Method and system for controlling electric trailer hitch retraction, readable storage medium

Abstract

The application discloses a kind of electric trailer hook retraction control method and system, readable storage medium, belong to automobile technical field.The method includes: whether to open the function of speed retraction is selected;After selecting to open the function of speed retraction, whether the electric trailer hook of user vehicle is in unfolded state is judged;Whether the state change of electric trailer hook occurs in non this power-on cycle is judged, whether electric trailer hook is connected other mobile carrier;When electric trailer hook is unfolded in non this power-on cycle and without connecting other mobile carrier, whether the speed of user vehicle reaches the set speed threshold is judged;When the speed of user vehicle reaches the set speed threshold, electric trailer hook is retracted.Based on the state of trailer hook unfolding, power-on cycle, and the connection state of other mobile carrier, the speed of vehicle is controlled to retract electric trailer hook with speed, so that user can conveniently retract electric trailer hook in time, and the safety of vehicle is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobiles, and particularly relates to a control method and system for retracting an electric trailer hook, and a readable storage medium. BACKGROUND

[0002] The electric trailer hook is a convenient vehicle auxiliary device and is widely used in scenes of towing a mobile carrier (including a vehicle). The electric trailer hook is driven by a motor to realize the expansion and retraction of the trailer hook, thereby providing convenience for the vehicle when the vehicle is towed or is being towed. However, the existing electric trailer hook has the following disadvantages in use:

[0003] At present, the switch of the electric trailer hook is usually arranged in the vehicle, for example, in the trunk or the driver's cab of the vehicle. Although this design ensures the appearance and integrity of the vehicle to a certain extent, it brings many inconveniences to the user in actual application. After the user finishes unloading the trailer, the user may have left the vehicle or be in a state of working outside the vehicle, and needs to return to the vehicle to operate the switch to retract the electric trailer hook. This not only increases the operation steps of the user and reduces the convenience of use, but also may cause the user to forget to retract the electric trailer hook when the user is inattentive or 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, and may collide with the ground or other obstacles to produce vibration, thereby reducing the stability of the vehicle in driving, affecting the normal driving of the vehicle, and reducing the user experience. SUMMARY

[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 at a speed based on the expansion state of the trailer hook, the power-on period, the connection state with other mobile carriers, and the vehicle speed, so as to facilitate the user to timely and conveniently retract the electric trailer hook and improve the safety of the vehicle.

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

[0006] selecting whether to start the speed-dependent retraction function;

[0007] after the speed-dependent retraction function is selected to be started, judging whether the electric trailer hook of the user's vehicle is in an expanded state, judging whether the power-on period is a non-current power-on period, and judging whether the electric trailer hook is connected to other mobile carriers;

[0008] when the electric trailer hook is expanded in the non-current power-on period and is not connected to other mobile carriers, judging whether the vehicle speed of the user's vehicle reaches a set vehicle speed threshold;

[0009] when the vehicle speed of the user's vehicle reaches the set vehicle speed threshold, retracting the electric trailer hook.

[0010] When the user is using the electric tow hook to tow or be towed, after the user disconnects the electric tow hook from the other mobile carrier, the user needs to operate the switch in the vehicle to retract the electric tow hook because the switch of the existing electric tow hook is usually arranged in the vehicle. This operation mode brings many inconveniences to the user. For example, after the user disconnects the electric tow hook from the other mobile carrier, the user is busy with other matters (such as answering the phone), forgets to retract the electric tow hook after dealing with other matters, and then starts the vehicle to drive. During the rapid driving of the vehicle, the exposed automatic tow hook not only generates air resistance to increase the fuel consumption of the vehicle, but also collides with the ground or other obstacles to generate vibration, affecting the stability of the vehicle driving.

[0011] In the embodiments of the present application, through the setting of the speed-dependent retraction function, the vehicle can automatically determine whether the electric tow hook needs to be retracted according to the vehicle speed. When the electric tow hook meets the condition of being deployed in the current power-on period and not being connected to other mobile carriers, the electric tow hook is automatically retracted when the vehicle speed of the user reaches the set threshold, without manual operation, greatly improving the convenience and intelligent degree of use, and avoiding the influence of the user forgetting to retract the electric tow hook on the energy consumption of the vehicle and the stability of the vehicle driving.

[0012] In combination with the first aspect, in some implementations of the first aspect, the method for determining whether the electric tow hook is in the deployed state is: detecting the state of the locking mechanism of the electric tow hook, if the locking mechanism is in the unlocked state, the electric tow hook is in the deployed state, if the locking mechanism is in the locked state, the electric tow hook is in the undeployed state.

[0013] The locking mechanism is the "safety anchor point" of the electric tow hook, and its core function is to provide a physically rigid connection in the deployed state of the electric tow hook to ensure the stability of the towing process. The unlocked and locked states of the locking mechanism are directly related to the deployed and undeployed states of the electric tow hook. When the locking mechanism is in the unlocked state, the electric tow hook is in the deployed state, and when the locking mechanism is in the locked state, the electric tow hook is in the undeployed state. In the embodiments of the present application, the state of the locking mechanism is detected to determine whether the electric tow hook is in the deployed state, which can accurately reflect the actual position of the electric tow hook. This detection method avoids false judgments caused by complex mechanical structures or sensor errors, not only can accurately identify the current state (deployed state or undeployed state) of the electric tow hook, improve the accuracy of state identification, but also can discover abnormalities in the locking mechanism in time, thereby improving the overall reliability of the electric tow hook.

[0014] In some implementations of the first aspect, the method for determining whether the state change of the electric trailer hitch occurs in a non-current power-on cycle is based on a power mode state change of the vehicle power supply system or a sleep-activation state change of the vehicle.

[0015] The "current power-on cycle" of the electric trailer hitch refers to the period from the completion of a complete power-on operation of the vehicle power supply system to the next power-off or the vehicle entering the sleep state. During this period, the state change (such as deployment or retraction) of the electric trailer hitch can be recorded and monitored. If the state change of the electric trailer hitch occurs after power-on and before power-off or sleep, it belongs to the current power-on cycle, otherwise it is a non-current power-on cycle. In the embodiments of the present application, by monitoring the vehicle power mode state change or the sleep-activation state change, it can be accurately determined whether the state change of the electric trailer hitch is in a non-current power-on cycle.

[0016] In some implementations of the first aspect, the method for determining whether the state change of the electric trailer hitch occurs in a non-current power-on cycle based on a power mode state change of the vehicle power supply system is as follows: if the power mode state change of the vehicle power supply system is power-on-power-off-power-on, the state change of the electric trailer hitch occurs in a non-current power-on cycle; if the power mode state change of the vehicle power supply system is power-on-power-off, the state change of the electric trailer hitch occurs in a current power-on cycle.

[0017] In the embodiments of the present application, by monitoring the power mode state change of the vehicle power supply system, it can be accurately determined whether the state change of the electric trailer hitch occurs in a non-current power-on cycle. When the power mode state change is "power-on-power-off-power-on", it is determined that the state change of the electric trailer hitch occurs in a non-current power-on cycle; when the state change is "power-on-power-off", the state change of the electric trailer hitch occurs in a current power-on cycle. In the application scenario of the electric trailer hitch, this method can effectively avoid misjudgment caused by power mode switching, ensure that the electric trailer hitch performs the retraction operation in the correct power-on cycle, avoid the electric trailer hitch from being retracted incorrectly due to misjudgment, and thus improve the reliability and stability of the electric trailer hitch.

[0018] In some implementations of the first aspect, the method for determining whether the power-on cycle is a non-current power-on cycle based on a sleep-activation state change of the vehicle is as follows: if the sleep-activation state change of the vehicle is power-on-sleep-activation, the power-on cycle is a non-current power-on cycle; if the sleep-activation state change of the vehicle is power-on-sleep, the power-on cycle is a current power-on cycle.

[0019] In the embodiments of the present application, by monitoring the change of the sleep and wake-up state of the vehicle, it can be accurately distinguished whether the state change of the electric trailer hook occurs in the non-current power-on period or the current power-on period. This method can effectively avoid misjudgment caused by the change of the sleep and wake-up state of the vehicle, and ensure that the electric trailer hook performs the operation of being pulled back in the correct power-on period.

[0020] In combination with the first aspect, in some implementations of the first aspect, the method for judging 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 connected state, the electric trailer hook is connected to other mobile carriers, and if the electrical circuit state is in the disconnected state, the electric trailer hook is not connected to other mobile carriers.

[0021] The electrical circuit state of the electric trailer hook can reflect the connection state of the electric trailer hook and other mobile carriers. When the electrical circuit of the electric trailer hook is in the connected state (i.e. the electrical connection state), the electric trailer hook is in the connected state with other carriers. When the electrical circuit of the electric trailer hook is in the disconnected state (i.e. the electrical disconnection state), in the electric trailer hook and other carriers are in the unconnected state, in the embodiments of the present application, by detecting the electrical circuit state, the electric trailer hook can be quickly and accurately judged whether it is connected to other mobile carriers according to the electrical circuit state.

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

[0023] When the user's vehicle encounters a failure or an accident, it is usually necessary to connect a trailer through an electric trailer hook, and to pull the user's vehicle to a vehicle repair point or a safe position through the trailer. Similarly, when other mobile carriers encounter a failure or an accident, it is usually necessary to connect the other mobile carriers and the user's vehicle through the electric trailer hook, so as to pull the other mobile carriers to a mobile carrier repair point or a safe position 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 the rules and only mechanically connect the user's vehicle to other mobile carriers through the electric trailer hook, without electrically connecting the user's vehicle to other mobile carriers. If only the electrical circuit state is used to judge whether the electric trailer hook is connected to other mobile carriers, misjudgment may occur.

[0024] In the embodiments of the present application, the trailer hook image is acquired in real time through the vehicle-mounted camera, and the image recognition algorithm (such as a deep learning model) is used to accurately identify the connection state of the electric trailer hook. This method is more intuitive than the traditional electrical signal detection. This detection method can determine the mechanical connection state 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] detecting a track line function state of the electric trailer hook;

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

[0028] When the user unfolds the electric trailer hook to align the trailer, the electric trailer hook is in the unfolded state and the track line function of the electric trailer hook is in the open state, which indicates that the user is using the electric trailer hook for the trailer task. At this time, if the electric trailer hook is retracted, the trailer task will be interrupted. In the embodiments of the present application, the track line function state detection is introduced, the track line function state of the electric trailer hook is detected, the track line function state is accurately judged, and the electric trailer hook is retracted at a speed based on the unfolded state and the track line function state and the vehicle speed of the user vehicle, to prevent the trailer task from being interrupted due to misoperation.

[0029] In combination with the first aspect, in some implementations of the first aspect, 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.

[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 indicates that the user unfolds the electric trailer hook to align the trailer. At this time, if the electric trailer hook is retracted, the trailer task will be interrupted. In the embodiments 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 the trailer task from being interrupted due to misoperation.

[0031] In combination with the first aspect, in some implementations of the first aspect, when the electric trailer hook is unfolded in the current power-on period, the electric trailer hook is not retracted.

[0032] The electric trailer hook is unfolded in the current power-on period, which indicates that the vehicle may be in a trailer operation state or preparing to perform a trailer operation. If the electric trailer hook is retracted, the trailer operation may be interrupted and the operation task cannot be completed. In the embodiments of the present application, when the electric trailer hook is unfolded in the current power-on period, the electric trailer hook is not retracted, to avoid the trailer operation from being interrupted and the operation task from being completed due to the retraction of the electric trailer hook.

[0033] In combination with the first aspect, in some implementations of the first aspect, the electric trailer hook is not automatically retracted at a speed when the electric trailer hook is connected to another mobile carrier.

[0034] When the electric trailer hook is connected to another mobile carrier, if the electric trailer hook is retracted, it may cause the trailer operation to be interrupted, and even cause a safety hazard. It may also cause damage to the electric trailer hook itself and other mobile carriers connected thereto. In the embodiments of the present application, when the electric trailer hook is connected to another mobile carrier, the electric trailer hook is not automatically retracted at a speed, so as to ensure that the stable connection of the vehicle during the trailer process is maintained through the electric trailer hook, thereby reducing the risk of accidents during the trailer process.

[0035] In combination with the first aspect, in some implementations of the first aspect, the control method further comprises: after selecting not to start the automatic retraction function, when the electric trailer hook is not deployed in the current power-on period and is not connected to another mobile carrier, retracting the electric trailer hook through the switch of the electric trailer hook.

[0036] The automatic retraction function can be selected according to the user's needs. For example: some users are used to keeping the electric trailer hook in the deployed state to increase the hard image of the vehicle, at this time, the automatic retraction function can be selected not to be started (i.e. turned off), 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 automatic retraction function can be selected to be restarted, and the electric trailer hook is automatically retracted when the vehicle speed reaches the set threshold. In the embodiments of the present application, after selecting not to start the automatic retraction function, when the electric trailer hook is not deployed in the current power-on period and is not connected to another mobile carrier, 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 the actual situation, providing higher operation flexibility and meeting the use needs in different scenarios.

[0037] Secondly, a control system for retracting an electric trailer hook is provided, which is applied to a vehicle. The control system comprises:

[0038] A selection module is configured to select whether to start an automatic retraction function or not;

[0039] A first judgment module is connected to the selection module, and is configured to judge whether the electric trailer hook is in a deployed state or not after the selection module selects to start the automatic retraction function;

[0040] A second judgment module is connected to the selection module, and is configured to judge whether a state change of the electric trailer hook occurs in a current power-on period or not after the selection module selects to start the automatic retraction function;

[0041] A third judging module is connected with the selecting module, and is configured to judge whether the electric trailer hook is connected with other mobile carriers after the selecting module selects to open the speed-dependent retracting function.

[0042] A vehicle speed detecting unit is configured to detect the vehicle speed of the user's vehicle.

[0043] A vehicle speed judging module is connected with the first judging module, the second judging module, the third judging module and the vehicle speed detecting unit, and is configured to judge whether the vehicle 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 period and is not connected with other mobile carriers.

[0044] A control module is connected with the motor of the electric trailer hook, and is configured to control the motor to rotate and drive the electric trailer hook to retract when the vehicle speed of the user's vehicle reaches the set vehicle speed threshold.

[0045] With reference to the second aspect, in some implementations of the second aspect, the system further comprises a first state detecting unit configured to detect the state of the locking mechanism of the electric trailer hook and send the state to the first judging module.

[0046] With reference to the second aspect, in some implementations of the second aspect, the system further comprises a second state detecting unit configured to detect the power mode state of the vehicle power system and the sleep-wake state of the vehicle and send the states to the second judging module.

[0047] With reference to the second aspect, in some implementations of the second aspect, the system further comprises a third state detecting unit configured to detect the electrical circuit state of the electric trailer hook and send the state to the third judging module.

[0048] With reference to the second aspect, in some implementations of the second aspect, the system further comprises:

[0049] A vehicle-mounted camera is configured to capture images of the electric trailer hook and send the images.

[0050] An image recognition module is in communication connection with the vehicle-mounted camera, configured to receive the images of the electric trailer hook sent by the vehicle-mounted camera, recognize the mechanical connection state of the electric trailer hook in the images of the electric trailer hook through an image recognition algorithm, and send the state to the third judging module.

[0051] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to not control the motor to act when the electric trailer hook is deployed in the current power-on period.

[0052] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to not control the motor to act when the electric trailer hitch is connected to another mobile carrier.

[0053] With reference to the second aspect, in some implementations of the second aspect, the control module is further configured to not control the motor to act when the electric trailer hitch is in the unfolded state and the trajectory function is in the open state.

[0054] With reference to the second aspect, in some implementations of the second aspect, the system further comprises a switch of the electric trailer hitch, the switch being arranged in a cab or trunk of the vehicle, and the switch is configured to control the motor to rotate and retract the electric trailer hitch when the electric trailer hitch is unfolded in a current power-on period and not connected to another mobile carrier after the follow-up speed retraction function is selected to be turned off.

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

[0056] In a fourth aspect, a computer-readable storage medium is provided, the computer-readable storage medium storing computer program code, the computer program code being executed by one or more processors, and when the computer program code is run on the processors, the apparatus comprising the one or more processors performs the control method for retracting the electric trailer hitch according to the first aspect.

[0057] In a fifth aspect, an embodiment of the present application provides a chip system, the chip system comprising a processor, and the processor is configured to invoke computer programs or computer instructions stored in a memory to cause the processor to perform the control method for retracting the electric trailer hitch according to the first aspect.

[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, and the processor executes the computer program to cause the electronic device to implement the control method for retracting the electric trailer hitch according to the first aspect.

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

[0060] The technical solutions provided by the embodiments of the present application have at least the following beneficial effects:

[0061] The control method and system for electric trailer hook retraction provided by the embodiment of the application are applied to a vehicle. The electric trailer hook is retracted at a speed based on the trailer hook deployment state, the power-on period, the connection state with other mobile carriers, and the vehicle speed, so that the user can conveniently and timely retract the electric trailer hook, and the safety of the vehicle is improved.

[0062] The above description is only a summary of the technical solutions of the application. In order to more clearly understand the technical means of the application, the application can be implemented in accordance with the content of the description, and in order to make the above and other purposes, characteristics and advantages of the application more obvious, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0064] Figure 1 The control method flowchart for electric trailer hook retraction of the embodiment of the application.

[0065] Figure 2 The method flowchart for identifying the connection state of the electric trailer hook in the electric trailer hook image by using the image recognition algorithm of the embodiment of the application.

[0066] Figure 3 The method flowchart for identifying the connection state of the electric trailer hook in the electric trailer hook image by using the image recognition algorithm of another embodiment of the application.

[0067] Figure 4 The architecture schematic diagram of the control system for electric trailer hook retraction of the embodiment of the application.

[0068] Figure 5 The architecture schematic diagram of the vehicle of the embodiment of the application.

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

[0070] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0071] 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 ordinal words 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 limited by the use of such prefix words. In addition, in the description of the embodiments, unless otherwise specified, the meaning of "plurality" is two or more.

[0072] 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 is only a description of the association between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent three cases: A exists alone, A and B exist together, and B exists alone.

[0073] 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 above-described device embodiments 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.

[0074] With the development of automobile intelligence and multifunction, electric tow hook, as an important device to improve the practicability of vehicles, is widely used to tow other mobile carriers (such as trailers, motor homes, boats, etc.). For example, when a user's vehicle cannot move by itself due to a fault or accident, the user's vehicle is connected to the towing device through the electric tow hook, and through the connection of the electric tow hook, the user's vehicle can be towed to a repair point for repair or other safe areas. For example, when other mobile carriers cannot move by themselves due to a fault or accident, the user's vehicle is connected to the other mobile carriers through the electric tow hook, and the user's vehicle pulls the other mobile carriers to the repair point of the other mobile carriers for repair or safety area. The electric tow hook serves as a connection point to ensure stability and safety during the towing process.

[0075] The electric tow hook is a vehicle towing device integrated with electric control function, which is installed on the vehicle body through a mounting bracket and connected to the vehicle body through bolts or other fixing devices. The electric tow hook mainly consists of a hook body, a driving assembly and several key parts.

[0076] The hook body is the main part of the electric tow hook, which usually includes a mounting part, a connecting part and a ball head. The mounting part is used to connect with the driving 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 driving assembly is the core power part of the electric tow hook, which usually includes a motor, a transmission component and a locking mechanism. The motor transmits power to the hook body through the transmission component (such as gear set or worm gear), realizing the extension and retraction of the hook body. The locking mechanism is used to lock when the hook body is in the storage position or the expanded position to connect other mobile carriers.

[0078] The transmission mechanism includes transmission shaft, rotating shaft, key shaft and bearing components. The transmission shaft is used to transmit power from the motor to the hook body, the rotating shaft is connected to the transmission shaft and the hook body, the key shaft is used to connect the hook body and the rotating shaft, and the bearing is used to reduce friction and improve transmission efficiency.

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

[0080] The switch of the existing electric tow hook is usually arranged in the vehicle (for example, in the cab or the trunk of the vehicle). When the user needs to perform emergency rescue or tow another mobile carrier, the electric tow hook is connected to the other mobile carrier after the electric tow hook is unfolded by operating the switch. For example, when the user's vehicle breaks down or is involved in an accident, the user's vehicle is connected to a tow truck through the electric tow hook, and the tow truck drags the user's vehicle to a vehicle repair shop or a safe location through the electric tow hook. For another example, when another vehicle breaks down or is involved in an accident, the user's vehicle is connected to the other vehicle through the electric tow hook, and the user's vehicle drags the other vehicle to a vehicle repair shop or another safe location through the electric tow hook. After the user finishes being towed or dragged, the electric tow hook is disconnected from the other mobile carrier. At this time, the electric tow hook is still in the unfolded state, and the user may have left the vehicle or is in a state of working outside the vehicle, and needs to return to the vehicle to operate the switch to retract the electric tow hook. On the one hand, the operation steps of the user are increased, and the convenience of using the electric tow hook is reduced. On the other hand, the user may forget to operate the switch to retract the electric tow hook due to negligence or being busy with other matters. If the electric tow hook is not retracted for a long time, the exposed electric tow hook may collide with the vehicle, causing damage to the appearance of the vehicle, and may collide with the ground or other obstacles to generate vibration, reducing the stability of the vehicle in driving, affecting the normal driving of the vehicle, and reducing the user experience. The exposed electric tow hook also generates air resistance due to the action of air, increasing the fuel consumption of the vehicle and the cost of using the vehicle.

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

[0082] Figure 1 is a schematic flowchart of the control method for retracting an electric tow hook provided by the embodiment. The control method for retracting an electric tow hook is suitable for a logistics distribution system. The method comprises the following steps.

[0083] S1, whether to start the speed-dependent retracting function is selected.

[0084] In the use process of the existing electric tow hook, after the user disconnects the electric tow hook from the other mobile carrier, the user is likely to forget to retract the electric tow hook due to negligence or being busy with other matters, resulting in the exposure of the electric tow hook. In the driving process of the vehicle, the exposed electric tow hook collides with the ground or other obstacles to generate vibration, affecting the stability of the vehicle in driving, reducing the user experience. In addition, the exposed electric tow hook generates air resistance due to the action of air, increasing the driving resistance of the vehicle and the fuel consumption of the vehicle.

[0085] In the embodiments of the present application, through the setting of the speed-dependent retracting function, the vehicle can automatically determine whether the electric trailer hook needs to be retracted according to the vehicle speed, without manual operation, thereby avoiding the influence of the user's forgetting to retract the electric trailer hook on the energy consumption of the vehicle and the stability of the vehicle.

[0086] It should be noted that the speed-dependent retracting function can be selected according to the user's needs. For example, some users are used to keeping the electric trailer hook in the unfolded state to increase the hard image of the vehicle, at which time the speed-dependent retracting function can be selected not to be turned on (i.e., turned off), and the speed-dependent retracting function is turned on when the user wants to retract the electric trailer hook, and the electric trailer hook is retracted at the speed-dependent threshold. For another example, the user is forgetful and is easy to forget to retract the electric trailer hook, and the speed-dependent retracting function can be directly selected to be turned on, and after the electric trailer hook is used for towing or traction, if the electric trailer hook meets the condition of being unfolded in the non-current power-on period and not connected to other mobile carriers, the electric trailer hook is retracted at the speed-dependent threshold, which is convenient for the user to timely and conveniently retract the electric trailer hook and improves the safety of the vehicle.

[0087] S2, after selecting to turn on the speed-dependent retracting function, determining whether the electric trailer hook of the user's vehicle is in the unfolded state; determining whether the power-on period is the non-current power-on period, and determining whether the electric trailer hook is connected to other mobile carriers.

[0088] It should be noted that when the electric trailer hook is in the unfolded state, there are various application scenarios. 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. For another example, after the user's vehicle uses the electric trailer hook for towing or traction, the connection with other mobile carriers is disconnected, and the electric trailer hook is still in the unfolded state. For another example, during the current power-on period, the electric trailer hook is in the unfolded state, at which time the user's vehicle can be connected to other mobile carriers or can have disconnected the connection with other mobile carriers.

[0089] In the embodiments of the present application, after the speed-dependent retracting function is selected to be turned on, multi-dimensional judgments based on the deployment state, the power-on period, and the connection state can clearly distinguish under what circumstances the electric tow hook can be retracted when in the deployment state. By judging whether the electric tow hook is in the deployment state, whether the power-on period is the current power-on period, and whether the electric tow hook is connected to other mobile carriers, if it is found that the electric tow hook is in the non-current power-on period and is not connected to other vehicles when the speed-dependent retracting function is turned on, a prompt can be sent or a retracting operation can be automatically performed in time when the speed of the user's vehicle reaches the set speed threshold, thereby preventing the electric tow hook from accidentally dragging other objects or people during the vehicle's travel, and thus avoiding potential safety accidents. The judgment of whether the power-on period is the non-current power-on period can prevent the state of the electric tow hook from being inconsistent with the user's expectation after the user's vehicle is powered on again, thereby causing danger. For example, if the electric tow hook is not correctly retracted after being used last time, the vehicle can identify and remind the user when powered on again, thereby avoiding travel in unawareness and reducing the risk of collision with other vehicles or obstacles due to the exposure of the electric tow hook. The judgment of whether the electric tow hook is connected to other vehicles allows the retracting operation of the electric tow hook only when it is confirmed that the electric tow hook is not connected, thereby avoiding misoperation when connected.

[0090] In an embodiment of the present application, the method for judging whether the electric tow hook is in the deployment state is to detect the state of the locking mechanism of the electric tow hook. If the locking mechanism is in the unlocked state, the electric tow hook is in the deployment state. If the locking mechanism is in the locked state, the electric tow hook is in the non-deployment state.

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

[0092] In the embodiments of the present application, the state of the locking mechanism is detected to determine whether the electric trailer hook is in the unfolded state, which can accurately reflect the actual position of the electric trailer hook. This detection method avoids false judgments caused by complex mechanical structures or sensor errors, not only accurately identifies the current state of the electric trailer hook (unfolded state or not unfolded state), but also improves the accuracy of state identification; it can also timely discover abnormalities in the locking mechanism, 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 way. It reduces the need for additional detection equipment, reduces the complexity and cost of the electric trailer hook, and improves detection efficiency. In addition, whether the vehicle is static or dynamic, whether the electric trailer hook is in normal use or in an accidental unfolded state, the state of the electric trailer hook (i.e. the retracted state, including unfolding and retracting) can be accurately determined through the detection of the state of the locking mechanism. This detection method is suitable for various working conditions, enhancing the versatility and adaptability of the electric trailer hook.

[0093] In an 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 period is as follows: determining whether the state change of the electric trailer hook occurs in a non-current power-on period according to the power mode state change of the vehicle power supply system or the sleep-wakeup state change of the vehicle.

[0094] The "current power-on period" of the electric trailer hook refers to the period from the completion of a complete power-on operation of the vehicle power supply system to the next power-off or the vehicle entering the sleep state. During this period, the state change (such as unfolding or retracting) of the electric trailer hook can be recorded and monitored. If the state change of the electric trailer hook occurs after power-on and before power-off or sleep, it belongs to the current power-on period, otherwise it is a non-current power-on period. For example: the vehicle power mode usually includes OFF (off), ACC (accessory), ON (running) and CRANK (start) states. When the vehicle switches from the OFF mode to the ACC or ON mode, the current timestamp is recorded as the start time of the current power-on period. When the vehicle switches from the ACC or ON mode to the OFF mode again, the current timestamp is recorded as the end time of the current power-on period. 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 period, it can be determined that it is in a non-current power-on period. For another example: after the vehicle is powered on, it will enter a sleep state after a long period of inactivity. If the state change of the electric trailer hook occurs during the period from power-on to sleep of the vehicle, it is determined to be in the current power-on period. If the state change of the electric trailer hook occurs after sleep, it can be determined to be in a non-current power-on period.

[0095] In the embodiments of the present application, by detecting the change of the vehicle power supply mode state or the change of the hibernation activation state, it can be determined whether the state change of the electric trailer hook is in the non-current power-on period. By detecting the change of the vehicle power supply mode state or the change of the hibernation activation state, it can be determined whether the state change of the electric trailer hook is in the non-current power-on period. This mechanism can effectively avoid misoperation caused by vehicle power-on, and ensure that the electric trailer hook performs the operation of retraction in the correct power-on period.

[0096] In an embodiment of the present application, the method for determining whether the state change of the electric trailer hook is in the non-current power-on period according to the change of the vehicle power supply mode state is as follows: if the change of the vehicle power supply mode state is power-on-power-off-power-on, the state change of the electric trailer hook is in the non-current power-on period; if the change of the vehicle power supply mode state is power-on-power-off, the state change of the electric trailer hook is in the current power-on period.

[0097] In the embodiments of the present application, by monitoring the change of the vehicle power supply mode state, it can be accurately determined whether the state change of the electric trailer hook is in the non-current power-on period or the current power-on period. When the change of the power supply mode state is "power-on-power-off-power-on", it is determined that the state change of the electric trailer hook is in the non-current power-on period; when the change of the power supply mode state is "power-on-power-off", it is determined that the state change of the electric trailer hook is in the current power-on period. This method effectively avoids misjudgment caused by power supply mode switching. In the application scenario of the electric trailer hook, this method can ensure that the electric trailer hook performs the operation of retraction in the correct power-on period, avoids the error retraction of the electric trailer hook caused by misjudgment, and thus improves the reliability and stability of the electric trailer hook.

[0098] In an embodiment of the present application, the method for determining whether the state change of the electric trailer hook is in the non-current power-on period according to the change of the hibernation activation state of the vehicle is as follows: if the change of the hibernation activation state of the vehicle is power-on-hibernation-activation, the state change of the electric trailer hook is in the non-current power-on period; if the change of the hibernation activation state of the vehicle is power-on-hibernation, the state change of the electric trailer hook is in the current power-on period.

[0099] In the embodiments of the present application, by monitoring the change of the hibernation activation state of the vehicle, it can be accurately determined whether the state change of the electric trailer hook is in the non-current power-on period. This method can effectively avoid misjudgment caused by the change of the hibernation activation state of the vehicle, ensure that the electric trailer hook performs the operation of retraction in the correct power-on period, avoid the error retraction of the electric trailer hook caused by misjudgment, and thus improve the reliability and stability of the electric trailer hook.

[0100] In an embodiment of the present application, the method for determining whether the electric tow hook is connected to the other mobile carrier is: detecting the electrical circuit state of the electric tow hook, if the electrical circuit state is the on state, the electric tow hook is connected to the other mobile carrier, if the electrical circuit state is the off state, the electric tow hook is not connected to the other mobile carrier.

[0101] It should be noted that the electrical circuit state of the electric tow hook can reflect the connection state of the electric tow hook and the other mobile carrier. When the electric tow hook and the other carrier are in the connected state, the electrical circuit of the electric tow hook is in the on state, i.e. the electrical connection state. When the electric tow hook and the other carrier are in the unconnected state, the electrical circuit of the electric tow hook is in the off state, i.e. the electrical unconnected state. In the embodiment of the present application, by detecting the electrical circuit state, it can be quickly and accurately determined whether the electric tow hook is connected to the other mobile carrier, avoiding the connection misjudgment caused by the mechanical connection loosening or incomplete connection, and making the electric tow hook be quickly retracted.

[0102] In an embodiment of the present application, the method for determining whether the electric tow hook is connected to the other mobile carrier is: capturing the image of the electric tow hook by the vehicle-mounted camera, identifying the mechanical connection state of the electric tow hook in the image of the electric tow hook by the image recognition algorithm, and determining whether the electric tow hook is connected to the other mobile carrier according to the identified mechanical connection state of the electric tow hook.

[0103] The connection of the electric tow hook includes mechanical connection and electrical connection. The mechanical connection refers to aligning and connecting the hook head of the electric tow hook of the towing vehicle (the towed vehicle) with the electric tow hook of the towed vehicle (the towing vehicle). The electrical connection refers to connecting the electrical connection port provided on the electric tow hook of the towing vehicle (the towed vehicle) with the electric tow hook of the towed vehicle (the towing vehicle) through an electrical connection cable. When the user's vehicle encounters a failure or an accident, it is usually necessary to connect a tow truck through the electric tow hook, and then tow the user's vehicle to a vehicle repair point or a safe position through the tow truck. Similarly, when the other mobile carrier encounters a failure or an accident, it is usually necessary to connect the other mobile carrier and the user's vehicle through the electric tow hook, so as to tow the other mobile carrier to a mobile carrier repair point or a safe position through the user's vehicle. In this process, when the user's vehicle is connected to the other mobile carrier through the electric tow hook, some users violate the regulations and only mechanically connect the user's vehicle to the other mobile carrier through the electric tow hook, without electrically connecting the user's vehicle to the other mobile carrier. If the electrical circuit state is used to determine whether the electric tow hook is connected to the other mobile carrier, it will cause misjudgment.

[0104] In the embodiment of the present application, the trailer hook image is obtained in real time through the vehicle-mounted camera, and the connection state 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 state without physical contact, avoiding misjudgment caused by sensor wear or failure.

[0105] In the embodiment of the present application, in some specific embodiments, referring to Figure 2 , the specific method for identifying the connection state of the electric trailer hook in the electric trailer hook image by using an image recognition algorithm is:

[0106] S21, forming a data set from the obtained images of the electric trailer hook in the connected state and the images of the electric trailer hook in the unconnected state, and dividing the data set into a training set and a test set;

[0107] S22, constructing a state recognition model with the electric trailer hook image as input and the connection state of the electric trailer hook as output;

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

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

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

[0111] In the embodiment of the present application, in some specific embodiments, referring to Figure 3 , the specific method for identifying the connection state of the electric trailer hook in the electric trailer hook image by using an image recognition algorithm is:

[0112] S21, forming a data set from the obtained images of the electric trailer hook in the connected state and the images of the electric trailer hook in the unconnected state;

[0113] S22, constructing a state recognition model with the electric trailer hook image as input and the connection state of the electric trailer hook as output;

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

[0115] S24, input the photographed electric trailer hook image into the state recognition model to obtain the connection state of the electric trailer hook.

[0116] For example, the five-fold cross-validation method is used to train and verify the state recognition model. During the training and verification, the data set is divided into five subsets, and any one subset is selected as the verification set and the other subsets are selected as the training set. During the training and verification, the state recognition model is verified for five rounds, the results of the five rounds of verification are summarized, the average performance index of the five rounds is calculated, and the performance index of the state recognition model is obtained.

[0117] In the embodiments of the present application, the state recognition model is trained and verified by the K-fold cross-validation method, which can fully utilize each sample in the data set, and at the same time avoid the dependence of the state recognition model on the specific data division, so as to more accurately evaluate the generalization ability of the state recognition model. In practical application, the state recognition model can better adapt to different scenarios (for example: foggy weather, rainy and snowy weather, etc.), and accurately recognize the connection state of the electric trailer hook.

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

[0119] In the embodiments of the present application, the speed threshold is introduced, and the speed of the user's vehicle reaching the set speed threshold is taken as the trigger condition, so that the electric trailer hook in the deployed state is automatically retracted once the preset condition and the trigger condition are met, without the need for manual operation, thereby improving the convenience and intelligent degree of the electric trailer hook retraction, avoiding the influence of the normal driving of the vehicle due to the user's negligence or being busy with other matters and forgetting to retract the electric trailer hook when the electric trailer hook is disconnected from other vehicles and is in the deployed state, ensuring the stability of the vehicle driving, and improving the user driving experience.

[0120] It should be noted that when the electric trailer hook meets the preset condition of being deployed in the current power-on period and not being connected to other mobile carriers, it is impossible to avoid the unintended retraction in some special scenarios. For example, the user deploys the electric trailer hook, adjusts the position of the electric trailer hook and the trailer, and if there is no other function to limit it and the user powers off and on again during this process, the recognition speed may be mis-retracted. Therefore, the speed threshold is set to be slightly larger, for example, the speed threshold is set to 40 km / h.

[0121] S4, when the speed of the user's vehicle reaches the set speed threshold, retracting the electric trailer hook.

[0122] In the embodiments of the present application, the vehicle speed of the user vehicle reaching the set speed threshold is taken as the triggering condition, and the electric trailer hook is retracted at speed when the vehicle speed of the user vehicle reaches the set speed threshold, so that the automatic retraction of the electric trailer hook is realized, manual operation is not required, and the convenience and intelligent degree of the retraction of the electric trailer hook are improved.

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

[0124] Detecting the trajectory line function state of the electric trailer hook;

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

[0126] The trajectory line function is a function of aligning the trailer, and when the electric trailer hook is in the unfolded state and the trajectory line of the electric trailer hook is in the open state, it indicates that the user unfolds the electric trailer hook to align the trailer. At this time, if the electric trailer hook is retracted, the trailer task will be interrupted. In the embodiments of the present application, the trajectory line function state detection is introduced, the trajectory line function state is accurately judged by detecting the trajectory line function state of the electric trailer hook, and the electric trailer hook is retracted at speed based on the unfolded state and the trajectory line function state, so that the interruption of the trailer task caused by the misoperation is prevented.

[0127] In an embodiment of the present application, when the electric trailer hook is in the unfolded state and the trajectory line function state is the open state, the electric trailer hook is not retracted.

[0128] When the electric trailer hook is in the unfolded state and the trajectory line of the electric trailer hook is in the open state, it indicates that the user unfolds the electric trailer hook to align the trailer and is performing the trailer task. At this time, if the electric trailer hook is retracted, the trailer task will be interrupted. In the embodiments of the present application, when the electric trailer hook is in the unfolded state and the trajectory line function state is the open state, the electric trailer hook is not retracted, so that the interruption of the trailer task caused by the misoperation is avoided.

[0129] In an embodiment of the present application, when the electric trailer hook is unfolded in the present power-on period, the electric trailer hook is not retracted.

[0130] It should be noted that, in the present power-on period, if the electric trailer hook has been unfolded in the present power-on period, it indicates that the vehicle may be in the trailer operation state or is preparing to perform the trailer operation. At this time, the retraction of the trailer hook may interrupt the trailer operation, resulting in the failure of the trailer task. In the embodiments of the present application, when the electric trailer hook is unfolded in the present power-on period, the electric trailer hook is not retracted, so that the termination of the trailer operation caused by the misoperation is prevented, and the trailer task cannot be completed.

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

[0132] When the electric trailer hook is connected to other mobile carriers in the connected state, if the electric trailer hook is retracted, on the one hand, it may cause the interruption of the trailer operation, and even cause safety hazards. For example, if the trailer hook is retracted during the trailer process, it may cause the towed vehicle to 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 thereto. In an embodiment of the present application, when the electric trailer hook is connected to other mobile carriers, the electric trailer hook is not retracted at speed, which ensures that the stable connection of the vehicle during the trailer process is maintained through the electric trailer hook, thereby reducing the risk of accidents during the trailer process.

[0133] In an embodiment of the present application, the control method further comprises: after selecting not to start the speed-retraction function, when the electric trailer hook is not deployed in the current power-on period and is not connected to other mobile carriers, retracting the electric trailer hook through the switch of the electric trailer hook.

[0134] The speed-retraction function can be selected according to the user's needs. For example: some users are used to keeping the electric trailer hook in the deployed state to increase the hard image of the vehicle, at which time the speed-retraction function can be selected not to be started (i.e. turned off). When the user wants to retract the electric trailer hook, the speed-retraction function can be selected to be started again, and the electric trailer hook is retracted at speed when the vehicle speed reaches the set threshold. 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 selecting not to start the speed-retraction function, when the electric trailer hook is not deployed in the current power-on period 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 operation flexibility and meeting the use needs in different scenarios. On the other hand, when the trailer hook is deployed in the non-current power-on period, it may be due to the fact that the trailer hook was not correctly retracted after the vehicle was used last time. At this time, the trailer hook is retracted by manual operation of the switch, which can avoid safety hazards caused by the failure of the automatic retraction function.

[0135] An embodiment of the present application provides a control system for retracting an electric trailer hook, which is suitable for a logistics distribution system. Figure 4 The control system for retracting the electric trailer hook is shown in the structural schematic diagram.

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

[0137] The selection module 101 is configured to select whether to start the speed-retraction function or not.

[0138] The first judging module 102 is connected with the selection module 101, and the first judging module 102 is configured to judge whether the electric tow hook is in an unfolded state after the selection module 101 selects to turn on the speed-dependent retracting function.

[0139] The second judging module 103 is connected with the selection module 101, and the second judging module 103 is configured to judge whether the state change of the electric tow hook occurs in a non-current power-on period after the selection module 101 selects to turn on the speed-dependent retracting function.

[0140] The third judging module 104 is connected with the selection module 101, and the third judging module 104 is configured to judge whether the electric tow hook is connected with other mobile carriers after the selection module 101 selects to turn on the speed-dependent retracting function.

[0141] The speed detection unit 105 is configured to detect the speed of the user's vehicle.

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

[0143] The control module 107 is connected with the motor 200 of the electric tow hook, and the control module 107 is configured to control the motor 200 to rotate and drive the electric tow hook to retract when the speed of the user's vehicle reaches the set speed threshold.

[0144] Continuing to refer to Figure 4 In an embodiment of the present application, the system further comprises a first state detection unit 108, which is configured to detect the state of the locking mechanism of the electric tow hook and send the state to the first judging module 102.

[0145] Continuing to refer to Figure 4 In an embodiment of the present application, the system further comprises a second state detection unit 109, which is configured to detect the power mode state of the vehicle power system and the sleep-wake state of the vehicle and send the state to the second judging module 103.

[0146] Continuing to refer to Figure 4 In an embodiment of the present application, the system further comprises a third state detection unit 110, which is configured to detect the electrical circuit state of the electric tow hook and send the state to the third judging module 104.

[0147] Continuing to refer toFigure 4 In an embodiment of the present application, the system further comprises:

[0148] The vehicle-mounted camera 111 is configured to capture an image of the electric trailer hitch and send the image.

[0149] The image recognition module 112 is in communication connection with the vehicle-mounted camera 111 and configured to receive the image of the electric trailer hitch sent by the vehicle-mounted camera 111, identify the mechanical connection state of the electric trailer hitch in the image of the electric trailer hitch through an image recognition algorithm, and send the mechanical connection state to the third judgment module 104.

[0150] In an embodiment of the present application, the control module 107 is further configured to not control the motor to act when the electric trailer hitch is deployed in the current power-on period.

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

[0152] In an embodiment of the present application, the control module 107 is further configured to not control the motor to act when the electric trailer hitch is in the deployed state and the trajectory line function state is in the open state.

[0153] Continuing to refer to Figure 4 In an embodiment of the present application, the system further comprises a switch 113 of the electric trailer hitch, which is arranged in the cab or trunk of the vehicle. When the speed-dependent retracting function is not selected to be turned on, and the electric trailer hitch is deployed in a non-current power-on period and is not connected to other mobile carriers, the motor 200 is controlled to rotate by the switch 113 of the electric trailer hitch to retract the electric trailer hitch.

[0154] The embodiment of the present application further provides a computer program product, which comprises computer program code. When the computer program code is run on a computer, the computer is caused to execute the control method of the electric trailer hitch retraction involved in the above-mentioned embodiment. The computer program can be loaded on a vehicle system.

[0155] The embodiment of the present application further provides a computer readable storage medium, which stores program code. The program code is executed by one or more processors. When the program code is run on the processors, the device comprising the one or more processors executes the control method of the electric trailer hitch retraction involved in the above-mentioned embodiment. The processors running the computer readable storage medium can be loaded on a vehicle system.

[0156] It should be understood that when the modules or units described herein are implemented by using software, the whole or part of them can be realized in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded on a computer, the whole or part of the flow or function described by the embodiments of the present application is 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 media 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)), etc.

[0157] The embodiments of the present application provide a chip system, which includes a processor, or a chip system including a memory and a processor, for calling a computer program or computer instructions stored in the memory, so that the processor executes the control method of the electrically retractable trailer hook provided by the above embodiments. The chip system can be a single chip or a chip module composed of multiple chips. The chip system can be mounted on a vehicle system.

[0158] The embodiments of the present application provide 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 control method of the electrically retractable trailer hook provided by the above embodiments. The electronic device can be mounted on a vehicle system.

[0159] The embodiments of the present application provide a vehicle.

[0160] For example, referring to 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, and when the processor 302 executes the computer program 303, the processor 302 implements the control method of the electrically retractable trailer hook provided by the above embodiments.

[0161] For example, the vehicle can 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 the processor.

[0162] The selection module is configured to select whether to start the speed-dependent retraction function.

[0163] The first judging module is connected with the selection module, and is configured to judge whether the electric trailer hook is in an unfolded state after the selection module selects to start the speed-dependent retracting function.

[0164] The second judging module is connected with the selection module, and is configured to judge whether the state change of the electric trailer hook occurs in a non-current power-on period after the selection module selects to start the speed-dependent retracting function.

[0165] The third judging module is connected with the selection module, and is configured to judge whether the electric trailer hook is connected with other mobile carriers after the selection module selects to start the speed-dependent retracting function.

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

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

[0168] The control module is connected with the motor of the electric trailer hook, and is configured to control the motor to rotate and drive the electric trailer hook to retract when the vehicle speed of the user's vehicle reaches the set vehicle speed threshold.

[0169] 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 realized in hardware or software manner depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present 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 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 controlling the retraction of a powered trailer hitch, characterized by, The control method is applied to a vehicle and comprises the following steps: whether to start the speed-dependent retracting function is selected; after the speed-dependent retracting function is selected to be started, it is determined whether the electric tow hook of the user's vehicle is in an unfolded state; it is determined whether the state change of the electric tow hook occurs in a non-current power-on period according to the power mode state change of the vehicle power supply system or the sleep wake-up state change of the vehicle, and whether the electric tow hook is connected to other mobile carriers; when the electric tow hook is unfolded in the non-current power-on period and is not connected to other mobile carriers, it is determined whether the vehicle speed of the user's vehicle reaches a set vehicle speed threshold; when the vehicle speed of the user's vehicle reaches the set vehicle speed threshold, the electric tow hook is retracted.

2. The method of claim 1, wherein, The method for determining whether the electric tow hook is in the unfolded state comprises the following steps: detecting the state of the locking mechanism of the electric tow hook; if the locking mechanism is in an unlocked state, the electric tow hook is in the unfolded state; if the locking mechanism is in a locked state, the electric tow hook is in an ununfolded state.

3. The method of claim 1, wherein, The method for determining whether the electric tow hook is connected to other mobile carriers comprises the following steps: detecting the electrical circuit state of the electric tow hook; if the electrical circuit state is in a connected state, the electric tow hook is connected to other mobile carriers; if the electrical circuit state is in a disconnected state, the electric tow hook is not connected to other mobile carriers.

4. The method of claim 1, wherein, The method for determining whether the electric tow hook is connected to other mobile carriers comprises the following steps: capturing an image of the electric tow hook through a vehicle-mounted camera, identifying the mechanical connection state of the electric tow hook in the electric tow hook image through an image recognition algorithm, and determining whether the electric tow hook is connected to other mobile carriers according to the identified mechanical connection state of the electric tow hook.

5. The method of claim 1, wherein, The control method further comprises the following steps: detecting the trajectory line function state of the electric tow hook; when the electric tow hook is in the unfolded state and the trajectory line function state is in a closed state, if the vehicle speed of the user's vehicle reaches the set vehicle speed threshold, the electric tow hook is retracted.

6. The method of claim 5, wherein the motorized trailer hitch retraction control is further characterized by: when the electric tow hook is in the unfolded state and the trajectory line function state is in an open state, or when the electric tow hook is unfolded in the current power-on period, or when the electric tow hook is connected to other mobile carriers, the electric tow hook is not retracted.

7. The method of claim 1, wherein, after the speed-dependent retracting function is selected not to be started, when the electric tow hook is unfolded in the non-current power-on period and is not connected to other mobile carriers, the electric tow hook is retracted through the switch of the electric tow hook.

8. A control system for electrically retracting a trailer hitch, characterized by The control system is applied to a vehicle and comprises the following modules: a selection module configured to select whether to start the speed-dependent retracting function; a first determination module connected to the selection module, configured to determine whether the electric tow hook is in an unfolded state after the selection module selects to start the speed-dependent retracting function; a second determination module connected to the selection module, configured to determine whether the state change of the electric tow hook occurs in a non-current power-on period according to the power mode state change of the vehicle power supply system or the sleep wake-up state change of the vehicle after the selection module selects to start the speed-dependent retracting function; a third determination module connected to the selection module, configured to determine whether the electric tow hook is connected to other mobile carriers after the selection module selects to start the speed-dependent retracting function; a vehicle speed detection unit configured to detect the vehicle speed of the user's vehicle; A vehicle speed judgment module is connected with the first judgment module, the second judgment module, the third judgment module and the speed detection unit. The vehicle speed judgment module is configured to judge whether the vehicle speed of the user vehicle reaches a set vehicle speed threshold when the electric trailer hook is not deployed in the current power-on period and is not connected with other mobile carriers. A control module is connected with the motor of the electric trailer hook. The control module is configured to control the motor to rotate and drive the electric trailer hook to be retracted when the vehicle speed of the user vehicle reaches the set vehicle speed threshold.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores program codes. The program codes are executed by one or more processors. When the program codes run on the processors, the device including the one or more processors executes the control method for the electric trailer hook to be retracted according to any one of claims 1 to 7.

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