acquire the physical connection status, electrical connection status, and normal distance range between the trailer and the tractor in real time, enabling earlier detection of potential pre-disengagement risks and issuing warning information. This design significantly improves the accuracy and reliability of trailer connection status monitoring. When abnormal trailer disengagement is detected, a trailer disengagement signal is generated and sent to the vehicle bus, triggering safety mechanisms including an audible and visual automatic start mechanism and an adaptive driving control mechanism. Specifically, this includes: automatically activating hazard lights and sounding a horn warning to alert surrounding vehicles and pedestrians; and the intelligent driving system taking over control of the tractor and performing safe braking operations to ensure the vehicle decelerates or stops quickly. Based on current environmental information (such as information about objects ahead, side lanes, and the trailer behind), the intelligent driving system can flexibly adjust its driving strategy: if there are no other vehicles ahead, it controls the towing vehicle to brake to maintain a first safe distance; if there are vehicles ahead, it adjusts the second safe distance based on the distance to the vehicle ahead, and comprehensively considers the predicted trajectory of dynamic obstacles and the position of static obstacles to avoid collision risks; in special circumstances (such as a steep road surface), it further optimizes the calculation of the trailer's predicted trajectory and increases braking deceleration to enhance safety. Utilizing vehicle-to-everything (V2X) technology, the towing vehicle can send information such as the trailer's position and predicted trajectory to surrounding vehicles, enabling information sharing among traffic participants and reducing the probability of secondary accidents. A risk grading mechanism is introduced to determine the risk level of the trailer based on its speed and weight, and dynamically adjusts the intervention time of the intelligent driving system. Simultaneously, a driver state monitoring mechanism assesses the driver's attention level in real time, shortening the intervention time of the intelligent driving system when the driver's attention is distracted, ensuring safety at critical moments. In summary, this invention effectively solves the safety hazards when a trailer is abnormally disconnected by combining multimodal sensor monitoring, intelligent driving function application, and communication coordination mechanism, and significantly improves driving safety and reliability during transportation. Attached Figure Description

[0052] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0053] Figure 1 A flowchart illustrating a method for responding to abnormal disconnection of a trailer, as provided in an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram of a vehicle control device provided in an embodiment of the present invention. Detailed Implementation

[0055] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0056] like Figure 1 As shown, in some embodiments of this 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, monitor and judge the connection status between the trailer and the tractor through multimodal sensors.

[0058] As described above, this step utilizes multimodal sensors to monitor the connection status between the trailer and the tractor in real time, and combines this with a preset judgment strategy to assess 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 acquire data from multiple dimensions to ensure comprehensive perception of the connection status.

[0059] The physical connection status is used to monitor for signs of mechanical loosening or detachment between the trailer and the tractor; the electrical connection status is used to check whether the circuits between the trailer and the tractor remain connected, such as brake light signals and power supply lines; the normal distance range is used to monitor the relative position between the trailer and the tractor through distance sensors to determine whether it exceeds a preset safe 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, thus providing a reliable basis for subsequent safety mechanisms.

[0060] For example, suppose a tractor-trailer is traveling on a highway, with a trailer connected to it via a hook, and power and communication signals transmitted between them via a cable. At this time, the system activates multimodal sensors for monitoring: the physical connection sensor detects that the pressure at the hook is below the normal range, indicating a potential risk of loosening; the electrical connection sensor detects an interruption in the trailer's brake light signal, indicating a possible circuit disconnection; the distance sensor measures that the distance between the trailer and the tractor-trailer is gradually increasing, exceeding a preset safe distance threshold. Based on these monitoring results and a pre-set judgment strategy, the system concludes that there is a risk of abnormal uncoupling between the trailer and the tractor-trailer. Subsequently, the system generates an alarm message and triggers the corresponding safety mechanism.

[0061] It should be noted that, in specific implementation scenarios, a multimodal sensor type expansion scheme can be adopted based on the above solution. This includes setting up a vision sensor to capture images of the connection between the trailer and tractor unit via a camera, and using image processing technology to identify the state of the mechanical connection (e.g., whether the hook is fully closed); setting up a vibration sensor to monitor the vibration frequency difference between the trailer and tractor unit to determine if there is a tendency for loosening or separation; and setting up a temperature sensor to detect temperature changes at the connection point between the trailer and tractor unit to identify abnormalities caused by friction or other reasons. A preset judgment strategy optimization scheme can also be adopted, dynamically adjusting the judgment thresholds of each sensor according to the actual operating environment of the vehicle (e.g., road conditions, weather conditions). For example, on slippery roads, the threshold range of the distance sensor can be appropriately widened to avoid false judgments. Furthermore, by performing time-series analysis on historical data from the multimodal sensors, potential decoupling risks can be predicted. For example, if the physical connection sensor detects multiple consecutive pressure fluctuations, an early warning can be issued. An approach incorporating external environmental factors (such as wind speed, slope, and road surface adhesion) into the judgment strategy is proposed. For example, in strong winds, the tolerance range of the distance sensor can be appropriately increased to avoid slight swaying caused by wind being mistaken for disengagement. All of the above options fall within the scope of protection of this application.

[0062] Step S102: When the connection status is determined to be abnormal unhooking, a trailer unhooking signal is generated and sent to the vehicle bus to trigger the corresponding safety mechanism, which includes an audible and visual self-starting mechanism and an adaptive driving control mechanism.

[0063] As described above, upon detecting an abnormal disengagement between the trailer and the tractor, the system rapidly transmits a disengagement signal via the vehicle bus and activates preset safety mechanisms to handle the emergency. These mechanisms include: upon confirming the abnormal disengagement, the system generates a standardized signal (such as a specific frame under the CAN bus protocol) and transmits it to the relevant modules via the vehicle bus; a visual and audible warning mechanism provides a clear and rapid alert, reminding the driver and other road users of the current dangerous situation, for example, by automatically activating hazard lights, sounding the horn, or issuing a voice alarm; and an adaptive driving control mechanism allows the intelligent driving system to take over vehicle control and execute dynamic safe driving strategies based on real-time environmental information. Through the synergistic effect of these mechanisms, the system can respond quickly to abnormal disengagement events, minimizing the risk of accidents.

[0064] For example, suppose a trailer suddenly detaches from a tractor unit while it is traveling at high speed due to a mechanical failure. At this moment, the system detects through multimodal sensors that the physical connection between the trailer and tractor unit has been broken, the electrical connection has been interrupted, and the distance between them is rapidly increasing. The system immediately determines the connection status as an abnormal detachment and generates a trailer detachment signal. This signal is sent to relevant modules via the vehicle bus: based on an audible and visual self-activation mechanism, the tractor unit automatically activates its hazard lights and continuously sounds its horn to warn surrounding vehicles; based on an adaptive driving control mechanism, the intelligent driving system takes over vehicle control, gradually slowing down according to road conditions ahead and attempting to find a safe stopping area. Through this series of actions, the system not only alerts the driver and other road users but also proactively takes measures to prevent secondary accidents.

[0065] It should be noted that, in specific implementation scenarios, an optimized trailer unhooking signal scheme can be adopted based on the above solutions. This involves defining a specific format for the trailer unhooking signal to ensure it can be correctly recognized by all modules on the vehicle bus. For example, a standardized CAN protocol frame structure can be used, and relevant information about the unhooking event (such as timestamps and location) can be clearly identified in the data fields. A high priority can be assigned to the trailer unhooking signal to ensure it is processed first in vehicle bus communication, avoiding delays caused by other low-priority tasks. A multi-mode alarm scheme can be adopted, meaning that in addition to traditional hazard lights and horn, more types of warning methods can be added. For example, a prominent text prompt can be displayed on the in-vehicle screen, or the driver can be alerted through seat vibration. The alarm intensity can be adjusted according to the risk level of the abnormal unhooking. For example, for low-risk scenarios, only hazard lights can be activated, while for high-risk scenarios, hazard lights, horn, and voice alarms can be activated simultaneously. A logging and post-event analysis approach is adopted, which involves recording all relevant information about the decoupling event (such as time, location, sensor data, etc.) upon triggering the safety mechanism for subsequent analysis and improvement; and uploading detailed information about the decoupling event to a cloud server for fleet managers or maintenance personnel to view, helping to identify potential problems and optimize system performance. All of the above optional solutions fall within the scope of protection of this application.

[0066] Step S103: The adaptive driving control mechanism executes corresponding safe driving strategies by combining intelligent driving functions with current environmental information.

[0067] As described above, the intelligent driving system takes over vehicle control and dynamically adjusts driving strategies based on real-time environmental information to ensure safe stopping or evasive maneuvers in the event of abnormal trailer detachment. Specifically, this includes: intelligent driving functions, which achieve comprehensive control of the towing vehicle through autonomous driving technology, including but not limited to braking, steering, and acceleration; environmental information, including information on objects ahead (such as pedestrians, vehicles, or other obstacles), side lane information (such as whether lane changes are possible), and the predicted trajectory of the trailer behind; and safe driving strategies, which formulate and execute specific driving plans based on the above environmental information, such as deceleration, lane changing, or emergency braking. By combining intelligent driving functions with real-time environmental perception, the system can flexibly respond to various complex road conditions, maximizing driving safety.

[0068] For example, suppose a tow truck experiences an abnormal detachment while traveling on a highway. At this point, the intelligent driving system takes over vehicle control and begins collecting current environmental information, including: a slow-moving truck is detected 50 meters ahead; the right lane is empty, while a vehicle is rapidly approaching in the left lane; the tow truck is gradually veering off its lane and may slide towards the right-hand guardrail. Based on this information, the system formulates a safe driving strategy: first, it assesses whether the truck ahead will affect the deceleration process; since the truck is slow and there is sufficient distance, the system decides to gradually reduce speed; simultaneously, it assesses the situation in the side lanes, finding the right lane empty, but to avoid a collision with the tow truck, it temporarily refrains from changing lanes; finally, the system controls the tow truck to decelerate smoothly, maintaining a safe distance from the tow truck until it comes to a complete stop. Through this series of actions, the system successfully avoids secondary accidents and ensures the safety of the driver and other road users.

[0069] It should be noted that, in specific implementation scenarios, additional solutions based on environmental information can be adopted, including: weather condition monitoring, introducing meteorological sensors to obtain real-time weather conditions (such as rain, snow, fog, etc.) and incorporating this information into driving strategies, for example, appropriately reducing braking force on slippery roads to prevent vehicle skidding; road sign recognition, using cameras to identify road markings, speed limit signs, and other traffic signs to ensure driving strategies comply with traffic rules, for example, slowing down in advance before entering a curve; and dynamic traffic flow analysis, combining vehicle-to-everything (V2X) technology to obtain real-time dynamic information of surrounding vehicles (such as speed, direction, etc.) and optimize lane-changing or avoidance strategies. Specific scenario-based response strategies are proposed, including: urban road scenarios, where the system must pay special attention to pedestrians, non-motorized vehicles, and changes in complex traffic lights, and formulate more refined avoidance or parking strategies; mountain road scenarios, where the system must adjust braking force and steering angle according to terrain characteristics to ensure vehicle stability and safety on mountain roads with steep slopes or many curves; and nighttime or low-light scenarios, enhancing night vision capabilities (such as infrared sensors or high-sensitivity cameras) to ensure accurate perception of environmental information even in low-light conditions. All of the above optional solutions fall within the scope of protection of this application.

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

[0071] As described above, after the intelligent driving system takes over control of the tractor, the driver is allowed to regain control of the vehicle at any time via specific commands. This design embodies the concept of human-machine collaboration, leveraging the efficiency and safety of the intelligent driving system while respecting the driver's autonomy. The driver can issue takeover commands via physical buttons, voice commands, or other interactive methods. Upon receiving the takeover command, the system quickly assesses the current driving status (such as speed and position) and gradually returns control to the driver while ensuring safety. To avoid risks caused by sudden handover, the system provides necessary assistance during the handover process, such as maintaining the current steering or braking status until the driver has complete control of the vehicle. Through this mechanism, the system can fully utilize its intelligent advantages in emergency situations while ensuring that the driver can intervene promptly to handle complex or special scenarios.

[0072] For example, suppose a tractor unit experiences an abnormal detachment of its trailer on a highway. The intelligent driving system has taken over control of the vehicle and is performing actions such as deceleration and maintaining a safe distance. At this point: the driver observes clear road conditions ahead and believes they can handle the situation independently, so they press the "take over" button on the steering wheel. Upon detecting the takeover command, the system immediately initiates the control handover procedure: checking the current status of the tractor unit (e.g., whether the speed has decreased to a safe range); and alerting the driver to prepare for takeover (e.g., through dashboard displays or seat vibration). After confirming the driver's readiness, the system gradually reduces its intervention in the vehicle, including releasing the brake pedal and ceasing steering control, ultimately returning complete control to the driver. After taking over, the driver can choose to continue decelerating, stop, or take other actions depending on the situation. Through this process, the system not only ensures a safe handover but also fully respects the driver's operational intentions.

[0073] It should be noted that, in specific implementation scenarios, diverse driver takeover command solutions can be adopted based on the above approach, including: physical buttons, in addition to traditional steering wheel buttons, more convenient physical control methods can be added, such as toggle switches on the foot pedals or dedicated buttons on the center console; voice command recognition, introducing high-precision voice recognition technology, allowing the driver to issue takeover commands via voice commands (such as "take over the vehicle"), improving operational convenience; and gesture recognition, using an in-vehicle camera to capture the driver's hand gestures (such as specific hand symbols) to achieve contactless takeover command input. The safety measures for control handover include: dynamic assessment of handover conditions. Upon receiving a takeover command, the system will assess 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 traveling at high speed, it will prioritize deceleration before the handover. Transitional assistance functions: During the handover process, the system can retain some assistance functions (such as lane keeping assist or automatic braking) to help the driver smoothly transition to manual driving mode. Risk warning prompts: If the system detects a high risk in the current environment (such as obstacles ahead or congestion in the side lanes), it will issue a clear warning to the driver and suggest postponing the takeover operation. Driver status monitoring and optimization measures include: attention assessment linkage: Combining the results of the driver status monitoring module, it will determine whether the driver has the ability to take over. For example, if the system detects that the driver is distracted or severely fatigued, it will delay the handover and remind the driver to concentrate. Takeover capability testing: In certain high-risk scenarios, the system can require the driver to complete simple test tasks (such as pressing a designated button or adjusting the steering wheel angle) to verify their takeover capability. All of the above optional solutions are within the scope of protection of this application.

[0074] In some embodiments of this application, in order to accurately determine changes in the connection status between the trailer and the tractor, a multi-modal sensor is used to monitor and determine the connection status based on a preset determination strategy. Specifically:

[0075] During trailer connection, the physical connection status, electrical connection status, and normal distance range between the trailer and the tractor are obtained through multimodal sensors;

[0076] When the physical connection status is abnormal, based on the judgment strategy, it is determined that the trailer is at risk of pre-disengagement, and corresponding alarm information is generated and sent.

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

[0078] As described above, when the trailer and tractor are normally connected, three types of key information are collected using multimodal sensors: physical connection status, which detects whether the mechanical connection between the trailer and tractor is secure, such as whether the hook is locked and whether the connecting parts are loose; electrical connection status, which checks whether the electrical wiring between the trailer and tractor is properly connected, including the status of circuits such as brake light signals and power supply; and normal distance range, which measures the actual distance between the trailer and tractor and compares it with the preset normal distance range to determine whether they are within a reasonable range.

[0079] If the multimodal sensors detect an abnormality in the physical connection status (such as a loose hook or displacement of connecting parts), the system will determine that the trailer is at risk of unhooking based on a preset judgment strategy. At this time, the system generates and sends corresponding alarm information to remind the driver of the potential safety hazard.

[0080] The system further determines that the connection status between the trailer and the tractor is abnormally uncoupled when one of the following conditions is met: the speed of the tractor is greater than the preset speed threshold, and the electrical connection 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 simultaneously.

[0081] Through comprehensive analysis of the above conditions, the system finally confirmed that the connection status between the trailer and the tractor had changed from normal to abnormal disengagement, and triggered subsequent safety mechanisms.

[0082] In some embodiments of this application, in order to respond quickly in the event of abnormal trailer unhooking and minimize potential safety hazards, a corresponding safety mechanism is triggered, specifically:

[0083] Upon receiving the trailer unhooking signal, a trailer unhooking alarm is generated and sent.

[0084] Based on the aforementioned safety mechanism, the tractor unit is controlled to automatically activate its hazard lights and / or sound its horn as a warning.

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

[0086] As described above, when the system receives a trailer uncoupling signal, it immediately generates a trailer uncoupling alarm and sends it to the relevant modules or equipment. This alarm notifies the driver and other system components that the trailer has abnormally uncoupled and requires emergency measures. Based on the triggered safety mechanism, the system controls the tractor to automatically activate its hazard lights and / or sound its horn. The hazard lights provide a visual warning to surrounding vehicles and pedestrians, indicating that the tractor is in an abnormal state and requires attention; the horn provides an auditory warning to nearby road users, further enhancing the warning effect.

[0087] After confirming that the trailer has been uncoupled, the intelligent driving system takes over control of the tractor and performs the following operations: controlling 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 decelerates until the vehicle stops, and ensures that the tractor can stop safely; preventing secondary accidents, that is, by taking over the steering wheel and other key control systems, it avoids secondary accidents caused by the driver's untimely reaction or other external interference.

[0088] In some embodiments of this application, in order to flexibly adjust the behavior of the tractor in different environments and ensure maximum driving safety in the event of abnormal trailer uncoupling, an adaptive driving control mechanism, through intelligent driving functions and combined with current environmental information, executes corresponding safe driving strategies, specifically:

[0089] Acquire information about objects ahead, including vehicles within a preset distance ahead of the tractor;

[0090] If the preceding vehicle is not present, the tractor is braked to maintain a first safe distance between the tractor and the trailer.

[0091] If the preceding vehicle is present, the tractor is braked to maintain a second safe distance between the tractor and the trailer. The second safe distance is related to the distance between the tractor and the preceding vehicle; the second safe distance is less than the first safe distance.

[0092] As described above, the system uses multimodal sensors (such as cameras and radar) to acquire 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 ahead (the vehicle in front), the speed and position of the vehicle in front, and its expected trajectory.

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

[0094] If another vehicle (the vehicle in front) is detected within a preset distance ahead 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 in front. The second safety distance is smaller than the first safety distance because the presence and possible movement of the vehicle in front need to be considered simultaneously. The system will comprehensively analyze factors such as the distance between the tractor and the vehicle in front, and the speed change trend of the vehicle in front, to dynamically calculate a reasonable distance that ensures the safety of both the tractor and the trailer without posing a threat to the vehicle in front.

[0095] The second safety distance is not a fixed value, but is related to the distance between the towing vehicle and the vehicle in front. For example, if the vehicle in front is far away and its 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 decreased accordingly, because the deceleration of the trailer can be regarded as constant, and the safety distance with the trailer is easier to control.

[0096] In some embodiments of this application, 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, information on objects ahead, side lanes, and trailers behind is acquired. The information on objects ahead includes the predicted trajectory of dynamic obstacles and / or the position of static obstacles, and the information on trailers behind includes the real-time speed and heading angle of the trailer.

[0097] Obtain the information of the trailer behind to determine the trailer's expected travel trajectory;

[0098] Obtain the predicted driving trajectory of dynamic obstacles and / or the position of static obstacles, and determine whether the predicted driving trajectory of the trailer will collide with the predicted driving trajectory of dynamic obstacles and / or the position of static obstacles;

[0099] If a collision occurs, determine whether the value attribute of the dynamic obstacle and / or static obstacle exceeds a preset importance threshold.

[0100] When the value attribute exceeds the important threshold, the tractor is controlled to gradually decelerate, shortening the distance between the tractor and the trailer. After touching the trailer, the braking force is increased to stop the trailer from moving.

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

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

[0103] When it is not safe to change lanes, the tractor unit is controlled to gradually decelerate, shortening the distance between the tractor unit and the trailer.

[0104] As described above, the system acquires the following three types of key information in real time through multimodal sensors (such as cameras, radar, lidar, etc.): information on objects ahead, including the predicted trajectory of dynamic obstacles (such as the movement trends of pedestrians and other vehicles) and the position of static obstacles (such as guardrails, road signs, etc.); information on side lanes, including whether there is enough space in the side lanes for the towing vehicle to change lanes safely, and the distribution of other vehicles; and information on the trailer behind, including the real-time speed and heading angle of the trailer, used to predict the predicted trajectory of the trailer.

[0105] Based on information about the trailer behind (vehicle speed and heading angle), the system calculates and determines the trailer's predicted trajectory after abnormal uncoupling. This trajectory reflects the trailer's possible direction and range of movement. The system compares and analyzes the trailer's predicted trajectory with the predicted trajectories of dynamic obstacles ahead or the positions of static obstacles to determine the possibility of a collision. If a collision risk exists, the system further assesses the value attributes of the obstacles; if no collision risk exists, the system proceeds to subsequent safe lane-changing or deceleration logic.

[0106] In situations where collision risk exists, the system determines whether the value attributes of dynamic or static obstacles exceed a preset importance threshold. Value attributes are typically tiered based on obstacle type (e.g., pedestrians have higher priority than ordinary objects). If an obstacle's value attributes exceed the importance threshold (e.g., it is a pedestrian or other high-priority target), the system prioritizes protecting that obstacle; if the obstacle's value attributes do not exceed the importance threshold (e.g., it is an ordinary obstacle), the system proceeds to the next decision step.

[0107] If the value attribute of an obstacle exceeds the importance threshold, the system will take the following measures: control the tractor to gradually decelerate 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 the high-priority obstacle.

[0108] If the value attribute of the obstacle does not exceed the critical threshold or there is no collision risk, the system will determine whether it is safe to change lanes based on the side lane information: if it is safe to change lanes, the system will adjust the direction of the towing vehicle to avoid dynamic or static obstacles, while maintaining a safe distance from the trailer as much as possible; if it is not safe to change lanes, the system will control the towing vehicle to gradually decelerate and shorten the distance from the trailer to reduce the possibility of the trailer going out of control.

[0109] In some embodiments of this application, in order to more accurately predict the behavior of the trailer under complex road conditions (especially scenarios involving slopes) and take appropriate braking strategies to effectively reduce accident risks and ensure driving safety, the following methods are employed: The road surface slope information is acquired, and the predicted driving trajectory of the trailer is corrected based on the road surface 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.

[0110] As described above, the system acquires real-time road slope information for the current road segment using sensors (such as inertial measurement units, terrain map data, or vehicle-mounted radar). This information includes the angle and direction of the slope (uphill or downhill) to facilitate subsequent analysis of its impact on the trailer's movement.

[0111] Based on the acquired road slope information, the system reassesses and corrects the trailer's predicted trajectory after the abnormal uncoupling. For example, on a downhill section, the trailer may accelerate and coast due to gravity; on an uphill section, the trailer may decelerate or even stop. The system combines the slope information to adjust the trailer's speed, acceleration, and possible direction of movement, generating a more accurate predicted trajectory.

[0112] The system recognizes a special case where the corrected predicted trailer trajectory indicates the trailer might move in the opposite direction of its current travel. When the system determines that the predicted trailer trajectory includes a direction opposite to the current travel direction, it increases the towing vehicle's braking deceleration to prevent the trailer from going out of control or colliding with other vehicles. The increase in braking deceleration is dynamically adjusted based on the gradient and the trailer's speed.

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

[0114] When the connection status is determined to be abnormal uncoupling, the tractor sends relevant information to surrounding vehicles based on vehicle networking technology. The relevant information includes the location of the trailer and the expected driving trajectory.

[0115] As described above, the system monitors the connection status between the trailer and the tractor unit using multimodal sensors. When an anomaly is detected in the physical connection, electrical connection, or distance range, it determines that the trailer and tractor unit have abnormally disengaged. After confirming the abnormal disengagement, the tractor unit establishes a real-time communication connection with surrounding vehicles using vehicle-to-everything (V2X) technologies (such as DSRC, 5G-V2X, etc.). Through this technology, the tractor unit can quickly transmit relevant information to nearby road users.

[0116] Key information sent by the towing vehicle to surrounding vehicles includes: the trailer's location, providing the trailer's current precise geographic coordinates to help surrounding vehicles understand the trailer's specific location; and the trailer's predicted 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), enabling surrounding vehicles to anticipate the trailer's behavior.

[0117] After receiving the above information, surrounding vehicles can adjust their driving behavior based on the trailer's location and expected trajectory. For example, if the trailer's expected trajectory is close to a surrounding vehicle, that vehicle may choose to slow down or change lanes to avoid a collision; if the trailer is coasting at high speed, surrounding vehicles may proactively give way, providing a larger buffer zone for the trailer.

[0118] In some embodiments of this application, in order to dynamically adjust the intervention strategy of the intelligent driving system according to different situations, thereby ensuring driving safety while taking into account the driver's operational needs and the complexity of actual scenarios, the judgment strategy also includes risk classification, specifically:

[0119] When the connection status is determined to be abnormal unhooking, the risk level of the trailer is determined based on the speed and weight of the trailer at this time;

[0120] If the speed of the trailer is less than a preset vehicle speed threshold and the weight of the trailer is less than a preset weight threshold, then the risk level is determined to be low risk, and the intervention time of the intelligent driving system is adjusted to the first preset duration.

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

[0122] If the speed of the trailer is not less than a preset vehicle speed threshold and the weight of the trailer is not less than a preset weight threshold, then the risk level is determined to be high risk, and the intervention time of the intelligent driving system is adjusted to immediate intervention.

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

[0124] As described 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 determines that the trailer and the tractor have abnormally disengaged. After confirming the abnormal disengagement, the system further analyzes the trailer's speed and weight as the main basis for determining the risk level: trailer speed, the system obtains the trailer's current actual speed and compares it with a preset speed threshold; trailer weight, the system combines the trailer's load information (obtainable through sensors or pre-stored data) and compares it with a preset weight threshold.

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

[0126] The first preset duration is longer than the second preset duration, 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 this application, in order to take into account the driver's own state and thus implement a more intelligent and personalized safety control strategy, further improving driving safety, a driver state monitoring mechanism is also included, specifically:

[0128] The driver's facial images are captured in real time, and the driver's attention state is determined by a preset attention assessment model. The attention state includes focused attention and distracted attention.

[0129] When the driver is attentive, the intervention time is maintained;

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

[0131] As described above, the system acquires real-time facial image information of the driver through an in-vehicle camera or other image acquisition devices. This image data includes, but is not limited to, features such as the driver's eyes, head posture, and facial expressions. The system inputs the acquired facial images into a preset attention assessment model, which analyzes and classifies the driver's attention state based on machine learning algorithms. Specifically: if the driver's eyes are focused forward, head posture is stable, and there are no obvious distracting behaviors, it is determined to be a "focused" state; if the driver's eyes are closed, frequently looks down, or is distracted (such as using a mobile phone, talking to passengers, etc.), it is determined to be a "distracted" state.

[0132] Based on the driver's attention level, the system dynamically adjusts the intervention time of the intelligent driving system: if the driver is focused, the system assumes the driver has sufficient reaction ability and therefore maintains the original intervention time. This means the system will gradually take over vehicle control within a predetermined time range, giving the driver more time to adapt and take over the operation; if the driver is distracted, the system assumes the driver may not be able to respond to emergencies in time, and therefore shortens the intervention time of the intelligent driving system. This rapid intervention mechanism can take over vehicle control more quickly and avoid safety hazards caused by the driver's delayed reaction.

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

[0134] Compared with existing technologies, this application discloses a method for handling abnormal trailer disconnection. This method uses multimodal sensors to acquire the physical connection status, electrical connection status, and normal distance range between the trailer and the tractor in real time. This allows for earlier detection of potential pre-disengagement risks and the issuance of warning information, significantly improving the accuracy and reliability of trailer connection status monitoring. When abnormal trailer disengagement is detected, a trailer disengagement signal is generated and sent to the vehicle bus, triggering safety mechanisms including an audible and visual automatic start mechanism and an adaptive driving control mechanism. Specifically, this includes: automatically activating hazard lights and sounding a horn warning to alert surrounding vehicles and pedestrians; and the intelligent driving system taking over control of the tractor and performing safe braking operations to ensure the vehicle decelerates or stops quickly. Based on current environmental information (such as information about objects ahead, side lanes, and the trailer behind), the intelligent driving system can flexibly adjust its driving strategy: if there are no other vehicles ahead, it controls the towing vehicle to brake to maintain a first safe distance; if there are vehicles ahead, it adjusts the second safe distance based on the distance to the vehicle ahead, and comprehensively considers the predicted trajectory of dynamic obstacles and the position of static obstacles to avoid collision risks; in special circumstances (such as a steep road surface), it further optimizes the calculation of the trailer's predicted trajectory and increases braking deceleration to enhance safety. Utilizing vehicle-to-everything (V2X) technology, the towing vehicle can send information such as the trailer's position and predicted trajectory to surrounding vehicles, enabling information sharing among traffic participants and reducing the probability of secondary accidents. A risk grading mechanism is introduced to determine the risk level of the trailer based on its speed and weight, and dynamically adjusts the intervention time of the intelligent driving system. Simultaneously, a driver state monitoring mechanism assesses the driver's attention level in real time, shortening the intervention time of the intelligent driving system when the driver's attention is distracted, ensuring safety at critical moments. In summary, this invention effectively solves the safety hazards when a trailer is abnormally disconnected by combining multimodal sensor monitoring, intelligent driving function application, and communication coordination mechanism, and significantly improves driving safety and reliability during transportation.

[0135] Based on the same inventive concept as the methods described above, this application also proposes a vehicle control device, such as... Figure 2 The diagram shown is a structural schematic of a vehicle control device, which includes:

[0136] The judgment module is used to monitor and determine the connection status between the trailer and the tractor based on a preset judgment strategy using multimodal sensors.

[0137] The triggering module is used to generate and send a trailer unhooking signal to the vehicle bus when the connection status is determined to be abnormal unhooking, so as to trigger the corresponding safety mechanism, which includes an audible and visual self-starting mechanism and an adaptive driving control mechanism.

[0138] The execution module is used by the adaptive driving control mechanism to execute corresponding safe driving strategies by combining intelligent driving functions with current environmental information.

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

[0140] Based on the same inventive concept as the above methods, this 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 executes the program to implement any of the methods described above.

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

[0142] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0143] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0144] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0145] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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 and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do 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 handling abnormal disconnection of a trailer, characterized in that, include: Based on a preset judgment strategy, the connection status between the trailer and the tractor is monitored and determined by multimodal sensors; When the connection status is determined to be abnormal unhooking, a trailer unhooking signal is generated and sent to the vehicle bus to trigger the corresponding safety mechanism, which includes an audible and visual self-starting mechanism and an adaptive driving control mechanism. The adaptive driving control mechanism uses intelligent driving functions and current environmental information to execute corresponding safe driving strategies. Acquire information about objects ahead, including vehicles within a preset distance ahead of the tractor; If the preceding vehicle is not present, the tractor is braked to maintain a first safe distance between the tractor and the trailer; if the preceding vehicle is present, the tractor is braked to maintain a second safe distance between the tractor and the trailer, the second safe distance being related to the distance between the tractor and the preceding vehicle; the second safe distance is less than the first safe distance. When an instruction is received from the driver to take over control of the tractor, control of the tractor is returned to the driver.

2. The method as described in claim 1, characterized in that, The preset judgment strategy monitors and determines the connection status between the trailer and the tractor through multimodal sensors, specifically as follows: During trailer connection, the physical connection status, electrical connection status, and normal distance range between the trailer and the tractor are obtained through multimodal sensors; When the physical connection status is abnormal, based on the judgment strategy, it is determined that the trailer is at risk of pre-disengagement, and corresponding alarm information is generated and sent. If the speed of the tractor exceeds a preset speed threshold, and the electrical connection is abnormally disconnected and / or exceeds the normal distance range, the connection status is determined to be abnormally unhooked based on the judgment strategy.

3. The method as described in claim 2, characterized in that, The security mechanism for triggering the mechanism is as follows: Upon receiving the trailer unhooking signal, a trailer unhooking alarm is generated and sent. Based on the aforementioned safety mechanism, the tractor unit is controlled to automatically activate its hazard lights and / or sound its horn as a warning. The intelligent driving system takes over control of the tractor to achieve safe braking of the tractor.

4. The method as described in claim 2, characterized in that, Acquire information about objects ahead, lanes to the side, and trailers behind. The information about objects ahead includes the predicted trajectory of dynamic obstacles and / or the position of static obstacles. The information about trailers behind includes the real-time speed and heading angle of the trailer. Obtain the information of the trailer behind to determine the trailer's expected travel trajectory; Obtain the predicted driving trajectory of dynamic obstacles and / or the position of static obstacles, and determine whether the predicted driving trajectory of the trailer will collide with the predicted driving trajectory of dynamic obstacles and / or the position of static obstacles; If a collision occurs, determine whether the value attribute of the dynamic obstacle and / or static obstacle exceeds a preset importance threshold. When the value attribute exceeds the important threshold, the tractor is controlled to gradually decelerate, shortening the distance between the tractor and the trailer. After touching the trailer, the braking force is increased to stop the trailer from moving. If the value attribute does not exceed the importance threshold or there is no collision, then it is determined whether it is safe to change lanes based on the side lane information; When it is safe to change lanes, adjust the direction of the tractor to avoid the dynamic and / or static obstacles; When it is not safe to change lanes, the tractor unit is controlled to gradually decelerate, shortening the distance between the tractor unit and the trailer.

5. The method as described in claim 4, characterized in that, Obtain road slope information and correct the expected driving trajectory of the trailer based on the road slope information; when the expected driving trajectory of the trailer includes a direction opposite to the current driving direction, increase the braking deceleration of the tractor.

6. The method as described in claim 4, characterized in that, It also includes communication and coordination mechanisms, specifically: When the connection status is determined to be abnormal uncoupling, the tractor sends relevant information to surrounding vehicles based on vehicle networking technology. The relevant information includes the location of the trailer and the expected driving trajectory.

7. The method as described in claim 1, characterized in that, The judgment strategy also includes risk classification, specifically: When the connection status is determined to be abnormal unhooking, the risk level of the trailer is determined based on the speed and weight of the trailer at this time; If the speed of the trailer is less than a preset vehicle speed threshold and the weight of the trailer is less than a preset weight threshold, then the risk level is determined to be low risk, and the intervention time of the intelligent driving system is adjusted to the first preset duration. If the speed of the trailer is not less than a preset vehicle speed threshold, or the weight of the trailer is not less than a preset weight threshold, then the risk level at this time is determined to be medium risk, and the intervention time of the intelligent driving system is adjusted to the second preset duration. If the speed of the trailer is not less than a preset vehicle speed threshold and the weight of the trailer is not less than a preset weight threshold, then the risk level is determined to be high risk, and the intervention time of the intelligent driving system is adjusted to immediate intervention. The first preset duration is greater than the second preset duration.

8. The method as described in claim 7, characterized in that, It also includes a driver status monitoring mechanism, specifically: The driver's facial images are captured in real time, and the driver's attention state is determined by a preset attention assessment model. The attention state includes focused attention and distracted attention. When the driver is attentive, the intervention time is maintained; When the driver is distracted, the intervention time is shortened.

9. A vehicle control device, characterized in that, include: The judgment module is used to monitor and determine the connection status between the trailer and the tractor based on a preset judgment strategy using multimodal sensors. The triggering module is used to generate and send a trailer unhooking signal to the vehicle bus when the connection status is determined to be abnormal unhooking, so as to trigger the corresponding safety mechanism, which includes an audible and visual self-starting mechanism and an adaptive driving control mechanism. The execution module is used by the adaptive driving control mechanism to execute corresponding safe driving strategies by combining intelligent driving functions with current environmental information. Acquire information about objects ahead, including vehicles within a preset distance ahead of the tractor; If the preceding vehicle is not present, the tractor is braked to maintain a first safe distance between the tractor and the trailer; if the preceding vehicle is present, the tractor is braked to maintain a second safe distance between the tractor and the trailer, the second safe distance being related to the distance between the tractor and the preceding vehicle; the second safe distance is less than the first safe distance. The recovery module is used to return control of the tractor to the driver when it receives an instruction from the driver to take over control of the tractor.

10. 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, it implements the method as described in any one of claims 1 to 8.

11. A vehicle, characterized in that, Includes the vehicle control device as described in claim 9 or the electronic device as described in claim 10.

Images