Doubling auxiliary method and system

Abstract

The invention discloses a doubling assisting method and system, and belongs to the technical field of automobiles. The method comprises the steps that when it is detected that a vehicle is connected with a trailer, a vehicle merging auxiliary function is closed, and trailer information is obtained; selecting whether to start a trailer merging auxiliary function according to the trailer information; and after the trailer merging auxiliary function is selected to be started, the vehicle blind area monitoring range is defined according to the trailer information. When the vehicle is connected with the trailer, the problem that a traditional blind area monitoring system fails in the vehicle towing state is effectively solved by dynamically switching the doubling auxiliary function.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobiles, and particularly relates to a lane change assist method and system. Background Art

[0002] As an extremely important means of transportation in modern life, automobiles have a wide range of uses and rich types. In real life, there will be situations where a vehicle pulls another vehicle or another type of vehicle. In such a case, the vehicle in front is the towing vehicle, and the vehicle behind is the trailer. Currently, when a towing vehicle is driving while towing a trailer, a lane change assist method is generally adopted to monitor the vehicle blind spot and improve the safety of lane change.

[0003] In the prior art, the lane change assist strategy of a vehicle is usually designed based on the single-vehicle working condition. By using on-vehicle radar or camera to detect obstacles behind and on the side of the vehicle in real time, and combining the preset blind spot monitoring range and warning response time to achieve the warning function. However, when the vehicle is hooked with a trailer, its overall length, width and structural characteristics change significantly, resulting in the original monitoring range and warning logic being unable to effectively cover the trailer area. To avoid false warnings or function failures, the existing system usually directly disables the lane change assist function after detecting the connection of the trailer, and instead relies on the driver's manual operation, thus reducing the active safety performance under complex working conditions. Summary of the Invention

[0004] The embodiments of the present application provide a lane change assist method and system, which can effectively solve the problem of the failure of the traditional blind spot monitoring system in the vehicle towing state by dynamically switching the lane change assist function when the vehicle is connected to the trailer.

[0005] In a first aspect, a lane change assist method is provided, which is applied to a vehicle. The method includes:

[0006] When it is detected that the vehicle is connected to a trailer, the lane change assist function of the vehicle is turned off, and trailer information is obtained;

[0007] Whether to turn on the lane change assist function of the trailer is selected according to the trailer information;

[0008] After selecting to turn on the lane change assist function of the trailer, the blind spot monitoring range of the vehicle is defined according to the trailer information.

[0009] In the embodiments of the present application, when the vehicle is connected to the trailer, by dynamically switching the lane change assist function, the lane change safety of the vehicle in the case of towing the trailer is improved, and the safety hazards caused by the inaccuracy or inapplicability of the lane change assist function due to the presence of the trailer are avoided, effectively solving the problem of the failure of the traditional blind spot monitoring system in the vehicle towing state.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the trailer information includes the trailer length and the trailer width. The trailer length is the horizontal straight-line distance from the rear of the vehicle to the rear of the trailer; the trailer width is the horizontal straight-line distance at the widest part of the trailer.

[0011] In the embodiments of the present application, it is clarified that the trailer information includes the trailer length and the trailer width, and the definitions of the trailer length and width are specifically described, providing an accurate parameter basis for subsequent determination of whether to enable the lane change assist function and definition of the blind spot monitoring range according to the trailer information, enabling the entire lane change assist method to more precisely adapt to trailers of different sizes, and further improving the reliability and safety of the lane change assist function.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the method for selecting whether to enable the trailer lane change assist function according to the trailer information is as follows:

[0013] Determine whether the trailer length exceeds the detectable length of the vehicle;

[0014] When the trailer length does not exceed the detectable length of the vehicle, enable the trailer lane change assist function; when the trailer length exceeds the detectable length of the vehicle, prohibit enabling the trailer lane change assist function.

[0015] In the embodiments of the present application, by determining whether the trailer length exceeds the detectable length of the vehicle to decide whether to enable the trailer lane change assist function, it can effectively avoid the misjudgment risk that may be brought about by forcibly enabling the trailer lane change assist function when the trailer length exceeds the detectable range of the vehicle, ensure that the trailer lane change assist function is enabled when the vehicle can accurately detect the trailer, thereby improving the accuracy and reliability of the trailer lane change assist function, and ensuring the safety of the vehicle and the trailer during the lane change process.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the method for selecting whether to enable the trailer lane change assist function according to the trailer information is as follows:

[0017] Determine whether the trailer width exceeds the detectable width of the vehicle;

[0018] When the trailer width does not exceed the detectable width of the vehicle, enable the trailer lane change assist function; when the trailer length exceeds the detectable width of the vehicle, prohibit enabling the trailer lane change assist function.

[0019] In the embodiments of the present application, by determining whether the trailer width exceeds the detectable width of the vehicle to decide whether to enable the trailer lane change assist function, it further improves the determination of the enabling condition of the lane change assist function, avoids the misjudgment risk that may be brought about by enabling the trailer lane change assist function when the trailer width exceeds the detectable range of the vehicle from the perspective of the trailer width, makes the enabling of the lane change assist function more reasonable and safe, and further improves the lane change safety of the vehicle when towing a trailer.

[0020] In combination with the first aspect, in some implementations of the first aspect, the method for defining the vehicle blind spot monitoring range according to the trailer information includes: taking the sum of the horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, the trailer length, and a preset length as the length of the vehicle blind spot monitoring range.

[0021] It should be noted that the field of vision blind spot corresponds to the position of the rearview mirror. In the embodiments of the present application, an innovative dynamic blind spot length calculation method based on the rearview mirror reference is proposed. Based on the trailer information, taking the sum of the horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, the trailer length, and a preset length as the length of the vehicle blind spot monitoring range can dynamically adjust the length of the vehicle blind spot monitoring range according to the actual length of the trailer, ensuring that when the trailer is connected, the vehicle blind spot monitoring range can cover the tail area of the trailer, so as to more accurately monitor the traffic conditions around the vehicle and the trailer, reduce the blind spot risk during lane change, and improve the lane change safety.

[0022] In combination with the first aspect, in some implementations of the first aspect, the method for defining the vehicle blind spot monitoring range according to the trailer information further includes:

[0023] Judging whether the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle;

[0024] When the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle, taking the sum of the distance between the two rearview mirrors of the vehicle and a first preset width as the width of the vehicle blind spot monitoring range;

[0025] When the trailer width is greater than the distance between the two rearview mirrors of the vehicle, taking the sum obtained by dividing the difference between the trailer width and the distance between the two rearview mirrors of the vehicle by two and then adding a second preset width as the width of the vehicle blind spot monitoring range.

[0026] In the embodiments of the present application, by judging the relationship between the trailer width and the distance between the two rearview mirrors of the vehicle, and calculating the width of the vehicle blind spot monitoring range according to different situations, the width of the vehicle blind spot monitoring range can be flexibly adjusted according to the actual width of the trailer. For the safety redundancy mechanism designed for the special working conditions of narrow trailers, when the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle, the sum of the distance between the two rearview mirrors of the vehicle and the first preset width is used as the width of the blind spot monitoring range, effectively avoiding the problem of too small monitoring blind spot caused by too narrow trailer, ensuring that reliable blind spot coverage can be obtained for trailers of different sizes, and ensuring the rationality and effectiveness of the blind spot monitoring range. When the trailer width is greater than the distance between the two rearview mirrors of the vehicle, through the width algorithm of "(trailer width dimension - distance between the two rearview mirrors) ÷ 2 + second preset width", the areas on both sides of the trailer can be covered more accurately, further improving the lane change safety of the vehicle in the case of towing a trailer and reducing the problem of insufficient blind spot monitoring caused by a large trailer width.

[0027] In combination with the first aspect, in some implementation manners of the first aspect, the trailer information includes the trailer type; the method for selecting whether to turn on the trailer lane change assist function according to the trailer information is as follows:

[0028] Judge whether the trailer type matches the preset trailer type;

[0029] When the trailer type matches the preset trailer type, turn on the trailer lane change assist function; when the trailer type does not match the preset trailer type, prohibit turning on the trailer lane change assist function.

[0030] In the embodiments of the present application, incorporating the trailer type into the trailer information and deciding whether to turn on the trailer lane change assist function according to whether the trailer type matches the preset trailer type can perform targeted control of the lane change assist function for different types of trailers.

[0031] In combination with the first aspect, in some implementation manners of the first aspect, the method further includes: detecting whether there is an object in the vehicle blind spot monitoring range under the vehicle lane change assist function or the trailer lane change assist function, and when an object is detected, determining the lane change danger level, generating different warning signals and warning response times according to different lane change danger levels, and sending them to the user; the warning response time generated during the trailer lane change assist function is greater than the warning response time generated during the vehicle lane change assist function.

[0032] In the embodiments of the present application, different warning signals are generated according to different lane-changing danger levels, which can more accurately reflect the current danger level, effectively reduce false alarms and unnecessary interference. Different warning response times are set according to different lane-changing danger levels to ensure that the driver can be reminded at the fastest speed in case of emergency. This hierarchical warning mechanism can adapt to a variety of driving scenarios, enabling the driver to receive warning information matching the lane-changing danger level more timely and accurately, so as to more effectively cope with various risks during the lane-changing process, further improve the lane-changing safety of the vehicle, and enhance the driving experience. The warning response time of the trailer lane-changing assistance function is longer, which can better adapt to the special needs when the trailer changes lanes. This targeted design can more effectively assist the driver when the trailer changes lanes and reduce the additional risks brought by the characteristics of the trailer.

[0033] In combination with the first aspect, in some implementation manners of the first aspect, the method further includes: during the turning process of the vehicle, when an object is detected within the vehicle blind spot monitoring range, if the object type matches the preset trailer type and the object speed matches the vehicle speed, no alarm signal is generated.

[0034] In the embodiments of the present application, during the turning process of the vehicle, when an object is detected within the vehicle blind spot monitoring range, it is determined whether to generate an alarm signal by judging whether the object type matches the preset trailer type and whether the object speed matches the vehicle speed. This alarm signal generation mechanism based on object recognition and the matching of object type and speed can effectively distinguish the trailer body from other obstacles, completely eliminate the false warning problem when the trailer swings its tail during turning, and effectively avoid generating unnecessary alarm signals due to misjudging the objects in the blind spot when the vehicle turns.

[0035] In a second aspect, a lane-changing assistance system is provided, which is applied to a vehicle. The system includes:

[0036] A first detection unit for detecting whether the vehicle is connected to a trailer;

[0037] An acquisition unit for acquiring trailer information;

[0038] A control unit is connected to the detection unit and the acquisition unit, and receives the detection result sent by the detection unit and the trailer information sent by the acquisition unit; the control unit is configured to: when it is detected that the vehicle is connected to a trailer, turn off the vehicle lane-changing assistance function; select whether to turn on the trailer lane-changing assistance function according to the trailer information;

[0039] A range definition unit, after selecting to turn on the trailer lane-changing assistance function, defines the vehicle blind spot monitoring range according to the trailer information.

[0040] In combination with the second aspect, in some implementation manners of the second aspect, the control unit includes:

[0041] The first judgment module is configured to: judge whether the trailer length exceeds the detectable length of the vehicle;

[0042] The control module is configured to: when it is detected that the vehicle is connected with a trailer, turn off the lane change assist function of the vehicle; when the trailer length does not exceed the detectable length of the vehicle, turn on the trailer lane change assist function; when the trailer length exceeds the detectable length of the vehicle, prohibit turning on the trailer lane change assist function.

[0043] Combined with the second aspect, in some implementation manners of the second aspect, the first judgment module is further configured to: judge whether the trailer width exceeds the detectable width of the vehicle.

[0044] Combined with the second aspect, in some implementation manners of the second aspect, the control module is further configured to: when the trailer width does not exceed the detectable width of the vehicle, turn on the trailer lane change assist function; when the trailer width exceeds the detectable width of the vehicle, prohibit turning on the trailer lane change assist function.

[0045] Combined with the second aspect, in some implementation manners of the second aspect, the first judgment module is further configured to: judge whether the trailer type matches the preset trailer type.

[0046] Combined with the second aspect, in some implementation manners of the second aspect, the control module is further configured to: when the trailer type matches the preset trailer type, turn on the trailer lane change assist function; when the trailer type does not match the preset trailer type, prohibit turning on the trailer lane change assist function.

[0047] Combined with the second aspect, in some implementation manners of the second aspect, the range defining unit includes a calculation module, and the calculation module is used to add the horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, the trailer length, and the preset length to obtain the length of the vehicle blind spot monitoring range.

[0048] Combined with the second aspect, in some implementation manners of the second aspect, the range defining unit further includes a second judgment module, and the second judgment module is used to judge whether the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle.

[0049] Combined with the second aspect, in some implementation manners of the second aspect, the calculation module is further configured to:

[0050] When the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle, add the distance between the two rearview mirrors of the vehicle and the first preset width to obtain the width of the vehicle blind spot monitoring range;

[0051] When the width of the trailer is greater than the distance between the two rearview mirrors of the vehicle, divide the difference obtained by subtracting the distance between the two rearview mirrors of the vehicle from the width of the trailer by two, and then add the second preset width to obtain the width of the vehicle blind spot monitoring range.

[0052] In combination with the second aspect, in some implementation manners of the second aspect, the system further includes a second detection unit, and the second detection unit is configured to detect whether there is an object within the vehicle blind spot monitoring range of the vehicle during the vehicle lane change assist function or the trailer lane change assist function, and send the detection result to the control module.

[0053] In combination with the second aspect, in some implementation manners of the second aspect, the control module is configured to: when an object is detected, determine the lane change danger level, generate different warning signals and warning response times according to different lane change danger levels, and send them to the user.

[0054] In combination with the second aspect, in some implementation manners of the second aspect, the system further includes a third detection unit, and the third detection unit is configured to detect the vehicle speed and, when there is an object within the vehicle blind spot monitoring range, detect the speed of the object within the vehicle blind spot monitoring range, and send the detection result to the control module.

[0055] In combination with the second aspect, in some implementation manners of the second aspect, the control module is further configured to: during the vehicle turning process, when an object within the vehicle blind spot monitoring range is detected, if the object type matches the preset trailer type and the object speed matches the vehicle speed, no alarm signal is generated.

[0056] In combination with the second aspect, in some implementation manners of the second aspect, the system further includes a storage unit, and the storage unit is configured to store the preset trailer type, the vehicle detectable length, the vehicle detectable width, the horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, the distance between the two rearview mirrors of the vehicle, the preset length, the first preset width, and the second preset width.

[0057] In a third aspect, a computer program product is provided, and the computer program product includes: computer program code, when the computer program code runs on a computer, enabling the computer to execute the lane change assist method in the first aspect above.

[0058] In a fourth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores computer program code, and the computer program code is executed by one or more processors. When the computer program code runs on the processor, enabling a device including the one or more processors to execute the lane change assist method in the first aspect above.

[0059] Fifth aspect, an embodiment of the present application provides a chip system, which includes a processor for calling a computer program or computer instructions stored in a memory, so that the processor executes the lane change assistance method of the first aspect above.

[0060] Sixth aspect, an electronic device according to an embodiment of the present application includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the lane change assistance method of the first aspect.

[0061] Seventh aspect, a vehicle is provided. The vehicle includes the lane change assistance system described in the second aspect above, or the computer-readable storage medium described in the fourth aspect above, or the chip system described in the fifth aspect above, or the electronic device described in the sixth aspect above.

[0062] The beneficial effects brought by the technical solutions provided by the embodiments of the present application at least include:

[0063] The lane change assistance method and system provided by the embodiments of the present application are applied to a vehicle. When it is detected that a trailer is connected behind the vehicle, the original lane change assistance function of the vehicle is turned off, and whether to turn on the trailer lane change assistance function is selected according to the trailer information. After the trailer lane change assistance function is turned on, the vehicle blind spot monitoring range is defined according to the trailer information. The effect of being able to still use the lane change assistance function after towing a trailer is achieved, and the problem of reduced safety caused by the inability to use the lane change assistance after towing a trailer is solved.

[0064] The above description is only an overview of the technical solutions of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present application more obvious, the specific embodiments of the present application are specifically given below. Description of the Drawings

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0066] Figure 1 It is a schematic flowchart of the lane change assistance method in the embodiment of the present application.

[0067] Figure 2 It is a schematic flowchart of the method for selecting whether to turn on the trailer lane change assistance function according to the trailer information in an embodiment of the present application.

[0068] Figure 3Schematic flowchart of a method for selecting whether to turn on the trailer lane change assist function according to trailer information in another embodiment of the present application.

[0069] Figure 4 Schematic flowchart of a method for selecting whether to turn on the trailer lane change assist function according to trailer information in still another embodiment of the present application.

[0070] Figure 5 Schematic diagram of the positional relationship between the first area, the second area and the vehicle under the vehicle lane change assist function in an embodiment of the present application.

[0071] Figure 6 Schematic diagram of the positional relationship between the third area, the fourth area and the vehicle under the vehicle lane change assist function in an embodiment of the present application.

[0072] Figure 7 Schematic diagram of the structure of the vehicle and the trailer in an embodiment of the present application.

[0073] Figure 8 Schematic diagram of the positional relationship between the vehicle and the third area and the trailer in the turning state under the trailer lane change assist function in an embodiment of the present application.

[0074] Figure 9 Schematic diagram of the architecture of the lane change assist system in an embodiment of the present application.

[0075] Figure 10 Schematic diagram of the architecture of the vehicle in an embodiment of the present application.

[0076] In the figure, 100 is the vehicle, 101 is the memory, 102 is the processor, 103 is the computer program, 200 is the trailer, 300 is the first area, 400 is the second area, 500 is the third area, 600 is the fourth area, 700 is the lane change assist system, 701 is the first detection unit, 702 is the acquisition unit, 703 is the control unit, 7031 is the first judgment module, 7032 is the control module, 704 is the range definition unit, 7041 is the calculation module, 7042 is the second judgment module, 705 is the first standby detection unit, 706 is the second detection unit, 707 is the third detection unit, and 708 is the storage unit. Detailed implementation manners

[0077] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0078] In the embodiments of the present application, prefix words such as "first" and "second" are only used to distinguish different described objects, and have no restrictive effect on the position, order, priority, quantity, content, etc. of the described objects. The use of prefix words such as ordinal numbers for distinguishing described objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, refer to the description in the claims or the context of the embodiments. It should not constitute an unnecessary limitation due to the use of such prefix words. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "a plurality" is two or more.

[0079] Next, the technical solutions in the embodiments of the present application will be described in conjunction with the accompanying drawings in the embodiments of the present application. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" herein is only an association relationship describing associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0080] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0081] In the field of automobiles, lane change assist, also known as blind spot monitoring or lane change assist, is a technology aimed at improving driving safety. It uses sensors (such as radar and cameras) installed on the vehicle to continuously monitor the blind spots around the vehicle. When other vehicles or objects are detected approaching in the blind spots, the driver is reminded through visual, auditory or vibration means to avoid contact with other vehicles or objects when changing lanes or switching lanes, thereby avoiding traffic accidents caused by the line of sight blind spots.

[0082] In the prior art, after a vehicle tows a trailer, the lane change assist strategy of the vehicle can no longer meet the trailer working conditions. Therefore, when the vehicle detects that it is towing a trailer, the lane change assist function will be disabled, reducing driving safety.

[0083] Based on the above application scenarios, the embodiments of the present application provide a lane change assist method.

[0084] Figure 1It is a schematic flowchart of a method provided by this embodiment. This method is applicable to vehicles. The method includes the following steps.

[0085] S1. When it is detected that the vehicle is connected to a trailer, turn off the vehicle lane change assist function and obtain trailer information.

[0086] It should be noted that when the vehicle 100 is connected to the trailer 200, the overall vehicle changes, so the data of the original vehicle lane change assist function is not applicable. In the embodiment of this application, when it is detected that the vehicle is connected to a trailer, turning off the vehicle lane change assist function can effectively solve the problem of misjudgment of the radar or camera caused by the physical occlusion of the trailer 200.

[0087] In an embodiment of this application, the trailer information includes the trailer length and the trailer width. The trailer length is the horizontal straight-line distance from the rear of the vehicle to the rear of the trailer; the trailer width is the horizontal straight-line distance at the widest part of the trailer.

[0088] The length dimension and width dimension of the trailer directly affect the blind spot monitoring range. In the embodiment of this application, it is clear that the trailer information includes the trailer length and the trailer width, and the definitions of the trailer length and width are specifically described, providing an accurate parameter basis for the subsequent judgment of turning on the trailer lane change assist function and the definition of the blind spot monitoring range according to the trailer information, so that the entire lane change assist method can more accurately adapt to the situation of trailers of different sizes, and further improve the reliability and safety of the lane change assist function.

[0089] In some embodiments of this application, the trailer length and the trailer width can be obtained by user input. It can also be obtained by automatically detecting the trailer length and the trailer width by a detection unit.

[0090] In some embodiments of this application, when it is not detected that the vehicle is connected to a trailer, keep the vehicle lane change assist function in the on state and do not turn off the vehicle lane change assist function.

[0091] S2. Select whether to turn on the trailer lane change assist function according to the trailer information.

[0092] The parameters such as the type, length, and width of the trailer are uncertain, and different trailers have different parameters and characteristics. In the embodiment of this application, selecting whether to turn on the trailer lane change assist function according to different trailer information can avoid misjudgment of the lane change assist function caused by the combination of the trailer and the vehicle.

[0093] In an embodiment of this application, see Figure 2 , the method of selecting whether to turn on the trailer lane change assist function according to the trailer information is:

[0094] Judge whether the trailer length exceeds the detectable length of the vehicle;

[0095] When the trailer length does not exceed the detectable length of the vehicle, the trailer lane change assist function is turned on; when the trailer length exceeds the detectable length of the vehicle, the trailer lane change assist function is prohibited from being turned on.

[0096] The sensors of the vehicle (such as radar, camera, etc.) have a certain detection range and accuracy. On the one hand, when the trailer length exceeds the detectable length of the vehicle, the sensors cannot accurately perceive the traffic environment at the rear of the trailer. For example, when changing lanes, if there are other vehicles entering the blind spot at the rear of the trailer, the sensors cannot detect them in time, which may lead to misjudgment or missed judgment, thus increasing the collision risk. On the other hand, when the trailer length exceeds the detection range, the vehicle safety system may misjudge the normal traffic conditions at the rear of the trailer as potential dangers, thus frequently issuing false warnings. This will not only interfere with the normal driving of the driver, but also may reduce the driver's trust in the vehicle safety system, and even may cause the driver to take improper operations due to false warnings, resulting in danger.

[0097] In the embodiments of the present application, by determining whether the trailer length exceeds the detectable length of the vehicle to decide whether to turn on the trailer lane change assist function, it can effectively avoid the misjudgment risk that may be brought about by forcibly turning on the trailer lane change assist function when the trailer length exceeds the detectable range of the vehicle, ensure that the trailer lane change assist function is turned on when the vehicle can accurately detect the trailer, thereby improving the accuracy and reliability of the trailer lane change assist function, and ensuring the safety of the vehicle and the trailer during the lane change process. This method can be flexibly adjusted according to different trailer lengths and vehicle configurations, and is applicable to various trailer scenarios. Whether it is a small trailer or a large trailer, as long as its length is within the detectable range of the vehicle, the trailer lane change assist function can be turned on to provide effective assistance to the driver.

[0098] In an embodiment of the present application, refer to Figure 3 , the method for selecting whether to turn on the trailer lane change assist function according to the trailer information is:

[0099] Judge whether the trailer width exceeds the detectable width of the vehicle;

[0100] When the trailer width does not exceed the detectable width of the vehicle, the trailer lane change assist function is turned on; when the trailer length exceeds the detectable width of the vehicle, the trailer lane change assist function is prohibited from being turned on.

[0101] When the width of the trailer exceeds the detectable width of the vehicle, the sensors (such as radar or camera) of the vehicle cannot cover the entire width of the trailer. When changing lanes, if there are other vehicles entering the blind spot on the side of the trailer, the in-vehicle safety system cannot detect it in time, which may lead to misjudgment or missed judgment, thus increasing the collision risk. In addition, when the width of the trailer exceeds the detection range, the vehicle safety system may misjudge the normal traffic conditions on the side of the trailer as potential dangers, thus frequently issuing false warnings. In the embodiments of the present application, by determining whether the width of the trailer exceeds the detectable width of the vehicle to decide whether to turn on the trailer lane change assist function, the determination condition for turning on the lane change assist function is further improved. From the perspective of the trailer width, the misjudgment risk that may be brought about by turning on the trailer lane change assist function when the width of the trailer exceeds the detectable range of the vehicle is avoided, making the turning on of the lane change assist function more reasonable and safe, and further improving the lane change safety of the vehicle when towing a trailer.

[0102] In an embodiment of the present application, referring to Figure 4 , the trailer information includes the trailer type; the method for selecting whether to turn on the trailer lane change assist function according to the trailer information is as follows:

[0103] Determine whether the trailer type matches the preset trailer type;

[0104] When the trailer type matches the preset trailer type, turn on the trailer lane change assist function; when the trailer type does not match the preset trailer type, prohibit turning on the trailer lane change assist function.

[0105] For non-standard or special-structured trailers (such as special-shaped trailers, multi-section trailers), the existing lane change assist strategies may be difficult to support because the blind spots cannot be accurately calculated. In the embodiments of the present application, based on the standardized structure of traditional trailers 200 (such as square trailers 200, single-axle / double-axle trailers 200), the trailer type is incorporated into the trailer information, and whether to turn on the trailer lane change assist function is determined according to whether the trailer type matches the preset trailer type, which can perform targeted control of the lane change assist function for different types of trailers. The trailer lane change assist function is only turned on when the trailer type matches the preset trailer type, avoiding the situation where the trailer lane change assist function is inaccurate or unsafe due to unsuitable trailer types, further improving the applicability and safety of the lane change assist function, and ensuring that the lane change operation of the vehicle is more reliable when towing a trailer.

[0106] In some embodiments of the present application, the preset trailer types include but are not limited to motorhomes, flatbed trucks, box trucks, horse trailers, fifth-wheel trailers, etc. When the trailer type matches the preset trailer type, the trailer lane change assist function is turned on.

[0107] S3. After selecting to turn on the trailer lane change assist function, define the vehicle blind spot monitoring range according to the trailer information.

[0108] When the vehicle is not connected to a trailer, the blind spot monitoring range of the vehicle includes a first area 300 and a second area 400 located on both sides of the vehicle body (see Figure 5 ), and the first area 300 and the second area 400 have the same size and shape. When the vehicle is connected to a trailer, the blind spot monitoring range of the vehicle includes a third area 500 and a fourth area 600 located on both sides of the vehicle body (see Figure 6 ), and the third area 500 and the fourth area 600 have the same size and shape. Compared with when the vehicle is not connected to a trailer, when the vehicle is connected to a trailer, due to the overall increase in the vehicle length, when changing lanes or turning, the length and width of the trailer 200 behind need to be considered. If the original lane change assist function of the vehicle is still used, the length and width of the trailer 200 are not taken into account, and the trailer 200 will rub against other vehicles when changing lanes or turning.

[0109] In the embodiment of the present application, according to the trailer information (such as trailer width, length, etc.), the blind spot monitoring range of the vehicle is dynamically adjusted, and the blind spot monitoring range of the vehicle is redefined, which can ensure that all key parts of the trailer are included in the monitoring area. For example, for a wider trailer, the horizontal range of blind spot monitoring will be correspondingly expanded to avoid monitoring omissions caused by the trailer exceeding the range of a conventional vehicle. After accurately defining the monitoring range, it is possible to more accurately identify whether there are other vehicles or obstacles in the blind spot, so as to ensure the safety of the vehicle 100 when towing the trailer 200 during lane change and turning. After defining the blind spot monitoring range according to the trailer information, false alarms (such as misjudging a normally traveling vehicle as a dangerous target) or missed alarms (failing to detect a target entering the blind spot) caused by inaccurate monitoring range can be effectively reduced, thereby improving the reliability of lane change assist.

[0110] In an embodiment of the present application, the method for defining the blind spot monitoring range of the vehicle according to the trailer information includes: taking the sum of the horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, the trailer length, and a preset length as the length of the blind spot monitoring range of the vehicle (i.e., the third area 500 and the fourth area 600).

[0111] It can also be considered that, see Figure 7 , the length of the blind spot monitoring range of the vehicle, that is, the length L of the third area 500 and the fourth area 600 is determined by the following formula:

[0112] L = D + L1 + L2

[0113] Wherein, D is the horizontal straight-line distance from the rearview mirror of the vehicle 100 to the vehicle tail (a fixed value), L1 is the trailer length, and L2 is the preset length.

[0114] It can be understood that when the reasonable speeds of the two lanes are the same, during lane change, it is only necessary that the vehicle in the corresponding lane is not on one side of the horizontal width direction of the trailer 200 and the vehicle 100. However, when the actual vehicles are moving, the speeds of the two lanes on both sides may be different. Therefore, when the vehicle in the adjacent lane is faster than the vehicle itself, it is necessary to pay attention to the lead in advance during lane change to ensure that the vehicle traveling at a high speed in the corresponding lane will not collide with the vehicle during the lane change process. Therefore, a preset length is set to leave a margin. When the vehicle in the adjacent lane may speed up and collide with the trailer 200 of the vehicle itself, an alarm can be sent in time to remind the driver. Therefore, setting the preset length increases the lengths of the third area 500 and the fourth area 600.

[0115] It should be noted that the preset length is usually obtained by the manufacturer through experiments based on road conditions and vehicles. Therefore, the preset length is usually preset at the factory. However, the preset length dimension can be changed according to the road conditions of different countries. Therefore, in other embodiments, the preset length can be input by the user or retrieved from the storage module.

[0116] In an embodiment of the present application, in a specific implementation manner, the preset length is 50 meters.

[0117] It should be noted that the horizontal straight-line distance from the rearview mirror of the vehicle 100 to the rear of the vehicle is usually a fixed value, so this value can be preset at the factory.

[0118] In an embodiment of the present application, an innovative method for calculating the dynamic blind area length based on the rearview mirror reference is proposed. Through the composite length algorithm of "the horizontal straight-line distance from the rearview mirror to the rear of the vehicle + the trailer length + the preset length", it not only accurately covers the physical size of the trailer 200 but also considers the actual driving safety margin, making the definition of the vehicle blind area range scientific, reasonable and meeting the driving safety requirements.

[0119] In an embodiment of the present application, the method for defining the vehicle blind area monitoring range according to the trailer information further includes:

[0120] Judging whether the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle;

[0121] When the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle, the sum of the distance between the two rearview mirrors of the vehicle and the first preset width is used as the width of the vehicle blind area monitoring range;

[0122] When the trailer width is greater than the distance between the two rearview mirrors of the vehicle, the difference obtained by subtracting the distance between the two rearview mirrors of the vehicle from the trailer width is divided by two, and then the sum obtained by adding the second preset width is used as the width of the vehicle blind area monitoring range.

[0123] It can also be considered that in the setting of the width of the vehicle blind spot monitoring range, when the width of the trailer is less than or equal to the distance between the two rearview mirrors of the vehicle, continue to refer to Figure 7 , the width W of the third area 500 and the fourth area 600 is determined by the following formula:

[0124] W = E + W2

[0125] wherein, W2 is the first preset width, and E is the distance between the two rearview mirrors of the vehicle 100.

[0126] When the width of the trailer is greater than the distance between the two rearview mirrors of the vehicle, continue to refer to Figure 7 , the width W of the third area 500 and the fourth area 600 is determined by the following formula:

[0127] W = (W1 / E) / 2 + W3

[0128] wherein, W1 is the width of the trailer, and W3 is the second preset width.

[0129] In an embodiment of the present application, in a specific embodiment, both the first preset width and the second preset width are 3m.

[0130] It should be noted that the distance between the two rearview mirrors of the vehicle 100 is usually a fixed value, so this value can be preset at the factory.

[0131] It can be understood that in order to ensure safety, it is necessary to ensure that the widths of the third area 500 and the fourth area 600 are greater than the widths of the vehicle 100 and the trailer 200. For this reason, the first preset width and the second preset width are set to ensure that the third area 500 and the fourth area 600 are larger, and to avoid the possibility of the vehicle 100 and the trailer 200 coming into contact with other vehicles after lane changing.

[0132] It should be noted that the first preset width and the second preset width are usually obtained by the manufacturer through experiments based on road conditions and vehicles. Therefore, the first preset width and the second preset width are usually preset at the factory. However, the first preset width and the second preset width can be changed according to the road conditions in different countries. Therefore, in other embodiments, the first preset width and the second preset width can be input by the user or retrieved from the storage module, and can also be sent from the cloud or upgraded through OTA (Over-The-Air).

[0133] In the embodiments of the present application, by judging the distance relationship between the trailer width and the distance between the two rearview mirrors of the vehicle, and calculating the width of the vehicle blind spot monitoring range according to different situations, the width of the vehicle blind spot monitoring range can be flexibly adjusted according to the actual width of the trailer. Considering the special working conditions of the narrow-body trailer 200, when the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle, the sum of the distance between the two rearview mirrors of the vehicle and the first preset width is used as the width of the blind spot monitoring range, effectively avoiding the problem of too small monitoring blind spot caused by too narrow trailer, ensuring that reliable blind spot coverage can be obtained for trailers of different sizes, and ensuring the rationality and effectiveness of the blind spot monitoring range. When the trailer width is greater than the distance between the two rearview mirrors of the vehicle, through the width algorithm of "(trailer width dimension - distance between the two rearview mirrors)÷2 + second preset width", the areas on both sides of the trailer can be covered more accurately, further improving the lane-changing safety of the vehicle in the case of towing a trailer and reducing the problem of insufficient blind spot monitoring caused by a large trailer width.

[0134] In an embodiment of the present application, considering that the possible collision risks faced by the vehicle in different driving states (such as high-speed driving, low-speed driving, turning, lane-changing, etc.) are different, the second blind spot range can be dynamically adjusted. Specifically, when driving at high speed, since the relative speed of the vehicle is relatively large, the lengths of the third area 500 and the fourth area 600 can be appropriately increased to reserve more sufficient reaction time. When driving at low speed or in a parking state, the widths of the third area 500 and the fourth area 600 can be appropriately expanded to prevent collisions when other vehicles or pedestrians pass by closely from the side of the vehicle.

[0135] Specifically, when the vehicle speed of the vehicle 100 is higher than the preset speed, the value of the preset length is increased by a first preset difference and redefined as the preset length, and the lengths of the third area 500 and the fourth area 600 are recalculated according to the latest preset length, and the vehicle blind spot monitoring range is redefined. Blind spot monitoring is carried out according to the latest vehicle blind spot monitoring range. The range in the length direction of the vehicle blind spot is expanded. This reserves more sufficient reaction time for the driver and effectively reduces the collision risk caused by sudden situations in the blind spot during high-speed driving.

[0136] It can be understood that the preset speed and the first preset difference can be selected according to requirements, and they can be sent from the cloud, preset at the factory, upgraded by OTA, or manually input by the user. It can be adaptively adjusted according to different situations.

[0137] In addition, when the vehicle speed of the vehicle 100 is lower than the preset speed, the value of the first preset width is increased by a second preset difference and redefined as the second preset width, and the widths of the third area 500 and the fourth area 600 are recalculated according to the latest second preset width, and the vehicle blind spot monitoring range is redefined.

[0138] In addition, when the vehicle speed of the towing vehicle 100 is lower than the preset speed, the value of the second preset width is increased by a third preset difference and redefined as the second preset width, and the widths of the third area 500 and the fourth area 600 are recalculated according to the latest second preset width, and the vehicle blind spot monitoring range is redefined.

[0139] When the vehicle speed is low, the width of the vehicle blind spot monitoring range to be monitored is expanded. This adjustment can better cope with the complex traffic environment around the vehicle at low speed, such as the close approach of pedestrians, non-motor vehicles or other vehicles, and effectively reduce the collision risk. At the same time, this dynamic adjustment mechanism enables the system to flexibly adapt according to different driving states, further enhancing the accuracy and reliability of blind spot monitoring.

[0140] It can be understood that the second preset difference and the third preset difference can be selected according to requirements, and they can be sent from the cloud, preset at the factory, upgraded by OTA, or manually input by the user. It can be adaptively adjusted according to different situations.

[0141] In an embodiment of the present application, the method further includes: detecting whether there is an object (such as other vehicles or obstacles) within the vehicle blind spot monitoring range under the vehicle lane change assist function or the trailer lane change assist function, and when an object is detected, determining the lane change danger level, generating different warning signals and warning response times according to different lane change danger levels, and sending them to the user; the warning response time generated in the trailer lane change assist function is greater than the warning response time generated in the vehicle lane change assist function.

[0142] It should be noted that under the original vehicle lane change assist function, when the vehicle changes lanes and there is an object (such as other vehicles or obstacles) within the vehicle blind spot monitoring range, a lane change danger warning will be issued. The existing warning method does not consider the situation of towing a trailer, and the warning signal and the warning response time are a single fixed value. In the embodiment of the present application, different warning signals are generated according to different lane change danger levels, which can more accurately reflect the current danger level, effectively reduce false alarms and unnecessary interference. Different warning response times are set according to different lane change danger levels to ensure that the driver can be reminded at the fastest speed in an emergency. This hierarchical warning mechanism can adapt to a variety of driving scenarios, enabling the driver to receive warning information matching the lane change danger level more timely and accurately, thereby more effectively coping with various risks during the lane change process, further improving the lane change safety of the vehicle, and enhancing the driving experience. The warning response time of the trailer lane change assist function is longer, which can better meet the special needs when the trailer changes lanes. This targeted design can more effectively assist the driver when the trailer changes lanes and reduce the additional risks brought by the trailer characteristics.

[0143] For example, when the lane change danger level is low, the driver may be reminded only by the flashing of the indicator light on the rearview mirror or the text display on the in-vehicle interface; while when the lane change danger level is high, methods such as sound alarms or seat vibrations will be combined to ensure that the driver can quickly perceive potential risks.

[0144] It should be noted that the lane change danger level can be divided according to the actual needs of the user or preset at the factory. For example: when the occupied area of other vehicles or obstacles within the vehicle blind spot monitoring range is small, it is a low-level lane change danger. When the occupied area of other vehicles or obstacles within the vehicle blind spot monitoring range is large, it is a low-level lane change danger. Another example: when other vehicles or obstacles within the vehicle blind spot monitoring range are far from the vehicle, it is a low-level lane change danger. When other vehicles or obstacles within the vehicle blind spot monitoring range are too close to the vehicle, it is a high-level lane change danger.

[0145] Exemplarily, the lane change danger level includes three levels, namely the first-level lane change danger level, the second-level lane change danger level, and the third-level lane change danger level. Among them, the first-level lane change danger level is the lowest-level lane change danger level, and the third-level lane change danger level is the highest-level lane change danger level.

[0146] Under the first-level lane change danger level, the warning signal is text. It can be displayed through the in-vehicle interface to remind the user. The warning method can specifically be in the form of a pop-up dialog box, etc. Under the first-level lane change danger level, the driver is reminded of potential risks in a gentle manner to avoid excessive interference with normal driving.

[0147] Under the second-level lane change danger level, the warning signal is a sound and light signal. The warning method is specifically a sound and light alarm method. Under the second-level lane change danger level, strong visual and auditory stimuli can quickly alert the driver and prompt him to respond in a timely manner.

[0148] Under the third-level lane change danger level, the warning signal is a braking signal. The warning method is specifically an active braking method. Under the third-level lane change danger level, the vehicle driving is directly intervened to effectively avoid the occurrence of collision accidents.

[0149] It should be noted that the warning response time generated by the trailer lane change assist function is greater than the warning response time generated by the vehicle lane change assist function. Since the parameters of the trailer 200 obtained through user input may not be accurate enough, and the overall lane change efficiency of the towed trailer 200 is slow, it is necessary to design a hierarchical warning strategy for the lane change assist function with or without a trailer 200. In the embodiments of the present application, a response time differentiation mechanism is innovatively designed. For the more complex driving conditions in the trailer 200 scenario, extending the warning response time of the trailer lane change assist function not only avoids frequent false warnings but also leaves enough operation reaction time for the driver, achieving the best balance between safety and driving comfort.

[0150] In the embodiments of the present application, in some specific real-time manners, the warning response time for a high lane-changing danger level is shorter than that for a low lane-changing danger level, so as to remind the driver in time.

[0151] In the embodiments of the present application, in some specific real-time manners, in the vehicle lane-changing assistance function, the warning response time for the first-level lane-changing danger level is 2.5 seconds, the warning response time for the second-level lane-changing danger level is 1.8 seconds, and the warning response time for the third-level lane-changing danger level is 0.5 seconds.

[0152] In the embodiments of the present application, in some specific real-time manners, in the trailer lane-changing assistance function, the warning response time for the first-level lane-changing danger level is 3.8 seconds, the warning response time for the second-level lane-changing danger level is 2.5 seconds, and the warning response time for the third-level lane-changing danger level is 0.8 seconds.

[0153] In an embodiment of the present application, during the turning process of the vehicle, when an object is detected within the blind spot monitoring range of the vehicle, if the object type matches the preset trailer type and the object speed matches the vehicle speed, no alarm signal is generated.

[0154] In the embodiments of the present application, during the turning process of the vehicle, when an object is detected within the blind spot monitoring range of the vehicle, it is determined whether to generate an alarm signal by judging whether the object matches the preset trailer type and whether the object speed matches the vehicle speed. This alarm signal generation mechanism based on object recognition and the matching of object type and speed can effectively distinguish the trailer body from other obstacles, completely eliminate the false warning problem when the trailer swings its tail during turning, and effectively avoid generating unnecessary alarm signals due to misjudging the objects in the blind spot when the vehicle is turning. At the same time, a warning signal is sent in time when the object type and speed do not match to remind the user, improving the safety and driving comfort during the turning process of the vehicle, reducing unnecessary interference and false alarms, and enabling the driver to more accurately judge the blind spot situation and take corresponding measures.

[0155] Exemplarily, referring to Figure 8 , when the vehicle is turning, there will be an overlap between the trailer and the blind spot monitoring range of the vehicle, that is, the body of the trailer will enter the blind spot monitoring range of the vehicle. To avoid false warnings, at this time, in combination with the recognized object type and the detected object speed, it is judged whether it is the body of the trailer. If it is the body of the trailer, no warning signal is generated.

[0156] The embodiments of the present application provide a lane-changing assistance system applicable to vehicles. Figure 9 The following shows the structural schematic diagram of the lane-changing assistance system.

[0157] The lane-changing assistance system 700 includes:

[0158] The first detection unit 701 is configured to detect whether a trailer is connected to the vehicle;

[0159] The acquisition unit 702 is configured to acquire trailer information;

[0160] The control unit 703 is connected to the detection unit 701 and the acquisition unit 702, and receives the detection result sent by the detection unit 701 and the trailer information sent by the acquisition unit 702; the control unit 703 is configured to: when it is detected that a trailer is connected to the vehicle, turn off the vehicle lane change assist function; select whether to turn on the trailer lane change assist function according to the trailer information;

[0161] The range definition unit 704, after selecting the trailer lane change assist function, defines the vehicle blind spot monitoring range according to the trailer information.

[0162] In some embodiments of the present application, the first detection unit 701 is an in-vehicle camera, which captures the environment behind the vehicle in real time through the first detection unit 701 and identifies whether there is an object in the image. When the image is recognized as the trailer 200, the vehicle lane change assist function is turned off.

[0163] Specifically, the image recognition can be image comparison recognition or AI (Artificial Intelligence) recognition.

[0164] In some embodiments of the present application, the first detection unit 701 is a sensor, and the sensor detects the electrical connection state between the trailer 200 and the vehicle 100. When it is detected that the trailer 200 is electrically connected to the vehicle 100, the vehicle lane change assist function is turned off. For example: the sensor uses a current sensor to determine whether the wire connecting the trailer 200 and the vehicle 100 is energized by detecting the current.

[0165] In some embodiments of the present application, the first detection unit 701 is an in-vehicle radar. When the in-vehicle radar detects that there is a trailer 200 behind the vehicle 100, the vehicle lane change assist function is turned off.

[0166] Specifically, the first detection unit 701 transmits a signal to the control unit 703. After the control unit 703 determines that the trailer 200 is connected to the vehicle 100, the control unit 703 controls to turn off the vehicle lane change assist function.

[0167] It should be noted that the first detection unit 701 can be multiple of a camera, a sensor, and an in-vehicle radar at the same time. By using multiple detection forms for judgment, the accuracy of judgment can be improved and the possibility of reporting errors can be reduced.

[0168] In some embodiments of the present application, the first detection unit 701 is disposed at the rear side of the vehicle 100, and it is used to detect the trailer 200 behind the vehicle 100.

[0169] In another embodiment of the present application, the first detection unit 701 is disposed on the top of the vehicle 100, and it is used to detect the trailer 200 behind the vehicle 100. When the first detection unit 701 is disposed on the top of the vehicle 100, its position is higher and the field of view is wider, so the detection accuracy is higher. It can be imagined that in order to improve the detection effect, the detection unit is disposed on the rear side of the top of the vehicle 100.

[0170] In some embodiments of the present application, the system further includes a first standby detection unit 705 connected to the control unit 703. The first standby detection unit 705 is disposed on the vehicle body. When the detection unit 701 fails, it automatically switches to the first standby detection unit 705 to detect whether the vehicle is connected to the trailer through the first standby detection unit 705, ensuring the continuity of the function.

[0171] In some embodiments of the present application, when the control unit 703 fails to detect the connection signal or detection result of the first detection unit 701, it controls the first detection unit 701 to turn off and turns on the first standby detection unit 705.

[0172] It should be noted that the first detection unit 701 and the first standby detection unit 705 may not be of the same type, to avoid the situation where a certain type of detection unit cannot be used in some cases, resulting in the situation where both the first detection unit 701 and the first standby detection unit 705 cannot be used.

[0173] In some embodiments of the present application, the first detection unit 701 and the first standby detection unit 705 can perform detection simultaneously. After both the first detection unit 701 and the first standby detection unit 705 detect that the trailer 200 is connected to the vehicle 100, the vehicle lane change assist function is turned off. This avoids false alarms caused by a single detection unit, resulting in incorrect exit of the vehicle lane change assist function. By using two detection units for detection, the possibility of false alarms is reduced.

[0174] Specifically, the detection unit 701 and the first standby detection unit 705 transmit the detection results to the control unit 703. After the control unit 703 determines that the trailer 200 is connected to the tractor 100, the control unit 703 controls to turn off the vehicle lane change assist function.

[0175] In some embodiments of the application, a towing area is calibrated behind the vehicle 100. When the first detection unit 701 is a camera or a vehicle-mounted radar, the first detection unit 701 is used to detect the towing area and transmit the detection result to the control unit 703.

[0176] When the first standby detection unit 705 is a camera or a vehicle-mounted radar, the first standby detection unit 705 is used to detect the towing area and transmit the signal to the control unit 703.

[0177] It can be understood that the towing area is defined according to the area where the trailer 200 may be towed behind the vehicle 100. Its position usually does not change, so it can be preset by the manufacturer. In other embodiments, the vehicle 100 may be modified, resulting in a difference between the actual towing area and the preset towing area. Therefore, the towing area can be input and adjusted manually through the in-vehicle system to adapt to different situations.

[0178] Continue to refer to Figure 9 , in an embodiment of the present application, the control unit 703 includes:

[0179] A first judgment module 7031, configured to: judge whether the trailer length exceeds the detectable length of the vehicle;

[0180] A control module 7032, configured to: when it is detected that the vehicle is connected with a trailer, turn off the vehicle lane change assist function; when the trailer length does not exceed the detectable length of the vehicle, turn on the trailer lane change assist function; when the trailer length exceeds the detectable length of the vehicle, prohibit turning on the trailer lane change assist function.

[0181] In an embodiment of the present application, the first judgment module 7031 is further configured to: judge whether the trailer width exceeds the detectable width of the vehicle.

[0182] In an embodiment of the present application, the control module 7032 is further configured to: when the trailer width does not exceed the detectable width of the vehicle, turn on the trailer lane change assist function; when the trailer length exceeds the detectable width of the vehicle, prohibit turning on the trailer lane change assist function.

[0183] In an embodiment of the present application, the first judgment module 7031 is further configured to: judge whether the trailer type matches the preset trailer type.

[0184] In an embodiment of the present application, the control module 7032 is further configured to: when the trailer type matches the preset trailer type, turn on the trailer lane change assist function; when the trailer type does not match the preset trailer type, prohibit turning on the trailer lane change assist function.

[0185] Continue to refer to Figure 9 , in an embodiment of the present application, the range defining unit 704 includes a calculation module 7041, and the calculation module is used to add the horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, the trailer length, and the preset length to obtain the length of the vehicle blind spot monitoring range.

[0186] Continue to refer to Figure 9 , in an embodiment of the present application, the range defining unit 704 further includes a second judgment module 7042, and the second judgment module is used to judge whether the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle.

[0187] In one embodiment of the present application, the calculation module 7041 is further configured to:

[0188] When the width of the trailer is less than or equal to the distance between the two rearview mirrors of the vehicle, add the distance between the two rearview mirrors of the vehicle to the first preset width to obtain the width for vehicle blind spot monitoring;

[0189] When the width of the trailer is greater than the distance between the two rearview mirrors of the vehicle, divide the difference obtained by subtracting the distance between the two rearview mirrors of the vehicle from the width of the trailer by two, and then add the second preset width to obtain the width for vehicle blind spot monitoring.

[0190] Continue to refer to Figure 9 In one embodiment of the present application, the system further includes a second detection unit 706. The second detection unit 706 is configured to detect whether there is an object (such as another vehicle or an obstacle) within the vehicle blind spot monitoring range during the vehicle lane change assist function or the trailer lane change assist function, and send the detection result to the control module 7032.

[0191] In one embodiment of the present application, the control module 7032 is configured to: when detecting an object (such as another vehicle or an obstacle), determine the lane change danger level, generate different warning signals and warning response times according to different lane change danger levels, and send them to the user.

[0192] In one embodiment of the present application, the system further includes a third detection unit 707. The third detection unit is configured to detect the vehicle speed, and when there is an object within the vehicle blind spot monitoring range, detect the speed of the object within the vehicle blind spot monitoring range, and send the detection result to the control module 7032.

[0193] In one embodiment of the present application, the control module 7032 is further configured to: during the vehicle turning process, when detecting an object within the vehicle blind spot monitoring range, if the object type matches the preset trailer type and the object speed matches the vehicle speed, no alarm signal is generated.

[0194] Continue to refer to Figure 9 In one embodiment of the present application, the system further includes a storage unit 708. The storage unit 708 is configured to store the preset trailer type, the vehicle detectable length, the vehicle detectable width, the horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, the distance between the two vehicle rearview mirrors, the preset length, the first preset width, and the second preset width.

[0195] The present application embodiment also provides a computer program product. The computer program product includes: computer program code. When the computer program code runs on a computer, the computer is enabled to execute the lane change assist method involved in the above embodiments. This computer program can be carried on a vehicle system.

[0196] The embodiments of the present application also provide a computer-readable storage medium storing program codes, which are executed by one or more processors. When the program codes are running on the processors, the device including one or more processors is enabled to execute the lane change assist method involved in the above embodiments. The processor running the computer-readable storage medium can be mounted on a vehicle system.

[0197] It should be understood that when the modules or units described herein are implemented by software, they can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or a data center integrating one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)), etc.

[0198] The embodiments of the present application provide a chip system. The chip system includes a processor, or the chip system includes a memory and a processor, and is used to call a computer program or computer instructions stored in the memory so that the processor executes the lane change assist method involved in the above embodiments. The chip system can be a single chip or a chip module composed of multiple chips. The chip system can be mounted on a vehicle system.

[0199] The embodiments of the present application provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the lane change assist method involved in the above embodiments. The electronic device can be mounted on a vehicle system.

[0200] The embodiments of the present application provide a vehicle.

[0201] Exemplarily, referring to Figure 10 , the vehicle 100 includes a memory 101, a processor 102, and a computer program 103 stored in the memory 101 and executable on the processor 102. When the processor 102 executes the computer program 103, the processor 102 implements the lane change assist method involved in the above embodiments.

[0202] Exemplarily, the vehicle may include a detection unit, an acquisition unit, a control unit, and a range definition unit. The acquisition unit, the control unit, and the range definition unit are integrated in a processor, and the detection unit is disposed on the vehicle body.

[0203] The detection unit is configured to detect whether a trailer is connected to the vehicle;

[0204] The acquisition unit is configured to acquire trailer information;

[0205] The control unit is connected to the detection unit and the acquisition unit, and receives the detection result sent by the detection unit and the trailer information sent by the acquisition unit. The control unit is configured to: when it is detected that a trailer is connected to the vehicle, turn off the vehicle lane change assist function; select whether to turn on the trailer lane change assist function according to the trailer information;

[0206] The range definition unit is configured to define the vehicle blind spot monitoring range according to the trailer information after the trailer lane change assist function is selected.

[0207] Those of ordinary skill in the art can realize that the modules, units, and method steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0208] As mentioned above, the above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all of them should be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A line-joint assisting method, characterized in that: Applied to a vehicle, the method comprises: When a trailer is detected connected to the vehicle, the vehicle lane change assist function is turned off and trailer information is obtained; Choose whether to enable the trailer lane assist function based on the trailer information; After turning on the trailer lane change assist function, the vehicle blind spot monitoring range is defined based on the trailer information.

2. The lane-merging assistance method according to claim 1, characterized in that: The trailer information includes trailer length and trailer width, wherein the trailer length is the horizontal straight-line distance from the rear end of the vehicle to the rear end of the trailer; and the trailer width is the horizontal straight-line distance from the widest part of the trailer.

3. The lane-merging assistance method according to claim 2, characterized in that: The method for selecting whether to enable the trailer lane assist function according to the trailer information is as follows: Determine whether the trailer length exceeds the detectable length of the vehicle; When the trailer length does not exceed the detectable length of the vehicle, the trailer lane change assist function is turned on; when the trailer length exceeds the detectable length of the vehicle, the trailer lane change assist function is prohibited from being turned on.

4. The line-merging assistance method according to claim 2, characterized in that: The method for selecting whether to enable the trailer lane assist function according to the trailer information is as follows: Determine whether the trailer width exceeds the detectable width of the vehicle; When the trailer width does not exceed the detectable width of the vehicle, the trailer lane change assist function is turned on; when the trailer length exceeds the detectable width of the vehicle, the trailer lane change assist function is prohibited from being turned on.

5. The lane-merging assistance method according to claim 2, characterized in that: The method for defining the vehicle blind spot monitoring range based on trailer information includes: taking the sum of the horizontal straight-line distance from the vehicle rearview mirror to the rear of the vehicle, the trailer length, and a preset length as the length of the vehicle blind spot monitoring range.

6. The lane-merging assistance method according to claim 5, characterized in that: The method for defining the vehicle blind spot monitoring range according to the trailer information also includes: Determine whether the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle; When the width of the trailer is less than or equal to the distance between the two rearview mirrors of the vehicle, the sum of the distance between the two rearview mirrors of the vehicle and the first preset width is used as the width of the blind spot monitoring range of the vehicle; When the trailer width is greater than the distance between the two rearview mirrors of the vehicle, the difference between the trailer width and the distance between the two rearview mirrors of the vehicle is divided by two, and the sum is added to the second preset width as the width of the vehicle blind spot monitoring range.

7. The lane-merging assistance method according to claim 1, characterized in that: The trailer information includes the trailer type; the method for selecting whether to enable the trailer lane-changing auxiliary function according to the trailer information is: Determine whether the trailer type matches the preset trailer type; When the trailer type matches the preset trailer type, the trailer lane change assist function is turned on; when the trailer type does not match the preset trailer type, the trailer lane change assist function is prohibited from being turned on.

8. The lane-merging assistance method according to claim 7, characterized in that: The method also includes: detecting whether there is an object within the blind spot monitoring range of the vehicle under the vehicle lane change assist function or the trailer lane change assist function, and when the object is detected, determining the lane change hazard level, generating different warning signals and warning response times according to different lane change hazard levels, and sending them to the user; the warning response time generated by the trailer lane change assist function is greater than the warning response time generated by the vehicle lane change assist function.

9. The lane-merging assistance method according to claim 1, characterized in that: The method further includes: when an object is detected within the blind spot monitoring range of the vehicle during a vehicle turning process, if the object type matches a preset trailer type and the object speed matches the vehicle speed, no alarm signal is generated.

10. A lane-changing assistance system, characterized in that: Applied to vehicles, including: a detection unit, used to detect whether the vehicle is connected to a trailer; An acquisition unit, used for acquiring trailer information; A control unit is connected to the detection unit and the acquisition unit, and receives the detection result sent by the detection unit and the trailer information sent by the acquisition unit; the control unit is configured to: turn off the vehicle lane-changing assistance function when it is detected that the vehicle is connected to a trailer; and select whether to turn on the trailer lane-changing assistance function according to the trailer information; The range definition unit defines the vehicle blind spot monitoring range based on the trailer information after the trailer lane change assist function is turned on.

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