Doubling assistance method and system

Abstract

The application discloses a parallel parking auxiliary method and system, and belongs to the technical field of automobiles. The method comprises the following steps: when it is detected that a trailer is connected to a vehicle, the parallel parking auxiliary function of the vehicle is closed, and trailer information is acquired; whether to start the trailer parallel parking auxiliary function is selected according to the trailer information; and after the trailer parallel parking auxiliary function is selected to be started, the monitoring range of the blind area of the vehicle is defined according to the trailer information. When the vehicle is connected with the trailer, the parallel parking auxiliary function is switched dynamically, and the problem that the traditional blind area monitoring system is invalid under the state that the vehicle is connected with the trailer is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobiles, and particularly relates to a lane-keeping assistance method and system. BACKGROUND

[0002] Automobiles are extremely important means of transportation in modern life, and are widely used and have various types. In real life, a vehicle may pull another vehicle or another type of vehicle. In this case, the front vehicle is a towing vehicle, and the rear vehicle is a trailer. At present, a lane-keeping assistance method is generally used to monitor the blind area of a vehicle and improve the safety of lane changing during the driving of a towing vehicle towing a trailer.

[0003] In the prior art, the lane-keeping assistance strategy of a vehicle is usually designed based on a single-vehicle working condition, real-time detection of obstacles behind and on the side of the vehicle is performed through a vehicle-mounted radar or camera, and a preset blind area monitoring range and early warning response time are combined to realize a warning function. However, when a vehicle is connected with a trailer, the overall length, width and structural characteristics of the vehicle change significantly, which causes the original monitoring range and early warning logic to be unable to effectively cover the trailer. To avoid false early warning or function failure, the lane-keeping assistance function is usually directly disabled after the trailer is detected to be connected, and the driver is relied on to manually operate, thereby reducing the active safety performance under complex working conditions. SUMMARY

[0004] The present application provides a lane-keeping assistance method and system. When a vehicle is connected with a trailer, the lane-keeping assistance function is dynamically switched, and the problem of failure of a traditional blind area monitoring system under a vehicle towing state is effectively solved.

[0005] In a first aspect, a lane-keeping assistance method is provided and applied to a vehicle. The method comprises:

[0006] When it is detected that the vehicle is connected with a trailer, the lane-keeping assistance function of the vehicle is closed, and trailer information is acquired;

[0007] Whether to start a trailer lane-keeping assistance function is selected according to the trailer information;

[0008] After the trailer lane-keeping assistance function is selected to be started, a vehicle blind area monitoring range is defined according to the trailer information.

[0009] In the present application, when a vehicle is connected with a trailer, the lane-keeping assistance function is dynamically switched, the lane-keeping safety of the vehicle under the trailer condition is improved, the safety hidden danger caused by the inaccuracy or unsuitability of the lane-keeping assistance function due to the existence of the trailer is avoided, and the problem of failure of a traditional blind area monitoring system under a vehicle towing state is effectively solved.

[0010] In some implementations of the first aspect, the trailer information includes a trailer length and a trailer width, the trailer length being a horizontal straight-line distance from a rear of the vehicle to a rear of the trailer, and the trailer width being a horizontal straight-line distance of a widest part of the trailer.

[0011] In the embodiments of the present application, the trailer information includes the trailer length and the trailer width, and the definitions of the trailer length and the trailer width are specifically described, which provides accurate parameter basis for subsequent opening judgment of the lane merging assistance function and definition of the blind area monitoring range according to the trailer information, so that the entire lane merging assistance method can more accurately adapt to the situation of different sizes of trailers, and further improve the reliability and safety of the lane merging assistance function.

[0012] In some implementations of the first aspect, the method of selecting whether to open the trailer lane merging assistance function according to the trailer information is:

[0013] determining whether the trailer length exceeds a vehicle detectable length;

[0014] opening the trailer lane merging assistance function when the trailer length does not exceed the vehicle detectable length, and prohibiting opening the trailer lane merging assistance function when the trailer length exceeds the vehicle detectable length.

[0015] In the embodiments of the present application, whether to open the trailer lane merging assistance function is determined by judging whether the trailer length exceeds the vehicle detectable length, which can effectively avoid the misjudgment risk that may be caused by forcibly opening the trailer lane merging assistance function when the trailer length exceeds the vehicle detectable range, ensures that the trailer lane merging assistance function is opened when the vehicle can accurately detect the trailer, and thus improves the accuracy and reliability of the trailer lane merging assistance function and ensures the safety of the vehicle and the trailer during the lane merging process.

[0016] In some implementations of the first aspect, the method of selecting whether to open the trailer lane merging assistance function according to the trailer information is:

[0017] determining whether the trailer width exceeds a vehicle detectable width;

[0018] opening the trailer lane merging assistance function when the trailer width does not exceed the vehicle detectable width, and prohibiting opening the trailer lane merging assistance function when the trailer length exceeds the vehicle detectable width.

[0019] In the embodiments of the present application, whether to open the trailer lane merging assistance function is determined by judging whether the trailer width exceeds the vehicle detectable width, which further improves the opening condition judgment of the lane merging assistance function, avoids the misjudgment risk that may be caused by opening the trailer lane merging assistance function when the trailer width exceeds the vehicle detectable range from the perspective of the trailer width, makes the opening of the lane merging assistance function more reasonable and safe, and further improves the lane merging safety of the vehicle in the trailer situation.

[0020] With reference to the first aspect, in some implementations of the first aspect, the method of determining the vehicle blind area monitoring range according to the trailer information comprises: summing a horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, a trailer length, and a preset length as a length of the vehicle blind area monitoring range.

[0021] It should be noted that the visual field blind area corresponds to the position of the rearview mirror. In the embodiments of the present application, a dynamic blind area length calculation method based on the rearview mirror reference is innovatively proposed. Based on the trailer information, the sum of the horizontal straight-line distance from the vehicle rearview mirror to the vehicle tail, the trailer length, and the preset length is taken as the length of the vehicle blind area monitoring range. The length of the vehicle blind area monitoring range can be dynamically adjusted according to the actual length of the trailer, ensuring that the vehicle blind area monitoring range can cover the tail area of the trailer in the case of trailer connection, so as to more accurately monitor the traffic conditions around the vehicle and the trailer, reduce the blind area risk when merging, and improve the merging safety.

[0022] With reference to the first aspect, in some implementations of the first aspect, the method of determining the vehicle blind area monitoring range according to the trailer information further comprises:

[0023] determining whether the trailer width is less than or equal to a 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, summing the distance between the two rearview mirrors of the vehicle and a first preset width as a width of the vehicle blind area monitoring range;

[0025] when the trailer width is greater than the distance between the two rearview mirrors of the vehicle, dividing a 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 to obtain a sum as the width of the vehicle blind area monitoring range.

[0026] In the embodiments of the present application, the width of the vehicle blind area monitoring range can be flexibly adjusted according to the actual width of the trailer 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 area monitoring range according to different situations. The safety redundancy mechanism designed for the special working condition of narrow-body trailers is that 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 area monitoring range, which effectively avoids the problem of too small monitoring blind area caused by too narrow trailer, ensures that different size trailers can obtain reliable blind area coverage, and guarantees the rationality and effectiveness of the blind area monitoring range. When the trailer width is greater than the distance between the two rearview mirrors of the vehicle, the width algorithm of "(trailer width size-distance between two rearview mirrors) ÷ 2+second preset width" can more accurately cover the area on both sides of the trailer, further improve the lane merging safety of the vehicle in the trailer condition, and reduce the problem of insufficient blind area monitoring caused by large trailer width.

[0027] In combination with the first aspect, in some implementations of the first aspect, the trailer information includes a trailer type; and the method of selecting whether to start the trailer lane merging assistance function according to the trailer information is:

[0028] determining whether the trailer type matches a preset trailer type;

[0029] starting the trailer lane merging assistance function when the trailer type matches the preset trailer type, and prohibiting starting the trailer lane merging assistance function when the trailer type does not match the preset trailer type.

[0030] In the embodiments of the present application, the trailer type is included in the trailer information, and whether to start the trailer lane merging assistance function is determined according to whether the trailer type matches the preset trailer type, which can control the lane merging assistance function for different types of trailers.

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

[0032] In the embodiments of the present application, different pre-warning signals are generated according to different lane merging danger levels, which can more accurately reflect the current danger level and effectively reduce false positives and unnecessary interference. Different pre-warning response times are set according to different lane merging danger levels to ensure that the driver can be reminded at the fastest speed in an emergency. This hierarchical pre-warning mechanism can adapt to various driving scenarios, enabling the driver to receive pre-warning information that matches the lane merging danger level more timely and accurately, thereby more effectively dealing with various risks during the lane merging process, further improving the lane merging safety of the vehicle, and improving the driving experience. The pre-warning response time of the trailer lane merging assistance function is longer, which can better adapt to the special needs of trailer lane merging. This targeted design can more effectively assist the driver during trailer lane merging and reduce additional risks caused by the characteristics of the trailer.

[0033] In combination with the first aspect, in some implementations of the first aspect, the method further includes: during the turning of the vehicle, when an object is detected within the blind area 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.

[0034] In the embodiments of the present application, during the turning of the vehicle, when an object is detected within the blind area monitoring range of the vehicle, whether to generate an alarm signal is determined 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 matching of object type and speed can effectively distinguish between the trailer body and other obstacles, completely eliminating the false pre-warning problem when the trailer swings during turning, and effectively avoiding unnecessary alarm signals due to misjudgment of objects within the blind area when the vehicle is turning.

[0035] The second aspect provides a lane merging assistance system applied to a vehicle. The system includes:

[0036] A first detection unit is configured to detect whether the vehicle is connected with a trailer;

[0037] An acquisition unit is configured to acquire trailer information;

[0038] A control unit is connected with 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 with a trailer, turn off the lane merging assistance function of the vehicle; and select whether to turn on the trailer lane merging assistance function according to the trailer information.

[0039] A range defining unit is configured to, after selecting to turn on the trailer lane merging assistance function, define the blind area monitoring range of the vehicle according to the trailer information.

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

[0041] The first judging module is configured to judge whether the trailer length exceeds the detectable length of the vehicle.

[0042] The control module is configured to turn off the vehicle lane-keeping assistance function when the vehicle is detected to be connected with the trailer, turn on the trailer lane-keeping assistance function when the trailer length does not exceed the detectable length of the vehicle, and prohibit turning on the trailer lane-keeping assistance function when the trailer length exceeds the detectable length of the vehicle.

[0043] With reference to the second aspect, in some implementations of the second aspect, the first judging module is further configured to judge whether the trailer width exceeds the detectable width of the vehicle.

[0044] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to turn on the trailer lane-keeping assistance function when the trailer width does not exceed the detectable width of the vehicle, and prohibit turning on the trailer lane-keeping assistance function when the trailer length exceeds the detectable width of the vehicle.

[0045] With reference to the second aspect, in some implementations of the second aspect, the first judging module is further configured to judge whether the trailer type matches the preset trailer type.

[0046] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to turn on the trailer lane-keeping assistance function when the trailer type matches the preset trailer type, and prohibit turning on the trailer lane-keeping assistance function when the trailer type does not match the preset trailer type.

[0047] With reference to the second aspect, in some implementations of the second aspect, the range defining unit comprises a calculation module configured 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 area monitoring range.

[0048] With reference to the second aspect, in some implementations of the second aspect, the range defining unit further comprises a second judging module configured to judge whether the trailer width is less than or equal to the distance between the two vehicle rearview mirrors.

[0049] With reference to the second aspect, in some implementations of the second aspect, the calculation module is further configured to:

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

[0051] 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 then the second preset width is added to obtain the width of the vehicle blind area monitoring range.

[0052] With reference to the second aspect, in some implementations of the second aspect, the system further comprises a second detection unit configured to detect whether there is an object in the vehicle blind area monitoring range when the vehicle is in a vehicle merging assistance function or a trailer merging assistance function, and send the detection result to the control module.

[0053] With reference to the second aspect, in some implementations of the second aspect, the control module is configured to determine a merging danger level when an object is detected, generate different pre-warning signals and pre-warning response times according to different merging danger levels, and send them to the user.

[0054] With reference to the second aspect, in some implementations of the second aspect, the system further comprises a third detection unit configured to detect the speed of the vehicle, and when there is an object in the vehicle blind area monitoring range, detect the speed of the object in the vehicle blind area monitoring range, and send the detection result to the control module.

[0055] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to, when the vehicle is turning, if the type of the object matches the preset trailer type and the speed of the object matches the speed of the vehicle when an object in the vehicle blind area monitoring range is detected, not generate an alarm signal.

[0056] With reference to the second aspect, in some implementations of the second aspect, the system further comprises a storage unit configured to store the preset trailer type, the detectable length of the vehicle, the detectable width of the vehicle, the horizontal straight distance from the rearview mirror of the vehicle to the tail of the vehicle, the distance between the two rearview mirrors of the vehicle, the preset length, the first preset width, and the second preset width.

[0057] The third aspect provides a computer program product, which comprises computer program code, and when the computer program code is run on a computer, the computer program code causes the computer to execute the merging assistance method of the first aspect.

[0058] The fourth aspect provides a computer readable storage medium, which stores computer program code, and when the computer program code is executed by one or more processors, the computer program code causes an apparatus comprising the one or more processors to execute the merging assistance method of the first aspect.

[0059] In a fifth aspect, an embodiment of the present application provides a chip system, which comprises a processor, and the processor is configured to invoke a computer program or computer instructions stored in a memory, so that the processor executes the parallel parking assisting method in the first aspect.

[0060] In a sixth aspect, an embodiment of the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program, so that the electronic device implements the parallel parking assisting method in the first aspect.

[0061] In a seventh aspect, a vehicle is provided. The vehicle comprises the parallel parking assisting system in the second aspect, or the computer readable storage medium in the fourth aspect, or the chip system in the fifth aspect, or the electronic device in the sixth aspect.

[0062] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0063] The parallel parking assisting 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 to the rear of the vehicle, the original vehicle parallel parking assisting function is closed, and whether to start the trailer parallel parking assisting function is selected according to trailer information. After starting the trailer parallel parking assisting function, the monitoring range of the blind area of the vehicle is defined according to the trailer information. The effect that the parallel parking assisting function can still be used after towing a trailer is achieved, and the problem that the safety is reduced because the parallel parking assisting function cannot be used after towing a trailer is solved.

[0064] The above description is only a summary of the technical scheme of the present application. In order to more clearly understand the technical means of the present application, the embodiments can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0065] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0066] Figure 1 The flowchart of the parallel parking assisting method of an embodiment of the present application.

[0067] Figure 2 The flowchart of the method for selecting whether to start the trailer parallel parking assisting function according to trailer information in an embodiment of the present application.

[0068] Figure 3The method flow diagram for selecting whether to start the trailer lane-keeping assistance function according to trailer information is shown in another embodiment of the application.

[0069] Figure 4 The method flow diagram for selecting whether to start the trailer lane-keeping assistance function according to trailer information is shown in another embodiment of the application.

[0070] Figure 5 The positional relationship between the first area, the second area and the vehicle in the vehicle lane-keeping assistance function is shown in an embodiment of the application.

[0071] Figure 6 The positional relationship between the third area, the fourth area and the vehicle in the vehicle lane-keeping assistance function is shown in an embodiment of the application.

[0072] Figure 7 The structure of the vehicle and the trailer is shown in an embodiment of the application.

[0073] Figure 8 The positional relationship between the third area, the trailer and the vehicle in the vehicle lane-keeping assistance function is shown in an embodiment of the application.

[0074] Figure 9 The architecture of the lane-keeping assistance system is shown in an embodiment of the application.

[0075] Figure 10 The architecture of the vehicle is shown in an embodiment of the application.

[0076] In the figure, 100, vehicle, 101, memory, 102, processor, 103, computer program, 200, trailer, 300, first area, 400, second area, 500, third area, 600, fourth area, 700, lane-keeping assistance system, 701, first detection unit, 702, acquisition unit, 703, control unit, 7031, first judgment module, 7032, control module, 704, range defining unit, 7041, calculation module, 7042, second judgment module, 705, first backup detection unit, 706, second detection unit, 707, third detection unit, 708, storage unit. DETAILED DESCRIPTION

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

[0078] The prefix words such as "first", "second" in the embodiments of the present application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as "first" in the embodiments of the present application does not limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not be construed as redundant limitation because of the use of such prefix words. In addition, in the description of the embodiments, unless otherwise specified, the meaning of "multiple" is two or more than two.

[0079] The technical solutions in the embodiments of the present application will be described below in combination with the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in this paper only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone.

[0080] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed system and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed objects can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0081] In the field of automobiles, lane-keeping assistance, also known as blind spot monitoring or lane-changing assistance, is a technology aimed at improving driving safety. It uses sensors installed on the vehicle, such as radar and cameras, to monitor the blind spots around the vehicle in real time. When it detects other vehicles or objects approaching in the blind spot, it alerts the driver through visual, auditory or vibration means to avoid contact with other vehicles or objects during lane-keeping or lane-changing, thereby avoiding traffic accidents caused by blind spots.

[0082] In the prior art, after the vehicle is towed by a trailer, the lane-keeping assistance strategy of the vehicle cannot meet the trailer working condition, so when the vehicle detects that it is towing a trailer, the lane-keeping assistance function is disabled, reducing the safety of driving.

[0083] Based on the above application scenario, the embodiments of the present application provide a lane-keeping assistance method.

[0084] Figure 1is a schematic flow chart of a method provided by the embodiment. The method is applicable to a vehicle. The method comprises the following steps.

[0085] S1, when it is detected that the vehicle is connected with a trailer, the vehicle lane keeping assistance function is closed, and trailer information is acquired.

[0086] It should be noted that when the vehicle 100 is connected with the trailer 200, the overall vehicle changes, and thus the original data of the vehicle lane keeping assistance function cannot be applicable. In the embodiment of the application, when it is detected that the vehicle is connected with the trailer, the vehicle lane keeping assistance function is closed, which can effectively solve the problem of misjudgment of the radar or the camera caused by the physical shielding of the trailer 200.

[0087] In an embodiment of the application, the trailer information comprises a trailer length and a trailer width, the trailer length is a horizontal straight-line distance from a tail of the vehicle to a tail of the trailer, and the trailer width is a horizontal straight-line distance of the widest part of the trailer.

[0088] The length and width of the trailer directly affect the monitoring range of the blind area. In the embodiment of the application, the trailer information comprises the trailer length and the trailer width, and the definitions of the trailer length and the trailer width are specifically described, which provides accurate parameter basis for subsequent opening judgment of the trailer lane keeping assistance function and definition of the monitoring range of the blind area according to the trailer information, so that the entire lane keeping assistance method can more accurately adapt to the situation of different sizes of trailers, and further improve the reliability and safety of the lane keeping assistance function.

[0089] In some embodiments of the application, the trailer length and the trailer width can be acquired by user input. Alternatively, the trailer length and the trailer width can be acquired by automatic detection of a detection unit.

[0090] In some embodiments of the application, when it is not detected that the vehicle is connected with the trailer, the vehicle lane keeping assistance function is kept in an opened state, and the vehicle lane keeping assistance function is not closed.

[0091] S2, whether to open the trailer lane keeping assistance function is selected according to the trailer information.

[0092] The type, length, width and other parameters of the trailer have uncertainty, and different trailers have different parameters and characteristics. In the embodiment of the application, whether to open the trailer lane keeping assistance function is selected according to different trailer information, which can avoid misjudgment of the lane keeping assistance function caused by the combination of the trailer and the vehicle.

[0093] In an embodiment of the application, referring to Figure 2 , the method for selecting whether to open the trailer lane keeping assistance function according to the trailer information is as follows:

[0094] whether the trailer length exceeds a detectable length of the vehicle is judged;

[0095] When the trailer length does not exceed the vehicle detectable length, the trailer merging assistance function is enabled; when the trailer length exceeds the vehicle detectable length, the trailer merging assistance function is prohibited.

[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 vehicle detectable length, the sensor cannot accurately perceive the traffic environment behind the trailer. For example, when merging, if there are other vehicles entering the blind area behind the trailer, the sensor cannot detect it in time, which may cause misjudgment or omission, thereby increasing the risk of collision. On the other hand, when the trailer length exceeds the detection range, the vehicle safety system may misjudge the normal traffic situation behind the trailer as a potential danger, thereby frequently issuing false warnings. This not only interferes with the normal driving of the driver, but also may reduce the trust of the driver in the vehicle safety system, and even may take improper operation due to false warnings, causing danger.

[0097] In the embodiments of the present application, whether to enable the trailer merging assistance function is determined by judging whether the trailer length exceeds the vehicle detectable length, which can effectively avoid the misjudgment risk that may be caused by forcibly enabling the trailer merging assistance function when the trailer length exceeds the vehicle detectable range, and ensure that the trailer merging assistance function is enabled when the vehicle can accurately detect the trailer, thereby improving the accuracy and reliability of the trailer merging assistance function and ensuring the safety of the vehicle and the trailer during the merging process. This method can be flexibly adjusted according to different trailer lengths and vehicle configurations and is suitable for various trailer scenarios. Whether it is a small trailer or a large trailer, as long as its length is within the vehicle detectable range, the trailer merging assistance function can be enabled to provide effective assistance support for the driver.

[0098] In an embodiment of the present application, referring to Figure 3 , the method of selecting whether to enable the trailer merging assistance function according to the trailer information is:

[0099] determining whether the trailer width exceeds the vehicle detectable width;

[0100] When the trailer width does not exceed the vehicle detectable width, the trailer merging assistance function is enabled; when the trailer length exceeds the vehicle detectable width, the trailer merging assistance function is prohibited.

[0101] When the trailer width exceeds the vehicle's detectable width, the sensors (such as radar or camera) of the vehicle cannot cover the entire width of the trailer. When merging, if other vehicles enter the blind area on the side of the trailer, the vehicle safety system cannot detect it in time, which may cause misjudgment or omission, thereby increasing the risk of collision. In addition, when the trailer width exceeds the detection range, the vehicle safety system may misjudge the normal traffic situation on the side of the trailer as a potential danger, thereby frequently issuing false warnings. In the embodiments of the present application, whether to start the trailer merging assistance function is determined by judging whether the trailer width exceeds the vehicle's detectable width, further improving the start condition judgment of the merging assistance function, avoiding the misjudgment risk that may be caused by starting the trailer merging assistance function when the trailer width exceeds the vehicle's detectable range from the perspective of the trailer width, making the start of the merging assistance function more reasonable and safe, and further improving the merging safety of the vehicle in the trailer condition.

[0102] In an embodiment of the present application, referring to Figure 4 , the trailer information includes a trailer type; and the method of selecting whether to start the trailer merging assistance function according to the trailer information is:

[0103] judging whether the trailer type matches a preset trailer type;

[0104] starting the trailer merging assistance function when the trailer type matches the preset trailer type, and prohibiting starting the trailer merging assistance function when the trailer type does not match the preset trailer type.

[0105] For non-standard or special structure trailers (such as special-shaped trailers, multi-section trailers), the existing merging assistance strategy may be difficult to support due to the inability to accurately calculate the blind area. In the embodiments of the present application, based on the standardized structure of the traditional trailer 200 (such as a square trailer 200, a single-axle / dual-axle trailer 200), the trailer type is included in the trailer information, and whether to start the trailer merging assistance function is determined according to whether the trailer type matches the preset trailer type, which can control the merging assistance function for different types of trailers. Only when the trailer type matches the preset trailer type, the trailer merging assistance function is started, avoiding the situation that the trailer merging assistance function is inaccurate or unsafe due to the trailer type being unsuitable, further improving the applicability and safety of the merging assistance function, and ensuring that the merging operation of the vehicle in the trailer condition is more reliable.

[0106] In some embodiments of the present application, the preset trailer type includes but is not limited to a house car, a flatbed truck, a box truck, a horse-drawn carriage, a fifth-wheel trailer, etc. When the trailer type matches the preset trailer type, the trailer merging assistance function is started.

[0107] S3, after selecting to start the trailer merging assistance function, defining the vehicle blind area monitoring range according to the trailer information.

[0108] When the vehicle is not connected with the trailer, the blind area monitoring range of the vehicle includes the first area 300 and the second area 400 located on both sides of the vehicle body (see Figure 5 ), the first area 300 and the second area 400 have the same size and shape. When the vehicle is connected with the trailer, the blind area monitoring range of the vehicle includes the third area 500 and the fourth area 600 located on both sides of the vehicle body (see Figure 6 ), the third area 500 and the fourth area 600 have the same size and shape. Compared with when the vehicle is not connected with the trailer, when the vehicle is connected with the trailer, the overall length of the vehicle is longer, and therefore, when the vehicle is merging or turning, the length and width of the trailer 200 behind the vehicle need to be considered. If the original vehicle merging assistance function is still used, the length and width of the trailer 200 are not considered, and the trailer 200 may scratch other vehicles when the vehicle is merging or turning.

[0109] In the embodiments of the present application, the blind area monitoring range of the vehicle is dynamically adjusted according to the trailer information (such as the width and length of the trailer), and the blind area monitoring range of the vehicle is redefined, so that each key part of the trailer can be included in the monitoring area. For example, for a wider trailer, the horizontal range of the blind area monitoring is correspondingly expanded to avoid missing monitoring due to the trailer exceeding the range of a conventional vehicle. After accurately defining the monitoring range, it can be more accurately determined whether there is another vehicle or obstacle in the blind area, so as to ensure the safety of the vehicle 100 when merging or turning with the trailer 200. After defining the blind area monitoring range according to the trailer information, the false alarm (such as misjudging a normally driving vehicle as a dangerous target) or the missed alarm (failing to detect a target entering the blind area) caused by inaccurate monitoring range can be effectively reduced, thereby improving the reliability of the merging assistance.

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

[0111] It can also be considered that, referring to Figure 7 , the length of the blind area monitoring range of the vehicle, i.e., 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 to the tail of the vehicle (a fixed value), L1 is the length of the trailer, and L2 is the preset length.

[0114] It can be understood that if the reasonable speeds of the two lanes are the same, the vehicle on the corresponding lane can be located on one side of the trailer 200 and the horizontal width direction of the vehicle 100 during merging. However, the speeds of the two lanes may be different during actual vehicle travel, and therefore when the vehicle on the side lane is faster than the vehicle, the merging needs to be noticed in advance to ensure that the vehicle on the corresponding lane does not collide with the vehicle during the lane changing. Therefore, the preset length is set to have a margin, and when the vehicle on the side lane may speed up and collide with the trailer 200 of the vehicle, the driver can be timely warned, and therefore the preset length increases the lengths of the third area 500 and the fourth area 600.

[0115] It is worth noting that the preset length is usually obtained by the manufacturer according to road conditions and vehicle experiments. Therefore, the preset length is usually preset at the factory. However, the preset length 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 a storage module.

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

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

[0118] In the embodiment of the application, the dynamic blind area length calculation method based on the rearview mirror reference is innovatively proposed. Through the composite length algorithm of "horizontal straight-line distance from the rearview mirror to the tail of the vehicle + trailer length + preset length", the physical size of the trailer 200 is accurately covered and the actual driving safety margin is considered, so that the definition of the length of the vehicle blind area range is scientific and reasonable and meets the driving safety requirements.

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

[0120] determining 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 taken 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 taken as the width of the vehicle blind area monitoring range.

[0123] It can also be considered that in the width setting of the monitoring range of the vehicle blind area, when the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle, referring 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 trailer width is greater than the distance between the two rearview mirrors of the vehicle, referring 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 trailer width, and W3 is the second preset width.

[0129] In the embodiment of the application, in a specific implementation, the first preset width and the second preset width are both 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 width of the third area 500 and the fourth area 600 is greater than the width of the vehicle 100 and the trailer 200. Therefore, the first preset width and the second preset width are set to ensure that the third area 500 and the fourth area 600 are large, so as to avoid the possibility that the vehicle 100 and the trailer 200 contact other vehicles after parallel parking.

[0132] It should be noted that the first preset width and the second preset width are usually obtained by the manufacturer through experiments according to 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 of different countries. Therefore, in other embodiments, the first preset width and the second preset width can be input by the user or retrieved from a storage module, and can also be issued by the cloud, OTA upgraded (Over-The-Air, Over-The-Air), etc.

[0133] In the embodiments of the present application, the distance relationship between the trailer width and the distance between the two rearview mirrors of the vehicle is judged, and the width of the vehicle blind area monitoring range is calculated according to different situations, so that the width of the vehicle blind area monitoring range can be flexibly adjusted according to the actual width of the trailer. The special working condition of the narrow-body trailer 200 is considered. 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 area monitoring range, which effectively avoids the problem that the monitoring blind area is too small due to the too narrow trailer, and ensures that different size trailers can obtain reliable blind area coverage, thereby ensuring the rationality and effectiveness of the blind area monitoring range. When the trailer width is greater than the distance between the two rearview mirrors of the vehicle, the width algorithm "(trailer width size-distance between two rearview mirrors) ÷ 2+second preset width" can more accurately cover the area on both sides of the trailer, further improve the lane merging safety of the vehicle in the trailer condition, and reduce the problem of insufficient blind area monitoring caused by the large width of the trailer.

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

[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 to redefine the preset length, and the length of the third region 500 and the fourth region 600 is recalculated according to the latest preset length to redefine the vehicle blind area monitoring range. Blind area monitoring is performed according to the latest vehicle blind area monitoring range. The range in the length direction of the vehicle blind area is expanded. This reserves more sufficient reaction time for the driver, effectively reducing the collision risk caused by sudden conditions in the blind area during high-speed driving.

[0136] It can be understood that the preset speed and the first preset difference can be selected according to requirements, which can be cloud-end issued, factory preset, OTA upgraded, or manually input by the user. Adaptive adjustment can be made 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 to redefine the second preset width, and the width of the third region 500 and the fourth region 600 is recalculated according to the latest second preset width to redefine the vehicle blind area monitoring range.

[0138] In addition, when the 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 to redefine 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 to redefine the vehicle blind area monitoring range.

[0139] The width of the vehicle blind area monitoring range is expanded at low speed, and 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, effectively reducing the risk of collision. At the same time, this dynamic adjustment mechanism enables the system to adapt flexibly according to different driving states, further enhancing the accuracy and reliability of blind area monitoring.

[0140] It can be understood that the second preset difference and the third preset difference can be selected according to requirements, which can be cloud-end issued, factory preset, OTA upgraded, or manually input by the user. Adaptive adjustment can be made according to different situations.

[0141] In an embodiment of the present application, the method further comprises: detecting whether there is an object (such as another vehicle or an obstacle) in the vehicle blind area monitoring range under the vehicle lane merging assistance function or the trailer lane merging assistance function, determining a lane merging danger level when an object is detected, generating different warning signals and warning response times according to different lane merging danger levels, and sending them to the user; the warning response time generated when the trailer lane merging assistance function is greater than the warning response time generated when the vehicle lane merging assistance function is.

[0142] It should be noted that under the original vehicle lane merging assistance function, when the vehicle blind area monitoring range has an object (such as another vehicle or an obstacle) when the vehicle is merging, a lane merging danger warning will be given. The existing warning method does not consider the case of connecting a trailer, and the warning signal and the warning response time are single fixed values. In the embodiment of the present application, different warning signals are generated according to different lane merging danger levels, which can more accurately reflect the current danger level and effectively reduce false positives and unnecessary interference. Different warning response times are set according to different lane merging danger levels to ensure that the driver can be reminded at the fastest speed in an emergency. This hierarchical warning mechanism can adapt to various driving scenarios, enabling the driver to receive warning information that matches the lane merging danger level more timely and accurately, thereby more effectively dealing with various risks in the lane merging process, further improving the lane merging safety of the vehicle, and improving the driving experience. The warning response time of the trailer lane merging assistance function is longer, which can better adapt to the special needs of trailer lane merging. This targeted design can more effectively assist the driver when merging with a trailer and reduce the additional risks brought by the characteristics of the trailer.

[0143] For example, when the parallel line danger level is low, the driver can only be reminded by the flashing of the indicator light on the rearview mirror or the text display on the car interface; when the parallel line danger level is high, the driver can be reminded by a combination of sound alarms or seat vibration, etc., to ensure that the driver can quickly perceive the potential risk.

[0144] It should be noted that the parallel line danger level can be divided according to actual user needs or can be preset. For example, when the area occupied by other vehicles or obstacles in the vehicle blind area monitoring range is small, it is a low-level parallel line danger. When the area occupied by other vehicles or obstacles in the vehicle blind area monitoring range is large, it is a low-level parallel line danger. For example, when the distance between the vehicle and other vehicles or obstacles in the vehicle blind area monitoring range is far, it is a low-level parallel line danger. When the distance between the vehicle and other vehicles or obstacles in the vehicle blind area monitoring range is too close, it is a high-level parallel line danger.

[0145] Exemplarily, the parallel line danger level includes three levels, namely, a first-level parallel line danger level, a second-level parallel line danger level, and a third-level parallel line danger level. The first-level parallel line danger level is the lowest-level parallel line danger level, and the third-level parallel line danger level is the highest-level parallel line danger level.

[0146] Under the first-level parallel line danger level, the warning signal is text. The warning signal can be displayed through the car interface to remind the user. The warning mode can be specifically a pop-up dialog box, etc. Under the first-level parallel line danger level, the driver is reminded of the potential risk in a gentle manner to avoid excessive interference with normal driving.

[0147] Under the second-level parallel line danger level, the warning signal is an audio and visual signal. The warning mode is specifically an audio and visual alarm mode. Under the second-level parallel line danger level, strong visual and auditory stimulation can quickly arouse the driver's vigilance and prompt him to respond in time.

[0148] Under the third-level parallel line danger level, the warning signal is a braking signal. The warning mode is specifically an active braking mode. Under the third-level parallel line danger level, the vehicle driving is directly intervened to effectively avoid collision accidents.

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

[0150] In some specific embodiments, the warning response time for the high-parallel-line danger level is shorter than that for the low-parallel-line danger level, so as to remind the driver.

[0151] In some specific embodiments, under the vehicle parallel-line assisting function, the warning response time for the first-level parallel-line danger level is 2.5 seconds, the warning response time for the second-level parallel-line danger level is 1.8 seconds, and the warning response time for the third-level parallel-line danger level is 0.5 seconds.

[0152] In some specific embodiments, under the trailer parallel-line assisting function, the warning response time for the first-level parallel-line danger level is 3.8 seconds, the warning response time for the second-level parallel-line danger level is 2.5 seconds, and the warning response time for the third-level parallel-line danger level is 0.8 seconds.

[0153] In some embodiments, during the turning of the vehicle, when an object is detected in the blind area 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 some embodiments, during the turning of the vehicle, when an object is detected in the blind area monitoring range of the vehicle, whether to generate an alarm signal is determined 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 matching of object type and speed can effectively distinguish the trailer body from other obstacles, completely eliminate the false alarm problem when the trailer is turning with the tail swinging, and effectively avoid unnecessary alarm signals due to false judgment of the object in the blind area when the vehicle is turning. At the same time, when the object type and speed do not match, an alarm signal is timely generated to remind the user, improving the safety and driving comfort during the turning of the vehicle, reducing unnecessary interference and false alarms, and enabling the driver to more accurately judge the blind area and take corresponding measures.

[0155] For example, when the vehicle is turning, the trailer body will enter the blind area monitoring range of the vehicle, that is, there will be an overlap between the trailer and the blind area monitoring range of the vehicle. To avoid false alarms, the object type and the detected object speed are combined to determine whether it is a trailer body. If it is a trailer body, no alarm signal is generated. Figure 8

[0156] The parallel-line assisting system provided in the embodiments of the present application is suitable for a vehicle. Figure 9 The structure of the parallel-line assisting system is shown in the figure.

[0157] The parallel-line assisting system 700 comprises:

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

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

[0160] The control unit 703 is connected with 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 the vehicle is connected with the trailer, turn off the vehicle lane-keeping assistance function; and according to the trailer information, select whether to turn on the trailer lane-keeping assistance function.

[0161] The range defining unit 704 is configured to, after the trailer lane-keeping assistance function is selected, define a blind area monitoring range of the vehicle according to the trailer information.

[0162] In some embodiments of the present application, the first detection unit 701 is a vehicle-mounted camera. The vehicle-mounted camera is configured to capture the environment behind the vehicle in real time, and identify whether there is an object in the image. When the image is identified as the trailer 200, the vehicle lane-keeping assistance function is turned off.

[0163] Specifically, the image identification can be image contrast identification or AI (artificial intelligence) identification.

[0164] In some embodiments of the present application, the first detection unit 701 is a sensor. The sensor is configured to detect the electrical connection state between the trailer 200 and the vehicle 100. When it is detected that the trailer 200 is electrically connected with the vehicle 100, the vehicle lane-keeping assistance function is turned off. For example, the sensor is a current sensor. The current sensor is configured to detect the current to determine whether the electric wire connecting the trailer 200 and the vehicle 100 is powered on.

[0165] In some embodiments of the present application, the first detection unit 701 is a vehicle-mounted radar. When the vehicle-mounted radar detects that there is a trailer 200 behind the vehicle 100, the vehicle lane-keeping assistance 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 with the vehicle 100, the control unit 703 controls to turn off the vehicle lane-keeping assistance function.

[0167] It should be noted that the first detection unit 701 can be multiple types of cameras, sensors and vehicle-mounted radars at the same time. By using multiple detection methods to determine, the accuracy of the determination is improved, and the possibility of error is reduced.

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

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

[0170] In some embodiments of the present application, the system further comprises a first backup detection unit 705 connected to the control unit 703, and the first backup detection unit 705 is arranged on the vehicle body. When the detection unit 701 fails, the first backup detection unit 705 is automatically switched to, and the first backup detection unit 705 is used to detect whether the vehicle is connected to the trailer, thereby 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 the detection result of the first detection unit 701, the control unit 703 controls the first detection unit 701 to be closed and the first backup detection unit 705 to be turned on.

[0172] It should be noted that the first detection unit 701 and the first backup detection unit 705 can not be of the same type, so as to avoid the situation that, in some cases, a certain type of detection unit cannot be used, and then the first detection unit 701 and the first backup detection unit 705 cannot be used.

[0173] In some embodiments of the present application, the first detection unit 701 and the first backup detection unit 705 can simultaneously perform detection, and the vehicle alignment assistance function is closed after the first detection unit 701 and the first backup detection unit 705 both detect that the trailer 200 is connected to the vehicle 100. This avoids the situation that a single detection unit detection results in a false alarm, which leads to an incorrect exit of the vehicle alignment assistance function. Through the detection of two detection units, the possibility of a false alarm is reduced.

[0174] Specifically, the detection unit 701 and the first backup detection unit 705 transmit the detection results to the control unit 703, and the control unit 703 controls the vehicle alignment assistance function to be closed after determining that the trailer 200 is connected to the towing vehicle 100.

[0175] In some embodiments of the present application, a hitching area is marked at the rear of the vehicle 100, and when the first detection unit 701 is a camera or a vehicle-mounted radar, the first detection unit 701 is used to detect the hitching area and transmit the detection result to the control unit 703.

[0176] When the first backup detection unit 705 is a camera or a vehicle-mounted radar, the first backup detection unit 705 is used to detect the hitching 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 can be towed behind the vehicle 100. The position thereof is usually not changed, and thus can be preset by the manufacturer. In other embodiments, the vehicle 100 can be modified to cause the actual towing area to be different from the preset towing area, and thus the towing area can be input and adjusted by the user through the vehicle system to adapt to different situations.

[0178] With reference to Figure 9 In an embodiment of the present application, the control unit 703 comprises:

[0179] The first judging module 7031 is configured to judge whether the length of the trailer exceeds the detectable length of the vehicle.

[0180] The control module 7032 is configured to, when detecting that the vehicle is connected with the trailer, close the vehicle lane-keeping assistance function; when the length of the trailer does not exceed the detectable length of the vehicle, open the trailer lane-keeping assistance function; and when the length of the trailer exceeds the detectable length of the vehicle, prohibit the trailer lane-keeping assistance function from being opened.

[0181] In an embodiment of the present application, the first judging module 7031 is further configured to judge whether the width of the trailer 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 width of the trailer does not exceed the detectable width of the vehicle, open the trailer lane-keeping assistance function; and when the length of the trailer exceeds the detectable width of the vehicle, prohibit the trailer lane-keeping assistance function from being opened.

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

[0184] In an embodiment of the present application, the control module 7032 is further configured to, when the type of the trailer matches the preset type of the trailer, open the trailer lane-keeping assistance function; and when the type of the trailer does not match the preset type of the trailer, prohibit the trailer lane-keeping assistance function from being opened.

[0185] With reference to Figure 9 In an embodiment of the present application, the range defining unit 704 comprises a calculation module 7041 configured to add the horizontal straight-line distance from the rearview mirror of the vehicle to the tail of the vehicle, the length of the trailer, and the preset length to obtain the length of the blind area monitoring range of the vehicle.

[0186] With reference to Figure 9 In an embodiment of the present application, the range defining unit 704 further comprises a second judging module 7042 configured to judge whether the width of the trailer is less than or equal to the distance between the two rearview mirrors of the vehicle.

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

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

[0189] 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 second preset width is added to obtain the width of the vehicle blind area monitoring.

[0190] Continuing to refer to Figure 9 In an embodiment of the present application, the system further comprises a second detection unit 706, which is configured to detect whether there is an object (for example, another vehicle or an obstacle) in the vehicle blind area monitoring range of the vehicle in the vehicle lane merging assistance function or the trailer lane merging assistance function, and send the detection result to the control module 7032.

[0191] In an embodiment of the present application, the control module 7032 is configured to determine a lane merging danger level when it is detected that there is an object (for example, another vehicle or an obstacle), generate different pre-warning signals and pre-warning response times according to different lane merging danger levels, and send them to the user.

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

[0193] In an embodiment of the present application, the control module 7032 is further configured to, during the turning of the vehicle, when it is detected that there is an object in the vehicle blind area 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] Continuing to refer to Figure 9 In an embodiment of the present application, the system further comprises a storage unit 708, which is configured to store the preset trailer type, the vehicle detectable length, the vehicle detectable width, the horizontal straight line distance from the rearview mirror of the vehicle to the tail of the vehicle, the distance between the two rearview mirrors of the vehicle, the preset length, the first preset width, and the second preset width.

[0195] The embodiment of the present application also provides a computer program product, which comprises computer program code, when the computer program code runs on a computer, so that the computer executes the lane merging assistance method involved in the above-mentioned embodiment. The computer program can be loaded on the vehicle system.

[0196] The embodiment of the present application further provides a computer readable storage medium storing program codes, the program codes are executed by one or more processors, and when the program codes run on the processors, the program codes make an apparatus including the one or more processors execute the parallel line assisting method related to the above embodiment. 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 in software, the whole or part of the software can be realized in 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 whole or part of the processes or functions according to the embodiments of the present application are produced. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, and the computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)) and the like.

[0198] The embodiment of the present application provides a chip system, which includes a processor, or the chip system includes a memory and a processor, for calling a computer program or computer instructions stored in the memory, so that the processor executes the parallel line assisting method related to the above embodiment. 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 embodiment of the present application provides an electronic device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the electronic device implements the parallel line assisting method related to the above embodiment. The electronic device can be mounted on a vehicle system.

[0200] The embodiment of the present application provides a vehicle.

[0201] For example, 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, and when the processor 102 executes the computer program 103, the processor 102 implements the parallel line assisting method related to the above embodiment.

[0202] The vehicle can include a detection unit, an acquisition unit, a control unit, and a range defining unit. The detection unit is arranged on a vehicle body. The acquisition unit is arranged on the vehicle body. The control unit is connected to the detection unit and the acquisition unit. The control unit receives the detection result sent by the detection unit and the trailer information sent by the acquisition unit. When the vehicle is connected with the trailer, the control unit is configured to close the vehicle lane-keeping assist function. According to the trailer information, the control unit is configured to select whether to start the trailer lane-keeping assist function.

[0203] The detection unit is configured to detect whether the vehicle is connected with the trailer.

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

[0205] The control unit is connected to the detection unit and the acquisition unit. The control unit receives the detection result sent by the detection unit and the trailer information sent by the acquisition unit. When the vehicle is connected with the trailer, the control unit is configured to close the vehicle lane-keeping assist function. According to the trailer information, the control unit is configured to select whether to start the trailer lane-keeping assist function.

[0206] The range defining unit is configured to define the blind area monitoring range of the vehicle according to the trailer information after the trailer lane-keeping assist function is selected.

[0207] Those skilled 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 realized by electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software mode depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0208] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of assisting in plying, characterized in that, The method is applied to a vehicle and comprises the following steps: When it is detected that the vehicle is connected with a trailer, a vehicle alignment assistance function is closed, and trailer information is acquired; Whether the trailer alignment assistance function is started is selected according to the trailer information; After the trailer alignment assistance function is selected to be started, a vehicle blind area monitoring range is defined according to the trailer information; the method for defining the vehicle blind area monitoring range according to the trailer information further comprises the following steps: It is judged whether the trailer width is less than or equal to the distance between the two rearview mirrors of the vehicle; 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 taken as the width of the vehicle blind area monitoring range; 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 then the sum of the result and the second preset width is taken as the width of the vehicle blind area monitoring range.

2. The method of claim 1, wherein, The trailer information comprises a trailer length and a trailer width, the trailer length is the horizontal straight-line distance from the tail of the vehicle to the tail of the trailer, and the trailer width is the horizontal straight-line distance at the widest part of the trailer.

3. The method of claim 2, wherein, The method for selecting whether the trailer alignment assistance function is started according to the trailer information is as follows: It is judged 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 alignment assistance function is started; when the trailer length exceeds the detectable length of the vehicle, the trailer alignment assistance function is prohibited to be started.

4. The method of claim 2, wherein, The method for selecting whether the trailer alignment assistance function is started according to the trailer information is as follows: It is judged 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 alignment assistance function is started; when the trailer length exceeds the detectable width of the vehicle, the trailer alignment assistance function is prohibited to be started.

5. The method of claim 2, wherein, The method for defining the vehicle blind area monitoring range according to the trailer information comprises the following step: the sum of the horizontal straight-line distance from the rearview mirror of the vehicle to the tail of the vehicle, the trailer length and the preset length is taken as the length of the vehicle blind area monitoring range.

6. The method of claim 1, wherein, The trailer information comprises a trailer type; the method for selecting whether the trailer alignment assistance function is started according to the trailer information is as follows: It is judged whether the trailer type matches the preset trailer type; When the trailer type matches the preset trailer type, the trailer alignment assistance function is started; when the trailer type does not match the preset trailer type, the trailer alignment assistance function is prohibited to be started.

7. The method of claim 6, wherein, The method further comprises the following steps: whether there is an object in the vehicle blind area monitoring range is detected in the vehicle alignment assistance function or the trailer alignment assistance function; when it is detected that there is an object, a vehicle alignment danger level is determined, different early warning signals and early warning response times are generated according to different vehicle alignment danger levels, and the early warning signals and the early warning response times are sent to a user; the early warning response time generated in the trailer alignment assistance function is greater than the early warning response time generated in the vehicle alignment assistance function.

8. The plying aid method of claim 1, wherein, The method further comprises the following step: in the process of vehicle turning, when it is detected that there is an object in the vehicle blind area monitoring range, if the object type matches the preset trailer type and the object speed matches the vehicle speed, no alarm signal is generated.

9. A parallel threading assist system characterized by, The method is applied to a vehicle and comprises the following steps: A detection unit is configured to detect whether the vehicle is connected with a trailer; An acquisition unit is configured to acquire trailer information; A control unit is connected with the detection unit and the acquisition unit, receives the detection result sent by the detection unit and the trailer information sent by the acquisition unit, and is provided with the lane-changing assisting method according to claim 1. A range defining unit defines the monitoring range of the blind area of the vehicle according to the trailer information after the trailer lane-changing assisting function is selected to be started.

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