Control method and system for retraction of electric tow hook and readable storage medium

Abstract

The invention discloses a control method and system for retraction of an electric tow hook and a readable storage medium, and belongs to the technical field of automobiles. The method comprises the following steps: selecting whether to start a speed-dependent recovery function or not; after the speed-following retracting function is selected to be started, whether an electric tow hook of the user vehicle is in an unfolded state or not is judged; judging whether the state change of the electric tow hook occurs in a non-current power-on period or not, and judging whether the electric tow hook is connected with other mobile carriers or not; when the electric tow hook is not unfolded in the current power-on period and is not connected with other mobile carriers, whether the vehicle speed of the user vehicle reaches a set vehicle speed threshold value or not is judged; and when the vehicle speed of the user vehicle reaches the set vehicle speed threshold value, the electric tow hook is withdrawn. The electric tow hook is controlled to be withdrawn along with the speed based on the coupler unfolding state, the power-on period and the connection state with other mobile carriers in combination with the vehicle speed, a user can withdraw the electric tow hook timely and conveniently, and the safety of a vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the field of automobile technology, and in particular relates to a control method and system for retracting an electric trailer hook, and a readable storage medium. Background Art

[0002] The electric trailer hook is a convenient vehicle auxiliary device, which is widely used in the scenario of towing mobile carriers (including vehicles). It is driven by a motor to realize the deployment and retraction of the trailer hook, providing convenience for the vehicle when towing or being towed. The existing electric trailer hook has the following shortcomings during use:

[0003] At present, the switch of the electric trailer hook is usually set inside the vehicle, for example: in the trunk of the vehicle or somewhere in the cab. Although this design ensures the aesthetics and integrity of the vehicle to a certain extent, it brings many changes to users in actual application. After the user completes the unloading of the trailer, the user may have left the vehicle or is working outside the vehicle. The user needs to return to the vehicle to operate the switch to retract the electric trailer hook. This not only increases the user's operating steps and reduces the convenience of use, but may also cause the user to neglect or forget to retract the electric trailer hook when busy with other matters. If the electric trailer hook is not retracted for a long time, the exposed electric trailer hook may collide with the vehicle, causing damage to the appearance of the vehicle, or collide with the ground or other obstacles to produce vibrations, reducing the stability of the vehicle's driving, affecting the normal driving of the vehicle, and poor user experience. Summary of the invention

[0004] The embodiments of the present application provide a control method and system for retracting an electric trailer hook, and a readable storage medium. The electric trailer hook is retracted according to the speed based on the deployment state of the hook, the power-on cycle, the connection state with other mobile carriers and the vehicle speed, so as to facilitate the user to retract the electric trailer hook in a timely and convenient manner and improve the safety of the vehicle.

[0005] In a first aspect, a control method for retracting an electric trailer hook is provided, which is applied to a vehicle. The receiving method comprises:

[0006] Choose whether to enable the speed-dependent retraction function;

[0007] After the speed-dependent retraction function is turned on, it is determined whether the electric trailer hook of the user's vehicle is in the unfolded state; it is determined whether the power-on cycle is not the current power-on cycle, and it is determined whether the electric trailer hook is connected to other mobile carriers;

[0008] When the electric trailer hook is not deployed in this power-on cycle and is not connected to other mobile carriers, it is determined whether the speed of the user's vehicle reaches the set speed threshold;

[0009] When the speed of the user's vehicle reaches a set speed threshold, the electric trailer hook is retracted.

[0010] When the user is using the electric trailer hook to tow or be towed, after the towing or being towed is completed, the user disconnects the electric trailer hook from other mobile carriers. Since the switch of the existing electric trailer hook is usually set inside the car, the user needs to operate the switch inside the car to retract the electric trailer hook. This operation method brings many inconveniences to the user. For example, after the user disconnects the connection between the electric trailer hook and other mobile carriers, he is busy with other matters (such as answering the phone, etc.). After handling other matters, he forgets to retract the electric trailer hook, and then starts the vehicle to drive. During the rapid driving of the vehicle, the exposed automatic trailer hook will generate air resistance when it interacts with the air, increasing the fuel consumption of the vehicle. On the other hand, it will collide with the ground or other obstacles to generate vibration, affecting the stability of the vehicle.

[0011] In the embodiment of the present application, by setting the function of retracting with speed, the vehicle can automatically determine whether the electric trailer hook needs to be retracted according to the vehicle speed. When the electric trailer hook meets the conditions that the current power-on cycle is not started and there is no connection with other mobile carriers, the electric trailer hook is automatically retracted when the speed of the user's vehicle reaches the set threshold as a trigger condition, without manual operation, which greatly improves the convenience and intelligence of use and avoids the impact of the vehicle's energy consumption and vehicle driving stability due to the user forgetting to retract the electric trailer hook.

[0012] In combination with the first aspect, in certain implementations of the first aspect, a method for determining whether the electric trailer hook is in an extended state is as follows: detecting the state of a locking mechanism of the electric trailer hook; if the locking mechanism is in an unlocked state, the electric trailer hook is in an extended state; and if the locking mechanism is in a locked state, the electric trailer hook is in an unextended state.

[0013] The locking mechanism is the "safety anchor point" of the electric trailer hook, and its core function is to provide a physical rigid connection when the electric trailer hook is in the deployed state to ensure the stability of the towing process. The unlocked and locked states of the locking mechanism are directly related to the deployed and non-deployed states of the electric trailer hook. When the locking mechanism is in the unlocked state, the electric trailer hook is in the deployed state, and when the locking mechanism is in the locked state, the electric trailer hook is in the non-deployed state. In the embodiment of the present application, by detecting the state of the locking mechanism to determine whether the electric trailer hook is in the deployed state, the actual position of the electric trailer hook can be accurately reflected. This detection method avoids erroneous judgments caused by complex mechanical structures or sensor misjudgments. It can not only accurately identify the current state of the electric trailer hook (deployed state or non-deployed state) and improve the accuracy of state recognition; it can also promptly detect abnormalities in the locking mechanism, thereby improving the overall reliability of the electric trailer hook.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the method for determining whether the state change of the electric trailer hook occurs in a non-current power-on cycle is: determining whether the state change of the electric trailer hook occurs in a non-current power-on cycle based on a change in the power mode state of the vehicle's power system or a change in the vehicle's sleep or wake-up state.

[0015] The "current power-on cycle" of the electric trailer hook refers to the period from when the vehicle power system completes a complete power-on operation to when the next power is off or the vehicle enters a dormant state. During this period, the state changes of the electric trailer hook (such as deployment or retraction) can be recorded and monitored. If the state change of the electric trailer hook occurs after power-on and before power off or dormancy, it belongs to the current power-on cycle, otherwise it is not the current power-on cycle. In the embodiment of the present application, by monitoring the changes in the vehicle power mode state or the changes in the dormancy wake-up state, it can be accurately determined whether the state change of the electric trailer hook is in a non-current power-on cycle.

[0016] In combination with the first aspect, in certain implementations of the first aspect, a method for determining whether a state change of the electric trailer hook occurs in a non-current power-on cycle based on a change in a power mode state of the vehicle's power system is as follows: if the power mode state of the vehicle's power system changes from power on-power off-power on, then the state change of the electric trailer hook occurs in a non-current power-on cycle; if the power mode state of the vehicle's power system changes from power on-power off, then the state change of the electric trailer hook occurs in the current power-on cycle.

[0017] In the embodiment of the present application, by monitoring the power mode state change of the vehicle power system, it is possible to accurately distinguish whether the state change of the electric trailer hook occurs in a non-current power-on cycle. When the power mode state changes to "power on-power off-power on", it is clearly judged that the state change of the electric trailer hook occurs in a non-current power-on cycle; and when the state changes to "power on-power off", the state change of the electric trailer hook occurs in the current power-on cycle. In the application scenario of the electric trailer hook, this method can effectively avoid misjudgments caused by power mode switching, ensure that the electric trailer hook performs the retraction operation within the correct power-on cycle, avoid incorrect retraction of the electric trailer hook due to misjudgment, and thus improve the reliability and stability of the electric trailer hook.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the method for determining whether a power-on cycle is not the current power-on cycle based on the change in the sleep-wake-up state of the vehicle is: if the sleep-wake-up state of the vehicle changes to power-on-sleep-activate, then the power-on cycle is not the current power-on cycle; if the sleep-wake-up state of the vehicle changes to power-on-sleep, then the power-on cycle is the current power-on cycle.

[0019] In the embodiment of the present application, by monitoring the sleep and wake-up state changes of the vehicle, it is possible to accurately distinguish whether the state change of the electric trailer hook occurs in a non-current power-on cycle or in the current power-on cycle. This method can effectively avoid misjudgment caused by changes in the sleep and wake-up state of the vehicle, and ensure that the electric trailer hook performs the retraction operation in the correct power-on cycle.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the method for determining whether the electric trailer hook is connected to other mobile carriers is: detecting the electrical circuit state of the electric trailer hook, if the electrical circuit state is in the on state, the electric trailer hook is connected to other mobile carriers, and if the electrical circuit state is in the off state, the electric trailer hook is not connected to other mobile carriers.

[0021] The state of the electrical circuit of the electric trailer hook can reflect the connection between the electric trailer hook and other mobile carriers. When the electrical circuit of the electric trailer hook is in an on state (i.e., electrically connected state), the electric trailer hook is in a connected state with other carriers. When the electrical circuit of the electric trailer hook is in a disconnected state (i.e., electrically disconnected state), when the electric trailer hook is in a disconnected state with other carriers, in the embodiment of the present application, by detecting the state of the electrical circuit, it is possible to quickly and accurately determine whether the electric trailer hook is connected to other mobile carriers according to the state of the electrical circuit.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the method for determining whether the electric trailer hook is connected to other mobile carriers is: capturing an image of the electric trailer hook by a vehicle-mounted camera, and determining whether the electric trailer hook is connected to other mobile carriers by using an image recognition algorithm to determine the mechanical connection state of the electric trailer hook in the electric trailer hook image.

[0023] When a user's vehicle encounters a breakdown or accident, it is usually necessary to connect the trailer via an electric trailer hook, and use the trailer to tow the user's vehicle to a vehicle maintenance point or a safe location. Similarly, when other mobile carriers encounter a breakdown or accident, it is usually necessary to connect other mobile carriers and the user's vehicle via an electric trailer hook, so that the other mobile carriers can be towed to a mobile carrier maintenance point or a safe location via the user's vehicle. In this process, when connecting the user's vehicle to other mobile carriers via an electric trailer hook, some users violate regulations for the sake of convenience, and only mechanically connect the user's vehicle to the other mobile carrier via the electric trailer hook, but do not electrically connect the user's vehicle to the other mobile carrier. If the electric trailer hook is judged as connected to other mobile carriers only by the state of the electrical circuit, misjudgment will occur.

[0024] In the embodiment of the present application, the trailer hook image is acquired in real time by the vehicle-mounted camera, and the connection status of the electric trailer hook is accurately identified by using an image recognition algorithm (such as a deep learning model), which is more intuitive than traditional electrical signal detection. This detection method can determine the mechanical connection status without physical contact, avoiding misjudgment caused by sensor wear or failure.

[0025] In combination with the first aspect, in some implementations of the first aspect, the control method further includes:

[0026] Detect the track line function status of the electric trailer hook;

[0027] When the electric trailer hook is in the extended state and the track line function state is in the closed state, if the speed of the user's vehicle reaches the set speed threshold, the electric trailer hook is retracted.

[0028] When the user unfolds the electric trailer hook to align it with the trailer, the electric trailer hook is in the unfolded state and the track line function of the electric trailer hook is in the turned-on state, indicating that the user is using the electric trailer hook to perform a towing task. At this time, if the electric trailer hook is retracted, the towing task will be interrupted. In the embodiment of the present application, a track line function state detection is introduced. By detecting the track line function state of the electric trailer hook, the track line function state is accurately judged. Based on the unfolded state, the track line function state, and the speed of the user's vehicle, the electric trailer hook is retracted with the speed to prevent the interruption of the towing task caused by misoperation.

[0029] In combination with the first aspect, in certain implementations of the first aspect, when the electric trailer hook is in the deployed state and the track line function state is in the on state, the electric trailer hook is not retracted.

[0030] When the electric trailer hook is in the unfolded state and the track line of the electric trailer hook is in the open state, it means that the user has unfolded the electric trailer hook to align it with the trailer. At this time, if the electric trailer hook is retracted, the towing task will be interrupted. In the embodiment of the present application, when the electric trailer hook is in the unfolded state and the track line function state is in the open state, the electric trailer hook is not retracted to avoid interruption of the towing task due to misoperation.

[0031] In combination with the first aspect, in certain implementations of the first aspect, when the electric trailer hook is deployed for this power-on cycle, the electric trailer hook is not retracted.

[0032] The electric trailer hook is deployed during this power-on cycle, which indicates that the vehicle may be in a towing operation state or preparing for a towing operation. If the electric trailer hook is retracted, the towing operation may be interrupted and the operation task cannot be completed. In the embodiment of the present application, when the electric trailer hook is deployed for this power-on cycle, the electric trailer hook is not retracted to avoid interruption of the towing operation and inability to complete the operation task due to the retraction of the electric trailer hook.

[0033] In combination with the first aspect, in certain implementations of the first aspect, when the electric trailer hook is connected to other mobile carriers, the electric trailer hook is not retracted along with the speed.

[0034] When the electric trailer hook is connected to other mobile carriers, if the electric trailer hook is retracted, the towing operation may be interrupted, or even cause safety hazards. It may also cause damage to the electric trailer hook itself and other mobile carriers connected to it. In the embodiment of the present application, when the electric trailer hook is connected to other mobile carriers, the electric trailer hook is not retracted at the same speed, ensuring that the electric trailer hook maintains a stable connection with the vehicle during the towing process, thereby reducing the risk of accidents during the towing process.

[0035] In combination with the first aspect, in certain implementations of the first aspect, the control method further includes: after choosing not to enable the speed-dependent retraction function, when the electric trailer hook is not deployed in this power-on cycle and is not connected to other mobile carriers, retracting the electric trailer hook through the switch of the electric trailer hook.

[0036] The speed-dependent retraction function can be selected according to the needs of the user. For example, some users are accustomed to leaving the electric trailer hook in an extended state to increase the hard-core image of the vehicle. At this time, the user can choose not to turn on (i.e., turn off) the speed-dependent retraction function. When the user wants to retract the electric trailer hook, the electric trailer hook can be directly retracted through the switch of the electric trailer hook, or the user can choose to re-enable the speed-dependent retraction function, and when the vehicle speed reaches the set threshold, the electric trailer hook is retracted with speed. In the embodiment of the present application, after choosing not to turn on the speed-dependent retraction function, when the electric trailer hook is not extended during this power-on cycle and is not connected to other mobile carriers, the electric trailer hook is retracted through the switch of the electric trailer hook, allowing the user to manually retract the trailer hook according to actual conditions, providing higher operational flexibility and meeting the usage needs in different scenarios.

[0037] In a second aspect, a control system for retracting an electric trailer hook is provided, which is applied to a vehicle. The control system includes:

[0038] Selection module, used to select whether to enable the speed-dependent retraction function;

[0039] A first judgment module, connected to the selection module, and configured to judge whether the electric trailer hook is in an undeployed state after the selection module selects to turn on the speed-dependent retraction function;

[0040] A second judgment module is connected to the selection module, and the second judgment module is configured to: after the selection module selects to turn on the speed-dependent retraction function, determine whether the state change of the electric trailer hook occurs in a non-current power-on cycle;

[0041] A third judgment module is connected to the selection module, and the third judgment module is configured to: after the selection module selects to turn on the speed-dependent retraction function, determine whether the electric trailer hook is connected to other mobile carriers;

[0042] A vehicle speed detection unit, used to detect the speed of the user's vehicle;

[0043] A vehicle speed judgment module, connected to the first judgment module, the second judgment module, the third judgment module and the speed detection unit, wherein the vehicle speed judgment module is configured to judge whether the speed of the user's vehicle reaches a set vehicle speed threshold when the electric trailer hook is not deployed in the current power-on cycle and is not connected to other mobile carriers;

[0044] The control module is connected to the motor of the electric trailer hook. The control module is configured to control the motor to rotate when the speed of the user's vehicle reaches a set speed threshold, so that the motor drives the electric trailer hook to be retracted.

[0045] In combination with the second aspect, in some implementations of the second aspect, the system further includes a first state detection unit, which is used to detect the state of the locking mechanism of the electric trailer hook and send it to the first judgment module.

[0046] In combination with the second aspect, in some implementations of the second aspect, the system also includes a second state detection unit, which is used to detect the power mode state of the vehicle power system and the sleep and wake-up state of the vehicle and send them to the second judgment module.

[0047] In combination with the second aspect, in some implementations of the second aspect, the system further includes a third state detection unit, which is used to detect the electrical circuit state of the electric trailer hook and send it to the third judgment module.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, the system further includes:

[0049] On-board camera, used to capture and send images of the electric trailer hook;

[0050] The image recognition module is connected to the vehicle-mounted camera for receiving the electric trailer hook image sent by the vehicle-mounted camera, identifying the mechanical connection state of the electric trailer hook in the electric trailer hook image through an image recognition algorithm, and sending the identification to the third judgment module.

[0051] In combination with the second aspect, in certain implementations of the second aspect, the control module is further configured to: not control the motor action when the electric trailer hook is deployed for this power-on cycle.

[0052] In combination with the second aspect, in certain implementations of the second aspect, the control module is further configured to: not control the motor action when the electric trailer hook is connected to other mobile carriers.

[0053] In combination with the second aspect, in certain implementations of the second aspect, the control module is further configured to not control the motor action when the electric trailer hook is in an unfolded state and the track line function state is in an on state.

[0054] In combination with the second aspect, in certain implementations of the second aspect, the system also includes a switch for an electric trailer hook, and the switch is disposed in a cab or a trunk of the vehicle. After the speed-dependent retraction function is not enabled, when the electric trailer hook is not deployed in this power-on cycle and is not connected to other mobile carriers, the motor is controlled to rotate by the switch of the electric trailer hook to retract the electric trailer hook.

[0055] In a third aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the control method for retracting the electric trailer hook according to the first aspect.

[0056] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program code, and the computer program code is executed by one or more processors. When the computer program code runs on the processor, the device including the one or more processors executes the control method for retracting the electric trailer hook according to the first aspect.

[0057] In a 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 control method for retracting the electric trailer hook of the first aspect mentioned above.

[0058] In a sixth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device implements the control method for retracting the electric trailer hook of the first aspect.

[0059] In a seventh aspect, a vehicle is provided, comprising the control system for retracting the electric trailer hook as described in the second aspect, or the computer-readable storage medium as described in the fourth aspect, or the chip system as described in the fifth aspect, or the electronic device as described in the sixth aspect.

[0060] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0061] The control method and system for retracting an electric trailer hook and a readable storage medium provided in the embodiments of the present application are applied to vehicles. Based on the deployment state of the trailer hook, the power-on cycle, the connection state with other mobile carriers and the vehicle speed, the electric trailer hook is retracted with the speed, so that the user can retract the electric trailer hook in a timely and convenient manner, thereby improving the safety of the vehicle.

[0062] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0064] Figure 1 This is a schematic flow chart of a control method for retracting an electric trailer hook according to an embodiment of the present application.

[0065] Figure 2 The present invention is a flowchart of a method for identifying a connection state of an electric trailer hook in an electric trailer hook image by using an image recognition algorithm according to an embodiment of the present invention.

[0066] Figure 3 This is a flowchart of a method for identifying a connection status of an electric trailer hook in an electric trailer hook image by using an image recognition algorithm according to another embodiment of the present application.

[0067] Figure 4 This is a schematic diagram of the architecture of a control system for retracting an electric trailer hook according to an embodiment of the present application.

[0068] Figure 5 A schematic diagram of the structure of a vehicle according to an embodiment of the present application.

[0069] In the figure, 100, a control system for retracting an electric trailer hook, 101, a selection module, 102, a first judgment module, 103, a second judgment module, 104, a third judgment module, 105, a speed detection unit, 106, a vehicle speed judgment module, 107, a control module, 108, a first state detection unit, 109, a second state detection unit, 110, a third state detection unit, 111, an on-board camera, 112, an image recognition module, 200, a motor, 300, a vehicle, 301, a memory, 302, a processor, 303, a computer program. DETAILED DESCRIPTION

[0070] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with 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 intended to limit the present invention.

[0071] In the embodiments of the present application, prefixes such as "first" and "second" are used only 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 prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more.

[0072] The technical solution in the embodiment of the present application will be described below in conjunction with the drawings in the embodiment of the present application. In the description of the embodiment of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0073] In the 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 merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0074] With the development of intelligent and multifunctional automobiles, electric trailer hooks, as an important device to enhance the practicality of vehicles, are widely used to tow other mobile carriers (e.g. trailers, RVs, boats, etc.). For example: when the user's vehicle is unable to drive itself due to a malfunction or accident, the user's vehicle is connected to the trailer device through the electric trailer hook. Through the connection of the electric trailer hook, the user's vehicle can be towed to a maintenance point for repair or other safe areas. Another example: when other mobile carriers are unable to drive themselves due to a malfunction or accident, the user's vehicle is connected to other mobile carriers through the electric trailer hook. The user's vehicle tows other mobile carriers to other mobile carrier maintenance points for repair or safe areas through the electric trailer hook. The electric trailer hook serves as a connection point to ensure stability and safety during the towing process.

[0075] The electric trailer hook is a vehicle towing device with integrated electric control function. The electric trailer hook is installed on the vehicle body through a mounting frame and is usually connected to the vehicle body through bolts or other fixing devices. The electric trailer hook is mainly composed of a hook body, a drive assembly, and several key parts.

[0076] The hook body is the main part of the electric trailer hook, usually including a mounting part, a connecting part and a ball head. The mounting part is used to connect with the drive assembly, the connecting part is used to connect the mounting part and the ball head, and the ball head is used to mount other mobile carriers.

[0077] The drive assembly is the core power part of the electric trailer hook, which usually includes a motor, transmission components and a locking mechanism. The motor transmits power to the hook body through transmission components (such as a gear set or worm gear) to achieve the extension and retraction of the hook body. The locking mechanism is used to lock the hook body when it is in the storage position or when it is deployed to connect to other mobile carriers.

[0078] The transmission mechanism includes components such as the transmission shaft, rotating shaft, key shaft and bearings. The transmission shaft is used to transmit the power of the motor to the hook body, the rotating shaft connects the transmission shaft and the hook body, the key shaft is used to connect the hook body and the rotating shaft, and the bearings are used to reduce friction and improve transmission efficiency.

[0079] The control system usually includes switches, sensors and limit devices to control the extension and retraction of the trailer hook and ensure that it stops at the correct position.

[0080] The switch of the existing electric trailer hook is usually set inside the vehicle (for example, in a certain position of the vehicle's cab or trunk). When the user needs to perform emergency rescue or tow other mobile carriers, the electric trailer hook is unfolded by operating the switch, and then the electric trailer hook is connected to other mobile carriers. For example, when the user's vehicle breaks down or an accident occurs and emergency rescue is required, the user's vehicle is connected to the trailer through the electric trailer hook, and the trailer tows the user's vehicle to a vehicle maintenance point or a safe location through the electric trailer hook. Another example: when other vehicles break down or have an accident, the user's vehicle is connected to other vehicles through the electric trailer hook, and the user's vehicle tows other vehicles to a vehicle maintenance point or other safe location through the electric trailer hook. After the user is towed or towed, the user disconnects the electric trailer hook from the other mobile carriers. At this time, the electric trailer hook is still in the unfolded state, and the user may have left the vehicle or is working outside the vehicle, and the user needs to return to the vehicle to operate the switch to retract the electric trailer hook. On the one hand, the user's operating steps are increased, which reduces the convenience of using the electric trailer hook. On the other hand, the user may forget to operate the switch to retract the electric trailer hook due to negligence or being busy with other matters. If the electric trailer hook is not retracted for a long time, the exposed electric trailer hook may collide with the vehicle during the user's vehicle operation, causing damage to the vehicle's appearance. It may also collide with the ground or other obstacles to produce vibration, reduce the stability of the vehicle's driving, affect the normal driving of the vehicle, and provide a poor user experience. The exposed electric trailer hook will also generate air resistance due to the interaction with the air, increase the vehicle's fuel consumption, and increase the cost of using the vehicle.

[0081] Based on the above application scenario, an embodiment of the present application provides a control method for retracting an electric trailer hook.

[0082] Figure 1 1 is a schematic flow chart of a control method for retracting an electric trailer hook provided in this embodiment. The control method for retracting an electric trailer hook is applicable to a logistics distribution system. The method comprises the following steps.

[0083] S1. Select whether to enable the speed-dependent retraction function.

[0084] During the use of the existing electric trailer hook, after the user disconnects the electric trailer hook from other mobile carriers, due to negligence or being busy with other matters, the user may forget to retract the electric trailer hook, resulting in the electric trailer hook being exposed. During the driving of the vehicle, the exposed electric trailer hook collides with the ground or other obstacles to generate vibration, affecting the stability of the vehicle and providing a poor user experience. In addition, the exposed electric trailer hook interacts with the air to generate air resistance, which increases the resistance of the vehicle and increases the fuel consumption of the vehicle.

[0085] In the embodiment of the present application, by setting the speed-dependent retraction function, the vehicle can automatically determine whether the electric trailer hook needs to be retracted according to the vehicle speed, without the need for manual operation, thereby avoiding the impact on the vehicle's energy consumption and driving stability due to the user forgetting to retract the electric trailer hook.

[0086] It should be noted that the speed-dependent retraction function can be selected according to the needs of the user. For example: some users are accustomed to leaving the electric trailer hook in an unfolded state to increase the hard-core image of the vehicle. At this time, you can choose not to turn on (i.e., turn off) the speed-dependent retraction function. When the user wants to retract the electric trailer hook, you can choose to turn on the speed-dependent retraction function. When it is judged that the vehicle speed reaches the set threshold, the electric trailer hook is retracted with speed. Another example: the user is forgetful and easily forgets to retract the electric trailer hook. You can directly choose to turn on the speed-dependent retraction function. After using the electric trailer hook for towing or traction, if the electric trailer hook meets the conditions of being unfolded in a non-current power-on cycle and not connected to other mobile carriers, when it is judged that the vehicle speed reaches the set threshold, the electric trailer hook is retracted with speed, which is convenient for users to retract the electric trailer hook in a timely and convenient manner, thereby improving the safety of the vehicle.

[0087] S2. After the speed-dependent retraction function is turned on, determine whether the electric trailer hook of the user's vehicle is in an unfolded state; determine whether the power-on cycle is not the current power-on cycle, and determine whether the electric trailer hook is connected to other mobile carriers.

[0088] It should be noted that there are many application scenarios when the electric trailer hook is in the unfolded state. For example: when the user's vehicle is connected to other mobile carriers through the electric trailer hook, the electric trailer hook is in the unfolded state. Another example: after the user's vehicle is towed or pulled using the electric trailer hook, when the connection with other mobile carriers is disconnected, the electric trailer hook is still in the unfolded state. Another example: during this power-on cycle, the electric trailer hook is in the unfolded state. At this time, the user's vehicle may be connected to other mobile carriers, or it may have been disconnected from other mobile carriers.

[0089] In the embodiment of the present application, after the function of retracting with speed is turned on, based on the multi-dimensional judgment of the unfolded state, power-on cycle and connection state, it is possible to clearly distinguish under what circumstances the electric trailer hook can be retracted when it is in the unfolded state. By judging whether the electric trailer hook is in the unfolded state, judging whether the power-on cycle is not the current power-on cycle, and judging whether the electric trailer hook is connected to other mobile carriers, if the electric trailer hook is found to be in the unfolded state of the previous cycle and is not connected to other vehicles when the function of retracting with speed is turned on, when the speed of the user's vehicle reaches the set speed threshold, a reminder can be issued in time or the retraction operation can be automatically performed to prevent the electric trailer hook from accidentally dragging other objects or people during the driving process of the vehicle, thereby avoiding potential safety accidents. Among them, judging whether the power-on cycle is not the current power-on cycle can prevent the danger caused by the state of the electric trailer hook not meeting the user's expectations after the user's vehicle is powered on again. For example, if the electric trailer hook was not properly retracted after the last use, the vehicle can identify and remind the user when it is powered on again to avoid driving without knowing it and reduce the risk of collision with other vehicles or obstacles due to the exposure of the electric trailer hook. Determine whether the electric trailer hook is connected to other vehicles. Only when it is confirmed that it is not connected, the electric trailer hook retraction operation is allowed to avoid misoperation during connection.

[0090] In one embodiment of the present application, the method for determining whether the electric trailer hook is in the deployed state is: detecting the state of the locking mechanism of the electric trailer hook, if the locking mechanism is in the unlocked state, the electric trailer hook is in the deployed state, and if the locking mechanism is in the locked state, the electric trailer hook is in the non-deployed state.

[0091] The locking mechanism is one of the key components of the electric trailer hook. Its core function is to provide a physical rigid connection when the electric trailer hook is deployed to ensure the stability of the towing process. The locking mechanism usually cooperates with a specific part of the electric trailer hook through a mechanical structure (such as a lock hook, a lock block, etc.), and uses spring force or other mechanical force to lock the trailer hook in the deployed position or the retracted position. The unlocked and locked states of the locking mechanism are directly related to the deployed and non-deployed states of the electric trailer hook. When the locking mechanism is in the unlocked state, the electric trailer hook is in the deployed state, and when the locking structure is in the locked state, the electric trailer hook is in the non-deployed state.

[0092] In the embodiment of the present application, by detecting the state of the locking mechanism to determine whether the electric trailer hook is in the deployed state, the actual position of the trailer hook can be accurately reflected. This detection method avoids the wrong judgment caused by the complex mechanical structure or the sensor misjudgment, and can not only accurately identify the current state of the electric trailer hook (deployed state or not deployed state), improve the accuracy of state recognition; but also timely discover when the locking mechanism is abnormal, thereby improving the overall reliability of the electric trailer hook. Compared with other detection methods that may require complex sensors or mechanical structures, directly detecting the state of the locking mechanism is a simple and efficient method. It reduces the need for additional detection equipment, reduces the complexity and cost of the electric trailer hook, and improves the detection efficiency. In addition, whether the vehicle is static or dynamic, whether the electric trailer hook is in normal use or accidentally deployed, the state of the electric trailer hook (i.e., the retracted state, including deployment and retraction) can be accurately determined by detecting the state of the locking mechanism. This detection method is applicable to a variety of working conditions, enhancing the versatility and adaptability of the electric trailer hook.

[0093] In one embodiment of the present application, the method for determining whether the state change of the electric trailer hook occurs in a non-current power-on cycle is: determining whether the state change of the electric trailer hook occurs in a non-current power-on cycle based on the power mode state change of the vehicle power system or the sleep / wake-up state change of the vehicle.

[0094] The "current power-on cycle" of the electric trailer hook refers to the period from the completion of a complete power-on operation of the vehicle power system to the next power-off or the vehicle entering a dormant state. During this period, the state changes of the electric trailer hook (such as deployment or retraction) can be recorded and monitored. If the state change of the electric trailer hook occurs after power-on and before power-off or dormancy, it belongs to the current power-on cycle, otherwise it is not the current power-on cycle. For example: the vehicle power mode usually includes OFF (off), ACC (accessory), ON (running) and CRANK (starting) and other states. When the vehicle switches from OFF mode to ACC or ON mode, the current timestamp is recorded as the start time of the current power-on cycle. When the vehicle switches from ACC or ON mode to OFF mode again, the current timestamp is recorded as the end time of the current power-on cycle. If the state change of the electric trailer hook occurs before the recorded start time or after the end time of the current power-on cycle, it can be judged that it is not in the current power-on cycle. For example: after the vehicle is powered on, if there is no operation for a long time, it will enter the dormant state. If the state change of the electric trailer hook occurs during the period from power-on to sleep of the vehicle, it is determined that it is in the current power-on cycle. If the state change of the electric trailer hook occurs after sleep, it can be determined that it is not in the current power-on cycle.

[0095] In the embodiment of the present application, by detecting the change in the vehicle power mode state or the change in the sleep and wake-up state, it is possible to accurately determine whether the state change of the electric trailer hook is in a non-current power-on cycle. By detecting the change in the power mode state of the vehicle power system or the change in the sleep and wake-up state of the vehicle, it is determined whether the state change of the electric trailer hook occurs in a non-current power-on cycle. This mechanism can effectively avoid erroneous operations caused by re-powering the vehicle and ensure that the electric trailer hook performs the retraction operation in the correct power-on cycle.

[0096] In one embodiment of the present application, a method for determining whether a state change of an electric trailer hook occurs in a non-current power-on cycle based on a change in a power mode state of a vehicle power system is as follows: if the power mode state of the vehicle power system changes to power on-power off-power on, then the state change of the electric trailer hook occurs in a non-current power-on cycle; if the power mode state of the vehicle power system changes to power on-power off, then the state change of the electric trailer hook occurs in the current power-on cycle.

[0097] In the embodiment of the present application, by monitoring the power mode state changes of the vehicle power system, it is possible to accurately distinguish whether the state change of the electric trailer hook occurs in a non-current power-on cycle or in the current power-on cycle. When the power mode state changes to "power on-power off-power on", it is clearly judged that the state change of the electric trailer hook occurs in a non-current power-on cycle; and when the state changes to "power on-power off", it is clearly judged that the state change of the electric trailer hook occurs in the current power-on cycle. This method effectively avoids misjudgments caused by power mode switching. In the application scenario of the electric trailer hook, this method can ensure that the electric trailer hook performs the retraction operation within the correct power-on cycle, avoiding the incorrect retraction operation of the electric trailer hook due to misjudgment, thereby improving the reliability and stability of the electric trailer hook.

[0098] In one embodiment of the present application, a method for determining whether a state change of the electric trailer hook occurs in a non-current power-on cycle based on the sleep-wake state change of the vehicle is as follows: if the sleep-wake state change of the vehicle is power-on-sleep-activate, then the state change of the electric trailer hook occurs in a non-current power-on cycle; if the sleep-wake state change of the vehicle is power-on-sleep, then the state change of the electric trailer hook occurs in the current power-on cycle.

[0099] In the embodiment of the present application, by monitoring the sleep and wake-up state changes of the vehicle, it is possible to accurately distinguish whether the state change of the electric trailer hook occurs in a non-current power-on cycle. This method can effectively avoid misjudgment caused by changes in the sleep and wake-up state of the vehicle, ensure that the electric trailer hook performs the retraction operation in the correct power-on cycle, avoid the electric trailer hook being incorrectly retracted due to misjudgment, and thus improve the reliability and stability of the electric trailer hook.

[0100] In one embodiment of the present application, a method for determining whether an electric trailer hook is connected to other mobile carriers is as follows: detecting the electrical circuit state of the electric trailer hook; if the electrical circuit state is in an on state, the electric trailer hook is connected to other mobile carriers; if the electrical circuit state is in a disconnected state, the electric trailer hook is not connected to other mobile carriers.

[0101] It should be noted that the state of the electrical circuit of the electric trailer hook can reflect the connection between the electric trailer hook and other mobile carriers. When the electric trailer hook is in a connected state with the other carrier, the electrical circuit of the electric trailer hook is in an on state, that is, an electrically connected state. When the electric trailer hook is not connected with the other carrier, the electrical circuit of the electric trailer hook is in a disconnected state, that is, an electrically disconnected state. In the embodiment of the present application, by detecting the state of the electrical circuit, it is possible to quickly and accurately determine whether the electric trailer hook is connected to other mobile carriers, avoid misjudgment of the connection due to loose mechanical connection or incomplete connection, and allow the electric trailer hook to be retracted with speed.

[0102] In one embodiment of the present application, a method for determining whether an electric trailer hook is connected to other mobile carriers is as follows: capturing an image of the electric trailer hook through a vehicle-mounted camera, identifying the mechanical connection status of the electric trailer hook in the electric trailer hook image through an image recognition algorithm, and determining the mechanical connection status of the electric trailer hook based on the identified mechanical connection status of the electric trailer hook.

[0103] The connection of the electric trailer hook includes mechanical connection and electrical connection. Mechanical connection refers to aligning and connecting the hook head of the electric trailer hook of the towing vehicle (towed vehicle) with the electric trailer hook of the towed vehicle (towing vehicle). Electrical connection refers to connecting the electrical connection port on the electric trailer hook of the towing vehicle (towed vehicle) with the electric trailer hook of the towed vehicle (towing vehicle) through an electrical connection cable. When the user's vehicle encounters a fault or accident, it is usually necessary to connect the trailer through the electric trailer hook, and tow the user's vehicle to a vehicle maintenance point or a safe location through the trailer. Similarly, when other mobile carriers encounter a fault or accident, it is usually necessary to connect other mobile carriers and user vehicles through electric trailer hooks, so as to tow other mobile carriers to a mobile carrier maintenance point or a safe location through the user's vehicle. In this process, when the user's vehicle is connected to other mobile carriers through the electric trailer hook, some users violate regulations for the convenience of operation and only mechanically connect the user's vehicle to other mobile carriers through the electric trailer hook, and do not electrically connect the user's vehicle to other mobile carriers. If the electric trailer hook is judged to be connected to other mobile carriers only by the state of the electrical circuit, misjudgment may occur.

[0104] In the embodiment of the present application, the trailer hook image is acquired in real time by the vehicle-mounted camera, and the connection status of the electric trailer hook is accurately identified by using an image recognition algorithm (such as a deep learning model), which is more intuitive than traditional electrical signal detection. This detection method can determine the mechanical connection status without physical contact, avoiding misjudgment caused by sensor wear or failure.

[0105] In the examples of this application, in some specific embodiments, see Figure 2 The specific method of using the image recognition algorithm to identify the connection state of the electric trailer hook in the electric trailer hook image is as follows:

[0106] S21, forming a data set with the acquired historical images of the electric trailer hook in a connected state and the acquired historical images of the electric trailer hook in a disconnected state, and dividing the data set into a training set and a test set;

[0107] S22, using the electric trailer hook image as input and the electric trailer hook connection state as output to construct a state recognition model;

[0108] S23, training the initial state recognition model through the training set, and verifying the performance of the trained state recognition model through the verification set;

[0109] S24, inputting the captured electric trailer hook image into a state recognition model to obtain a connection state of the electric trailer hook.

[0110] In the embodiment of the present application, the accuracy and generalization ability of the state recognition model are effectively improved through the scientific and reasonable data set division, model training and performance verification process based on the training and verification mechanism of historical data. In practical applications, the state recognition model can better adapt to different scenarios (for example: foggy weather, rainy and snowy weather, etc.) and accurately identify the connection status of the electric trailer hook.

[0111] In the examples of this application, in some specific embodiments, see Figure 3 The specific method of using the image recognition algorithm to identify the connection state of the electric trailer hook in the electric trailer hook image is as follows:

[0112] S21, forming a data set with the acquired historical images of the electric trailer hook being in a connected state and the acquired historical images of the electric trailer hook being in a disconnected state;

[0113] S22, using the electric trailer hook image as input and the electric trailer hook connection state as output to construct a state recognition model;

[0114] S23, training and verifying the state recognition model using the K-fold cross validation method through the data set;

[0115] S24, inputting the captured electric trailer hook image into a state recognition model to obtain a connection state of the electric trailer hook.

[0116] For example, the state recognition model is trained and verified by a five-fold cross-validation method. During training and verification, the data set is divided into five subsets, one of which is selected as a verification set, and the other subsets are selected as training sets. During the training and verification process, the state recognition model is verified for five rounds, the results of the five rounds of verification are summarized, and the average performance index of the five rounds is calculated to obtain the performance index of the state recognition model.

[0117] In the embodiment of the present application, the state recognition model is trained and verified by the K-fold cross-validation method, which can make full use of each sample in the data set and avoid the dependence of the state recognition model on specific data partitions, so as to more accurately evaluate the generalization ability of the state recognition model. In practical applications, the state recognition model can better adapt to different scenarios (for example: foggy weather, rainy and snowy weather, etc.) and accurately identify the connection status of the electric trailer hook.

[0118] S3. When the electric trailer hook is not deployed in this power-on cycle and is not connected to other mobile carriers, determine whether the speed of the user's vehicle reaches a set speed threshold.

[0119] In the embodiment of the present application, a vehicle speed threshold is introduced, and the electric trailer hook is deployed for a period other than the current power-on cycle and is not connected to other mobile carriers as a preset condition. By judging whether the speed of the user's vehicle reaches the set speed threshold, the speed of the user's vehicle reaching the set speed threshold is used as a trigger condition. Once the preset condition and the trigger condition are met, the electric trailer hook in the deployed state is automatically retracted without manual operation, thereby improving the convenience and intelligence of the electric trailer hook retraction, avoiding the situation where the user forgets to retract the electric trailer hook due to negligence or being busy with other matters when the electric trailer hook is disconnected from other vehicles and is in the deployed state, thereby affecting the normal driving of the vehicle, ensuring the stability of the vehicle driving, and improving the user's driving experience.

[0120] It should be noted that when the electric trailer hook meets the preset conditions of being unfolded in a non-current power-on cycle and not connected to other mobile carriers, unexpected retraction in some special scenarios cannot be avoided. For example: the user unfolds the electric trailer hook and adjusts the position of the electric trailer hook and the trailer. If there are no other functions to restrict it, and the user powers off and on again during this process, the vehicle speed recognition may be retracted by mistake. Therefore, the vehicle speed threshold is set slightly larger, for example: the vehicle speed threshold is set to 40km / h.

[0121] S4. When the speed of the user's vehicle reaches a set speed threshold, the electric trailer hook is retracted.

[0122] In the embodiment of the present application, taking the speed of the user's vehicle reaching a set speed threshold as a trigger condition, when the speed of the user's vehicle reaches the set speed threshold, the electric trailer hook is retracted along with the speed, thereby realizing automatic retraction of the electric trailer hook without manual operation, thereby improving the convenience and intelligence of the retraction of the electric trailer hook.

[0123] In an embodiment of the present application, the control method further includes:

[0124] Detect the track line function status of the electric trailer hook;

[0125] When the electric trailer hook is in the extended state and the track line function state is in the closed state, if the speed of the user's vehicle reaches the set speed threshold, the electric trailer hook is retracted.

[0126] The track line function is a function for aligning the trailer. When the electric trailer hook is in the unfolded state and the track line of the electric trailer hook is in the open state, it means that the user has unfolded the electric trailer hook to align the trailer. At this time, if the electric trailer hook is retracted, the towing task will be interrupted. In the embodiment of the present application, a track line function state detection is introduced. By detecting the track line function state of the electric trailer hook, the track line function state is accurately judged. Based on the unfolded state, the track line function state, and the speed of the user's vehicle, the electric trailer hook can be retracted with the speed to prevent the interruption of the towing task caused by misoperation.

[0127] In one embodiment of the present application, when the electric trailer hook is in the deployed state and the track line function state is in the on state, the electric trailer hook is not retracted.

[0128] When the electric trailer hook is in the unfolded state and the track line of the electric trailer hook is in the on state, it means that the user has unfolded the electric trailer hook to align it with the trailer and is performing the towing task. At this time, if the electric trailer hook is retracted, the towing task will be interrupted. In the embodiment of the present application, when the electric trailer hook is in the unfolded state and the track line function state is in the on state, the electric trailer hook is not retracted to avoid interruption of the towing task due to misoperation.

[0129] In one embodiment of the present application, when the electric trailer hook is deployed for this power-on cycle, the electric trailer hook is not retracted.

[0130] It should be noted that, during this power-on cycle, if the electric trailer hook has been deployed during this power-on cycle, it means that the vehicle may be in a towing operation state or preparing to tow. Retracting the trailer hook at this time may interrupt the towing operation, resulting in the inability to complete the towing task. In the embodiment of the present application, when the electric trailer hook is deployed for this power-on cycle, the electric trailer hook is not retracted to prevent misoperation from causing the trailer operation to be terminated and the towing task to be unable to be completed.

[0131] In one embodiment of the present application, when the electric trailer hook is connected to other mobile carriers, the electric trailer hook is not retracted.

[0132] When the electric trailer hook is in the connected state and is connected to other mobile carriers, if the electric trailer hook is retracted, on the one hand, it may cause the towing operation to be interrupted and even cause safety hazards. For example, if the trailer hook is retracted during the towing process, the towed vehicle may lose control or collide with the trailer device. On the other hand, it may cause damage to the electric trailer hook itself and other mobile carriers connected to it. In the embodiment of the present application, when the electric trailer hook is connected to other mobile carriers, the electric trailer hook is not retracted at the speed, ensuring that the vehicle is stably connected during the towing process through the electric trailer hook, thereby reducing the risk of accidents during the towing process.

[0133] In one embodiment of the present application, the control method also includes: after choosing not to enable the speed-dependent retraction function, when the electric trailer hook is not deployed in this power-on cycle and is not connected to other mobile carriers, retracting the electric trailer hook through the switch of the electric trailer hook.

[0134] The speed-dependent retraction function can be selected according to the needs of the user. For example, some users are accustomed to leaving the electric trailer hook in an unfolded state to increase the hard-core image of the vehicle. At this time, they can choose not to turn on (i.e., turn off) the speed-dependent retraction function. When the user wants to retract the electric trailer hook, they can choose to re-enable the speed-dependent retraction function, and when the vehicle speed reaches the set threshold, the electric trailer hook is retracted with speed. The electric trailer hook can also be retracted directly through the switch of the electric trailer hook. In an embodiment of the present application, after choosing not to turn on the speed-dependent retraction function, when the electric trailer hook is not unfolded in this power-on cycle and is not connected to other mobile carriers, the electric trailer hook is retracted through the switch of the electric trailer hook. On the one hand, it allows the user to manually retract the trailer hook according to the actual situation, providing higher operational flexibility and meeting the use requirements in different scenarios. On the other hand, when the trailer hook is unfolded in a non-current power-on cycle, it may be because the vehicle did not properly retract the trailer hook after the last use. At this time, retracting the trailer hook by manually operating the switch can avoid safety hazards caused by the failure of the automatic retraction function.

[0135] The embodiment of the present application provides a control system for retracting an electric trailer hook, which is applicable to a logistics distribution system. Figure 4 Shown is a schematic diagram of the structure of the control system for retracting the electric trailer hook.

[0136] The control system 100 for retracting the electric trailer hook includes:

[0137] A selection module 101 is used to select whether to enable the speed-dependent retraction function;

[0138] A first judgment module 102 is connected to the selection module 101, and the first judgment module 102 is configured to: after the selection module 101 selects to turn on the speed-dependent retraction function, determine whether the electric trailer hook is in a non-deployed state;

[0139] A second judgment module 103 is connected to the selection module 101, and the second judgment module 103 is configured to: after the selection module 101 selects to turn on the speed-dependent retraction function, determine whether the state change of the electric trailer hook occurs in a non-current power-on cycle;

[0140] A third judgment module 104 is connected to the selection module 101, and the third judgment module 104 is configured to: after the selection module 101 selects to turn on the speed-dependent retraction function, determine whether the electric trailer hook is connected to other mobile carriers;

[0141] A speed detection unit 105, used to detect the speed of the user's vehicle;

[0142] The vehicle speed judgment module 106 is connected to the first judgment module 102, the second judgment module 103, the third judgment module 104, and the speed detection unit 105. The vehicle speed judgment module 106 is configured to judge whether the speed of the user's vehicle reaches a set speed threshold when the electric trailer hook is not deployed in the current power-on cycle and is not connected to other mobile carriers;

[0143] The control module 107 is connected to the motor 200 of the electric trailer hook. The control module 107 is configured to control the motor 200 to rotate when the speed of the user's vehicle reaches a set speed threshold, so that the motor 200 drives the electric trailer hook to be retracted.

[0144] Continue to see Figure 4 In one embodiment of the present application, the system further includes a first state detection unit 108 , and the first state detection unit 108 is used to detect the state of the locking mechanism of the electric trailer hook and send it to the first judgment module 102 .

[0145] Continue to see Figure 4 In one embodiment of the present application, the system further includes a second state detection unit 109, which is used to detect the power mode state of the vehicle power system and the sleep / wake-up state of the vehicle and send them to the second judgment module 103.

[0146] Continue to see Figure 4 In one embodiment of the present application, the system further includes a third state detection unit 110 , and the third state detection unit 110 is used to detect the electrical circuit state of the electric trailer hook and send it to the third judgment module 104 .

[0147] Continue to see Figure 4 In one embodiment of the present application, the system further includes:

[0148] The vehicle-mounted camera 111 is used to capture and send an image of the electric trailer hook;

[0149] The image recognition module 112 is connected to the vehicle-mounted camera 111 for receiving the electric trailer hook image sent by the vehicle-mounted camera 111 , identifying the mechanical connection state of the electric trailer hook in the electric trailer hook image through an image recognition algorithm and sending it to the third judgment module 104 .

[0150] In one embodiment of the present application, the control module 107 is further configured to not control the motor action when the electric trailer hook is deployed in the current power-on cycle.

[0151] In one embodiment of the present application, the control module 107 is further configured to not control the motor action when the electric trailer hook is connected to other mobile carriers.

[0152] In one embodiment of the present application, the control module 107 is further configured to not control the motor action when the electric trailer hook is in the unfolded state and the track line function state is in the on state.

[0153] Continue to see Figure 4 In one embodiment of the present application, the system further includes a switch 113 for an electric trailer hook, and the switch 113 is disposed in a cab or a trunk of the vehicle. After the speed-dependent retraction function is not enabled, when the electric trailer hook is not deployed in this power-on cycle and is not connected to other mobile carriers, the switch 113 of the electric trailer hook is used to control the rotation of the motor 200 to retract the electric trailer hook.

[0154] The present application also provides a computer program product, which includes: computer program code, which, when executed on a computer, enables the computer to execute the control method for retracting the electric trailer hook involved in the above embodiment. The computer program can be installed in a vehicle system.

[0155] The embodiment of the present application also provides a computer-readable storage medium, which stores program codes, and the program codes are executed by one or more processors. When the program codes are executed on the processors, a device including one or more processors executes the control method for retracting the electric trailer hook involved in the above embodiment. The processor that runs the computer-readable storage medium can be mounted on a vehicle system.

[0156] It should be understood that when the modules or units described herein are implemented using software, they can be implemented in whole or in part in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is 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 computer-readable storage medium, and the computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrations. Available media can be magnetic media, (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid-state hard disk (solidstated isk, SSD)), etc.

[0157] The embodiment of the present application provides a chip system, which includes a processor, or a chip system includes a memory and a processor, for calling a computer program or computer instruction stored in the memory so that the processor executes the control method for retracting the electric trailer hook involved in 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 in a vehicle system.

[0158] The embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device implements the control method for retracting the electric trailer hook involved in the above embodiment. The electronic device can be mounted in a vehicle system.

[0159] An embodiment of the present application provides a vehicle.

[0160] For example, see Figure 5 The vehicle 300 includes a memory 301, a processor 302, and a computer program 303 stored in the memory 301 and executable on the processor 302. When the processor 302 executes the computer program 303, the processor 302 implements the control method for retracting the electric trailer hook involved in the above-mentioned embodiment.

[0161] Exemplarily, the vehicle may include a selection module, a first judgment module, a second judgment module, a third judgment module, a vehicle speed detection unit, a vehicle speed judgment module, and a control module, and the selection module, the first judgment module, the second judgment module, the third judgment module, the vehicle speed judgment module, and the control module are integrated in a processor.

[0162] The selection module is used to select whether to enable the speed-dependent retraction function;

[0163] The first judgment module is connected to the selection module, and the first judgment module is configured to: after the selection module selects to turn on the speed-dependent retraction function, determine whether the electric trailer hook is in a non-deployed state;

[0164] The second judgment module is connected to the selection module, and the second judgment module is configured to: after the selection module selects to turn on the speed-dependent retraction function, determine whether the state change of the electric trailer hook occurs in a non-current power-on cycle;

[0165] The third judgment module is connected to the selection module, and the third judgment module is configured to: after the selection module selects to turn on the speed-dependent retraction function, determine whether the electric trailer hook is connected to other mobile carriers;

[0166] The vehicle speed detection unit is used to detect the speed of the user's vehicle;

[0167] The vehicle speed judgment module is connected to the first judgment module, the second judgment module, the third judgment module and the vehicle speed detection unit. The vehicle speed judgment module is configured to judge whether the speed of the user's vehicle reaches a set vehicle speed threshold when the electric trailer hook is not deployed in the current power-on cycle and is not connected to other mobile carriers;

[0168] The control module is connected to the motor of the electric trailer hook, and the control module is configured to control the motor to rotate when the speed of the user's vehicle reaches a set speed threshold, so that the motor drives the electric trailer hook to be retracted.

[0169] Those of ordinary skill in the art will appreciate that the modules, units, and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0170] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered. Within the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for retracting an electric trailer hook, characterized in that: Applied to a vehicle, the control method comprises: Choose whether to enable the speed-dependent retraction function; After the speed-dependent retraction function is turned on, determine whether the electric trailer hook of the user's vehicle is in the unfolded state; determine whether the state change of the electric trailer hook occurs in a non-current power-on cycle, and determine whether the electric trailer hook is connected to other mobile carriers; When the electric trailer hook is not deployed in this power-on cycle and is not connected to other mobile carriers, it is determined whether the speed of the user's vehicle reaches the set speed threshold; When the speed of the user's vehicle reaches a set speed threshold, the electric trailer hook is retracted.

2. The control method for retracting an electric trailer hook according to claim 1, characterized in that: The method for determining whether the electric trailer hook is in the deployed state is: detecting the state of the locking mechanism of the electric trailer hook, if the locking mechanism is in the unlocked state, the electric trailer hook is in the deployed state, and if the locking mechanism is in the locked state, the electric trailer hook is in the non-deployed state.

3. The control method for retracting an electric trailer hook as claimed in claim 1, characterized in that: The method for determining whether the state change of the electric trailer hook occurs in a non-current power-on cycle is as follows: determining whether the state change of the electric trailer hook occurs in a non-current power-on cycle according to the power mode state change of the vehicle power system or the sleep / wake-up state change of the vehicle.

4. The control method for retracting an electric trailer hook according to claim 1, characterized in that: The method for determining whether the electric trailer hook is connected to other mobile carriers is: detecting the electrical circuit state of the electric trailer hook, if the electrical circuit state is connected, the electric trailer hook is connected to other mobile carriers, if the electrical circuit state is disconnected, the electric trailer hook is not connected to other mobile carriers.

5. The control method for retracting an electric trailer hook according to claim 1, characterized in that: The method for determining whether the electric trailer hook is connected to other mobile carriers is as follows: capturing an image of the electric trailer hook through a vehicle-mounted camera, identifying the mechanical connection state of the electric trailer hook in the image of the electric trailer hook through an image recognition algorithm, and determining whether the electric trailer hook is connected to other mobile carriers based on the identified mechanical connection state of the electric trailer hook.

6. The control method for retracting an electric trailer hook as claimed in claim 1, characterized in that: The control method further comprises: Detect the track line function status of the electric trailer hook; When the electric trailer hook is in the extended state and the track line function state is in the closed state, if the speed of the user's vehicle reaches the set speed threshold, the electric trailer hook is retracted.

7. The control method for retracting an electric trailer hook as claimed in claim 6, characterized in that: When the electric trailer hook is in the extended state, the track line function state is in the on state, or when the electric trailer hook is extended for the current power-on cycle, or when the electric trailer hook is connected to other mobile carriers, the electric trailer hook is not retracted.

8. The control method for retracting an electric trailer hook as claimed in claim 1, characterized in that: After choosing not to enable the speed-dependent retraction function, when the electric trailer hook is not deployed during this power-on cycle and is not connected to other mobile carriers, the electric trailer hook is retracted through the switch of the electric trailer hook.

9. A control system for retracting an electric trailer hook, characterized in that: Applied to a vehicle, the control system comprises: Selection module, used to select whether to enable the speed-dependent retraction function; A first judgment module, connected to the selection module, and configured to judge whether the electric trailer hook is in an undeployed state after the selection module selects to turn on the speed-dependent retraction function; A second judgment module is connected to the selection module, and the second judgment module is configured to: after the selection module selects to turn on the speed-dependent retraction function, determine whether the state change of the electric trailer hook occurs in a non-current power-on cycle; A third judgment module is connected to the selection module, and the third judgment module is configured to: after the selection module selects to turn on the speed-dependent retraction function, determine whether the electric trailer hook is connected to other mobile carriers; A vehicle speed detection unit, used to detect the speed of the user's vehicle; A vehicle speed judgment module, connected to the first judgment module, the second judgment module, the third judgment module and the speed detection unit, wherein the vehicle speed judgment module is configured to judge whether the speed of the user's vehicle reaches a set vehicle speed threshold when the electric trailer hook is not deployed in the current power-on cycle and is not connected to other mobile carriers; The control module is connected to the motor of the electric trailer hook. The control module is configured to control the motor to rotate when the speed of the user's vehicle reaches a set speed threshold, so that the motor drives the electric trailer hook to be retracted.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, and the program code is executed by one or more processors. When the program code runs on the processor, the device including the one or more processors executes the control method for retracting the electric trailer hook as described in any one of claims 1 to 8.

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