Trailer connection state judgment method and device, vehicle body controller and tractor

Abstract

The invention provides a trailer connection state judgment method and device, a vehicle body controller and a tractor, and can be applied to the technical field of vehicles. The method comprises the steps that after a tractor is started, power is supplied to a target trailer lamp of a trailer based on preset constant voltage, and first working current of the target trailer lamp is collected; if the first working current of the target trailer lamp is smaller than a preset current threshold value, intermittently and circularly supplying power to the target trailer lamp based on a preset constant voltage, and collecting a second working current of the target trailer lamp in each intermittent circulating power supply period; and if the multiple second working currents have the same fluctuation rule, it is determined that the trailer and the tractor are connected. According to the method, the connection state of the tractor and the trailer is judged according to the fluctuation rule of the working current of the target trailer lamp in the intermittent circulation power supply mode, the accuracy of judgment of the connection state of the trailer is improved, and misjudgment of the connection state of the trailer is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a method and device for judging the connection state of a trailer, a body controller and a tractor truck. Background Art

[0002] With the development of social economy, the form of using a tractor truck combined with a trailer has been more and more widely applied in the commodity transportation industry. Among them, a trailer refers to a vehicle that is towed by a tractor truck and has no power driving device itself. It is an important vehicle type for road transportation, and the tractor truck and the trailer are connected through a coupling device.

[0003] To ensure the firm and reliable connection between the trailer and the tractor truck and prevent safety accidents such as unhooking and breaking during driving, so as to ensure driving safety, it is also necessary to judge the connection state of the tractor truck and the trailer before the vehicle starts driving.

[0004] However, in the prior art, there is a problem of misjudging the connection state of the trailer. Summary of the Invention

[0005] The present application provides a method and device for judging the connection state of a trailer, a body controller and a tractor truck to solve the technical problem of misjudging the connection state of the trailer in the prior art.

[0006] According to the first aspect disclosed in the present application, the present application provides a method for judging the connection state of a trailer, including:

[0007] After the tractor truck starts, supply power to a target trailer lamp of the trailer based on a preset constant voltage, and collect a first working current of the target trailer lamp;

[0008] If the first working current of the target trailer lamp is less than a preset current threshold, supply power to the target trailer lamp intermittently and cyclically based on the preset constant voltage, and collect a second working current of the target trailer lamp in each intermittent and cyclic power supply period;

[0009] If multiple second working currents have the same fluctuation law, it is determined that the trailer is connected to the tractor truck.

[0010] In a feasible implementation manner, supplying power to the target trailer lamp intermittently and cyclically includes:

[0011] If the first working current has a current periodic change or a current unidirectional change, supply power to the target trailer lamp intermittently and cyclically based on a first power supply period;

[0012] If the first working current does not have a current periodic change or a current unidirectional change, supply power to the target trailer lamp intermittently and cyclically based on a second power supply period; wherein, the second power supply period is less than the first power supply period.

[0013] In a feasible implementation, the first power supply cycle is not less than the light fading and flashing cycle or the time to reach the maximum power of the target trailer lamp.

[0014] In a feasible implementation, the intermittent cyclic power supply cycle includes a power supply interval and a non-power supply interval, and the method further includes:

[0015] For each intermittent cyclic power supply cycle, based on the second working current within the intermittent cyclic power supply cycle, obtain the power difference between the first equivalent power of the power supply interval and the second equivalent power of the non-power supply interval within the intermittent cyclic power supply cycle;

[0016] If the average value of the power differences of all intermittent cyclic power supply cycles is positive and the variance of the power differences of all intermittent cyclic power supply cycles is less than a preset threshold, it is determined that the multiple second working currents have the same fluctuation law.

[0017] In a feasible implementation, the method further includes:

[0018] If the first working current is greater than a preset current threshold, it is determined that the trailer and the tractor are connected.

[0019] In a feasible implementation, the method further includes:

[0020] If the multiple second working currents do not have the same fluctuation law, it is determined that the trailer and the tractor are not connected.

[0021] According to the second aspect disclosed in the present application, the present application provides a trailer connection state determination device, including:

[0022] A power supply control module, configured to supply power to the target trailer lamp of the trailer based on a preset constant voltage after the tractor starts, and collect the first working current of the target trailer lamp; if the first working current of the target trailer lamp is less than a preset current threshold, supply power to the target trailer lamp intermittently in a cyclic manner based on the preset constant voltage, and collect the second working current of the target trailer lamp in each intermittent cyclic power supply cycle;

[0023] A state determination module, configured to determine that the trailer and the tractor are connected if the multiple second working currents have the same fluctuation law.

[0024] According to the third aspect disclosed in the present application, the present application provides a body controller, including a processor and a memory communicatively connected to the processor;

[0025] The memory stores computer execution instructions;

[0026] The processor executes the computer-executable instructions stored in the memory to implement the method described in any one of the first aspects.

[0027] According to the fourth aspect disclosed in the present application, the present application provides a computer-readable storage medium storing computer-executable instructions, which when executed are used to implement the method described in any one of the first aspects.

[0028] According to the fifth aspect disclosed in the present application, the present application provides a computer program product including a computer program, which when executed is used to implement the method described in any one of the first aspects.

[0029] According to the sixth aspect disclosed in the present application, the present application provides a tractor including a power supply module, a current sensor, and a vehicle body controller as described in the third aspect; wherein, the vehicle body controller includes control pins respectively connected to the power supply module and the current sensor;

[0030] The power supply module is used to supply power to a target trailer lamp of a trailer according to a control instruction of the vehicle body controller;

[0031] The current sensor is used to sense the working current of the target trailer lamp and send the collected working current to the vehicle body controller.

[0032] Compared with the prior art, the present application has the following beneficial effects:

[0033] A method, device, vehicle body controller and tractor for judging the connection state of a trailer provided by the present application, in the process of judging the connection state of the tractor and the trailer, if the working current of the target trailer lamp collected is small, by increasing the intermittent cyclic power supply to the target trailer lamp, using the fluctuation law of the working current of the target trailer lamp, further judge whether the target trailer lamp is working normally, and thereby more accurately judge the connection state of the tractor and the trailer, improving the accuracy of judging the connection state of the trailer and avoiding misjudgment of the connection state of the trailer. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0035] Figure 1 It is a schematic flow chart of a method for judging the connection state of a trailer provided by an embodiment of the present application;

[0036] Figure 2 It is a schematic flow chart of another method for judging the connection state of a trailer provided by an embodiment of the present application;

[0037] Figure 3 The structural schematic diagram of a trailer connection state judgment device provided by an embodiment of the present application;

[0038] Figure 4 The structural schematic diagram of a body controller provided by an embodiment of the present application;

[0039] Figure 5 The structural schematic diagram of a tractor provided by an embodiment of the present application.

[0040] Through the above-mentioned drawings, the clear embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Specific Embodiments

[0041] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0042] With the development of the social economy, the form of using a tractor-trailer combination has been increasingly widely used in the commercial transportation industry. Among them, a trailer refers to a vehicle that is towed by a tractor and has no power drive device itself. It is an important vehicle type in road transportation, and the tractor and the trailer are connected through a coupling device.

[0043] To ensure the firm and reliable connection between the trailer and the tractor, prevent safety accidents such as unhooking and breaking during driving, and thus ensure driving safety, it is also necessary to judge the connection state of the tractor and the trailer before the vehicle travels.

[0044] In the prior art, there is a problem of misjudging the connection state of the trailer. This is because the traditional method for judging the connection state of the trailer is: powering any one of the trailer lights on the trailer and collecting the current value passing through the trailer light. When the collected current value is greater than the preset current threshold, it indicates that the trailer light is working normally. Correspondingly, if the trailer light can work normally, it also indicates that the connection state between the trailer and the tractor is connected.

[0045] However, when the trailer is a gradient lamp or a low-power lamp, among which, a gradient lamp refers to a lamp that can produce a smooth transition effect of color and brightness. By changing the color and brightness of the light source, this kind of lamp can create a rich and colorful, dynamically changing visual effect. Therefore, if the lighting effect of the gradient lamp is gradually all lit up in a wave pattern, the actual working power of the lamp is not constant, and the power is generally the smallest at the moment of startup. During the detection power supply cycle, there is a situation where the received current value is small. At this time, it is easy to misjudge that the trailer lamp is not working properly, thus affecting the determination of the connection state between the tractor and the trailer and causing misjudgment.

[0046] In view of the above technical problems, the present application proposes a method for judging the connection state of a trailer, which uses the fluctuation law of the working current of the target trailer lamp under the intermittent cyclic power supply mode to judge the connection state between the tractor and the trailer, improves the accuracy of judging the connection state of the trailer, and avoids misjudgment of the connection state of the trailer.

[0047] The following will detail the technical solution of the method for judging the connection state of a trailer provided by the present application through specific embodiments. It should be noted that the following embodiments can exist independently or be combined with each other. For the same or similar content, it may not be repeated in different embodiments.

[0048] Figure 1 It is a flowchart of a method for judging the connection state of a trailer provided by an embodiment of the present application. Refer to Figure 1 In some embodiments, the process of the method for judging the connection state of the trailer includes the following steps:

[0049] S101, after the tractor starts, supply power to the target trailer lamp of the trailer based on a preset constant voltage, and collect the first working current of the target trailer lamp.

[0050] Among them, after the tractor starts, the connection state of the trailer is judged. Power is supplied to the target trailer lamp of the trailer through a preset constant voltage, and the first working current of the target trailer lamp is collected.

[0051] Specifically, the working state of the target trailer lamp can be initially judged by the magnitude of the first working current. If the first working current is greater than the preset current threshold, it indicates that the target trailer lamp is working properly. However, if the first working current is less than the preset current threshold, it indicates that the target trailer lamp fails to work properly. However, there will also be some exceptional cases. When the target trailer lamp is a low-power lamp or a gradient lamp, within the preset power supply duration, its working current will also be small. In this case, simply relying on the magnitude of the first working current to judge the working state of the target trailer lamp is likely to cause misjudgment and further determination is required.

[0052] Specifically, the maintenance time of the initial constant supply voltage can also be set relatively long, greater than the flashing period of common gradient trailer lights on the market or the time to reach the maximum power, so that the target trailer light can reach the maximum power, and the working current of the target trailer light at the maximum power can be used to determine whether it works normally. This can also avoid misjudgment caused by the relatively small initial working current of some gradient trailer lights.

[0053] S102. If the first working current of the target trailer light is less than the preset current threshold, supply power to the target trailer light intermittently and cyclically based on the preset constant voltage, and collect the second working current of the target trailer light in each intermittent and cyclic power supply period.

[0054] Among them, if the first working current of the target trailer light is less than the preset current threshold, it indicates that the target trailer light fails to work normally, or indicates that the target trailer light is a low-power lamp or a gradient lamp, and its working current is relatively small within the preset power supply duration. To avoid misjudgment, supply power to the target trailer light intermittently and cyclically for further determination.

[0055] Specifically, intermittent and cyclic power supply means supplying power to the target trailer light for a period of time and then pausing the power supply for a period of time, and supplying power in this cycle, and collecting multiple second working currents of the target trailer light in multiple cycles of intermittent and cyclic power supply. Therefore, during the intermittent and cyclic power supply process, each intermittent and cyclic power supply period includes a power supply interval and a non-power supply interval.

[0056] S103. If multiple second working currents have the same fluctuation pattern, it is determined that the trailer and the tractor are connected.

[0057] Among them, if the target trailer light works normally, within multiple power supply cycles of intermittent and cyclic power supply, the target trailer light will show the same fluctuation pattern in multiple cycles. At this time, the target trailer light can respond normally to the power supply cycle of intermittent and cyclic power supply, indicating that the working state of the target trailer light is normal, which also indicates that the trailer and the tractor are connected.

[0058] In this embodiment, during the process of judging the connection state between the tractor and the trailer, if the working current of the collected target trailer light is relatively small, by increasing the way of supplying power to the target trailer light intermittently and cyclically, using the fluctuation pattern of the working current of the target trailer light, further determine whether the target trailer light works normally, and thereby more accurately judge the connection state between the tractor and the trailer, improving the accuracy of judging the trailer connection state and avoiding misjudgment of the trailer connection state.

[0059] Supply power to the trailer light in different power supply modes, and accurately judge the connection state of the trailer light according to the sampled current data, so as to improve the accuracy of judging the trailer connection state and avoid misjudgment.

[0060] In Figure 1 Based on the embodiments shown below, in combination with Figure 2 , the technical solution of the above trailer connection state determination method will be further introduced.

[0061] Figure 2 FIG. Figure 2 is a schematic flowchart of another trailer connection state determination method provided by an embodiment of the present application. Referring to

[0062] In some embodiments, the process of the trailer connection state determination method includes the following steps:

[0063] S201, after the tractor starts, supply power to the target trailer lamp of the trailer based on a preset constant voltage, and collect the first working current of the target trailer lamp.

[0064] Preferably, supplying power to the target trailer lamp intermittently in a cycle includes:

[0065] Step 1, if there is a periodic change or a one-way change in the current of the first working current, supply power to the target trailer lamp intermittently in a cycle based on the first power supply cycle.

[0066] Among them, since the working current of the gradient lamp will also show a certain change rule due to the gradual change of brightness and color after the gradient lamp is powered on, it is possible to determine whether the lamp type of the target trailer lamp is a gradient lamp by whether there is a periodic change or a one-way change in the first working current.

[0067] Among them, if there is a periodic change or a one-way change in the first working current, it indicates that the target trailer lamp is a gradient lamp. At this time, supply power to the target trailer lamp intermittently in a cycle based on the first power supply cycle.

[0068] Step 2, if there is no periodic change or a one-way change in the first working current, supply power to the target trailer lamp intermittently in a cycle based on the second power supply cycle; where the second power supply cycle is less than the first power supply cycle.

[0069] Among them, if there is no periodic change or a one-way change in the first working current, it indicates that the target trailer lamp is not a gradient lamp. At this time, supply power to the target trailer lamp intermittently in a cycle based on the second power supply cycle.

[0070] Among them, the second power supply cycle is less than the first power supply cycle because if it is not a gradient lamp, the working current of the target trailer lamp will not change, and the power supply cycle of the intermittent cyclic power supply can be shortened to improve the detection efficiency.

[0071] Specifically, the first power supply cycle is not less than the light fading and flashing cycle or the time to reach the maximum power of the target trailer lamp.

[0072] Among them, for a fading lamp, to accurately obtain the fluctuation law of its working current, during the intermittent cyclic power supply process, it is necessary to make the first power supply cycle not less than the light fading and flashing cycle or the time to reach the maximum power of the target trailer lamp.

[0073] S203, if multiple second working currents have the same fluctuation law, it is determined that the trailer and the tractor are connected.

[0074] Among them, if the fluctuation laws of multiple second working currents are the same, it is determined that the trailer and the tractor are connected.

[0075] Optionally, the intermittent cyclic power supply cycle includes a power supply interval and a non-power supply interval. For whether multiple second working currents have the same fluctuation law, it can be judged by the following method:

[0076] Step 1, for each intermittent cyclic power supply cycle, based on the second working current within the intermittent cyclic power supply cycle, obtain the power difference between the first equivalent power in the power supply interval and the second equivalent power in the non-power supply interval within the intermittent cyclic power supply cycle.

[0077] Among them, according to the relationship between the measured current value of the second working current and time, the first equivalent power in the power supply interval and the second equivalent power in the non-power supply interval within each intermittent cyclic power supply cycle can be calculated respectively, and then the difference between the equivalent powers of two adjacent intervals of the power supply interval and the non-power supply interval is calculated to obtain the power difference.

[0078] Step 2, if the average value of the power differences of all intermittent cyclic power supply cycles is positive and the variance of the power differences of all intermittent cyclic power supply cycles is less than a preset threshold, it is determined that multiple said second working currents have the same fluctuation law.

[0079] Among them, calculate the average value of the power differences of all intermittent cyclic power supply cycles, then judge whether its average value is positive, and on the basis that the average value is positive, further calculate the variance of the power differences of all intermittent cyclic power supply cycles. If the variance is less than the preset threshold, it is determined that multiple second working currents have the same fluctuation law.

[0080] This is because variance is an index to measure the degree of data dispersion. The smaller the variance, the smaller the difference between data points, that is, the data points are more concentrated near the mean value. This means that the data is relatively stable without extreme values or large fluctuations. In this way, the complexity of judging whether multiple second working currents have the same fluctuation law can be reduced and the judgment efficiency can be accelerated.

[0081] Optionally, to determine whether the second operating currents have the same fluctuation pattern, it is also possible to collect the second operating current curves within the power supply cycle and compare multiple second operating current curves. When the curves meet the condition similarity condition, it can be determined that the second operating currents have the same fluctuation pattern.

[0082] It is also possible to extract current data at multiple time nodes within the power supply cycle and compare the current data at the same time nodes. If the deviation range of the current data is within the preset range, it can also be determined that the second operating currents have the same fluctuation pattern.

[0083] S204, if multiple second operating currents do not have the same fluctuation pattern, it is determined that the trailer and the tractor are not connected.

[0084] Among them, if the fluctuation patterns of multiple second operating currents are different, the target trailer lights cannot respond normally to the power supply cycle of the intermittent cyclic power supply, indicating that the working state of the target trailer lights is abnormal, which also indicates that the trailer and the tractor are not connected.

[0085] S205, if the first operating current is greater than the preset current threshold, it is determined that the trailer and the tractor are connected.

[0086] Among them, since misjudgment generally occurs when the operating current of the target trailer lights is too small and the normal operation of the target trailer lights cannot be recognized, when the first operating current is greater than the preset current threshold, it can be directly determined that the target trailer lights are in a normal working state and the trailer and the tractor are connected.

[0087] S206, send the connection state of the trailer and the tractor to the instrument of the tractor for display.

[0088] Among them, after determining the connection state of the trailer and the tractor, the connection state is sent to the instrument of the tractor for display to remind the driver of the connection state of the tractor and the trailer.

[0089] In this embodiment, by using different state judgment methods in different situations, it is possible to accurately judge the connection state of the trailer in different situations and avoid misjudgment.

[0090] Figure 3 is a schematic structural diagram of a trailer connection state judgment device provided by an embodiment of the present application. Refer to Figure 3 , the trailer connection state judgment device includes various functional modules for implementing the foregoing trailer connection state judgment method, and any functional module can be implemented by software and / or hardware.

[0091] In some embodiments, the trailer connection state judgment device 300 includes a power supply control module 301 and a state judgment module 302. Among them:

[0092] The power supply control module 301 is configured to supply power to a target trailer lamp of a trailer based on a preset constant voltage after the tractor starts, and collect a first working current of the target trailer lamp; if the first working current of the target trailer lamp is less than a preset current threshold, supply power to the target trailer lamp intermittently and cyclically based on the preset constant voltage, and collect a second working current of the target trailer lamp in each intermittent and cyclic power supply period;

[0093] The state judgment module 302 is configured to determine that the trailer is connected to the tractor if multiple second working currents have the same fluctuation pattern.

[0094] In some embodiments, the power supply control module 301 is specifically configured to:

[0095] If the first working current has a current periodic change or a current unidirectional change, supply power to the target trailer lamp intermittently and cyclically based on a first power supply period;

[0096] If the first working current does not have a current periodic change or a current unidirectional change, supply power to the target trailer lamp intermittently and cyclically based on a second power supply period; wherein, the second power supply period is less than the first power supply period.

[0097] In some embodiments, the first power supply period is not less than the light gradual change and flash period or the time to reach the maximum power of the target trailer lamp.

[0098] In some embodiments, the intermittent and cyclic power supply period includes a power supply interval and a non-power supply interval, and the state judgment module 302 is specifically further configured to:

[0099] For each intermittent and cyclic power supply period, based on the second working current in the intermittent and cyclic power supply period, obtain a power difference between a first equivalent power of the power supply interval and a second equivalent power of the non-power supply interval in the intermittent and cyclic power supply period;

[0100] If the average value of the power differences of all intermittent and cyclic power supply periods is positive, and the variance of the power differences of all intermittent and cyclic power supply periods is less than a preset threshold, it is determined that multiple second working currents have the same fluctuation pattern.

[0101] In some embodiments, the state judgment module 302 is specifically further configured to:

[0102] If the first working current is greater than the preset current threshold, it is determined that the trailer is connected to the tractor.

[0103] In some embodiments, the state judgment module 302 is specifically further configured to:

[0104] If multiple second working currents do not have the same fluctuation pattern, it is determined that the trailer is not connected to the tractor.

[0105] The trailer connection status determination device 300 provided in the embodiments of the present application is used to execute the technical solutions provided in the embodiments of the foregoing trailer connection status determination method. Its implementation principle and technical effects are similar to those in the embodiments of the foregoing method, and will not be elaborated here.

[0106] It should be noted that it should be understood that the division of each module of the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by processing elements, or all in the form of hardware, or some modules in the form of software called by processing elements and some modules in the form of hardware. For example, the power supply control module 301 can be a separately established processing element, or can be integrated in a certain chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a certain processing element of the above device to perform the functions of the above power supply control module 301. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together or independently implemented. Here, the processing element can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the integrated logic circuit in the processor element or the instructions in the form of software.

[0107] Figure 4 It is a schematic structural diagram of a body controller provided in the embodiments of the present application. Refer to Figure 4 , the body controller 400 includes a processor 401 and a memory 402 communicatively connected to the processor 401;

[0108] The memory 402 stores computer-executable instructions;

[0109] The processor 401 executes the computer-executable instructions stored in the memory 402 to implement the technical solutions of the foregoing trailer connection status determination method.

[0110] In the above body controller 400, the memory 402 and the processor 401 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus. The memory 402 stores computer execution instructions for implementing the foregoing trailer connection state determination method, including at least one software function module that can be stored in the memory 402 in the form of software or firmware. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402.

[0111] The memory 402 includes at least one type of readable storage medium, not limited to Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory 402 is used to store programs, and the processor 401 executes the programs after receiving execution instructions. Further, the software programs and modules in the memory 402 may further include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide a running environment for other software components.

[0112] The processor 401 may be an integrated circuit chip with signal processing capabilities. The aforementioned processor 401 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor, or the processor 401 may also be any conventional processor, etc.

[0113] The vehicle body controller 400 is used to execute the technical solution provided by the embodiment of the foregoing trailer connection state determination method. Its implementation principle and technical effects are similar to those in the foregoing method embodiment, and will not be elaborated here.

[0114] Figure 5 It is a schematic structural diagram of a tractor provided by an embodiment of the present application. Refer to Figure 5 , an embodiment of the present application also provides a tractor, which includes a power supply module 501, a current sensor 502, and the aforementioned vehicle body controller 503; wherein, the vehicle body controller 503 includes control pins respectively connected to the power supply module 501 and the current sensor 502;

[0115] The power supply module 501 is used to supply power to the target trailer lamp of the trailer according to the control instruction of the vehicle body controller 503;

[0116] The current sensor 502 is used to sense the working current of the target trailer lamp 504 and send the collected working current to the vehicle body controller 503.

[0117] In this embodiment, the tractor controls the power supply module 501 to supply power to the target trailer lamp 504 of the trailer through the vehicle body controller 503. The current sensor 502 can collect the working current of the target trailer lamp 504 in the power supply circuit and send the collected working current to the vehicle body controller 503 for the vehicle body controller 503 to determine whether the tractor and the trailer are normally connected according to the collected current data.

[0118] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the technical solution of the foregoing trailer connection state determination method.

[0119] The above-mentioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The computer-readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0120] An exemplary readable storage medium is coupled to the processor, enabling the processor to read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the control device of the trailer connection state determination device.

[0121] The embodiment of the present application also provides a computer program product, including a computer program, which when executed, is used to implement the technical solution of the trailer connection state determination method as described above.

[0122] In the above embodiments, those skilled in the art can understand that implementing the above method embodiments can be achieved in whole or in part through software, hardware, firmware, or any combination thereof. When implemented using software, it can be achieved in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless network, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. that contains one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0123] In the above embodiments, the descriptions of the various embodiments each have their own emphasis. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0124] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

[0125] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A method for determining a trailer connection state, characterized in that: include: After the tractor is started, power is supplied to a target trailer lamp of the trailer based on a preset constant voltage, and a first operating current of the target trailer lamp is collected; If the first operating current of the target trailer lamp is less than a preset current threshold, intermittently and cyclically power the target trailer lamp based on a preset constant voltage, and collect the second operating current of the target trailer lamp in each intermittent cyclic power supply cycle; If a plurality of the second working currents have the same fluctuation pattern, it is determined that the trailer is connected to the tractor.

2. The method according to claim 1, characterized in that Intermittently cycling power to the target trailer light includes: If the first working current has a current periodic change or a current unidirectional change, intermittently cyclically supplying power to the target trailer lamp based on the first power supply cycle; If the first working current does not have a current cycle change or a current unidirectional change, power is intermittently cyclically supplied to the target trailer light based on a second power supply cycle; wherein the second power supply cycle is shorter than the first power supply cycle.

3. The method according to claim 2, characterized in that The first power supply cycle is not less than the gradual flashing cycle of the target trailer light or the time it takes to reach the maximum power.

4. The method according to claim 1, characterized in that: The intermittent cyclic power supply cycle includes a power supply interval and a non-power supply interval, and the method further includes: For each intermittent cyclic power supply cycle, based on the second working current in the intermittent cyclic power supply cycle, obtain a power difference between a first equivalent power of the power supply interval and a second equivalent power of the non-power supply interval in the intermittent cyclic power supply cycle; If the average value of the power difference of all intermittent cyclic power supply cycles is positive, and the variance of the power difference of all intermittent cyclic power supply cycles is less than a preset threshold, it is determined that the multiple second working currents have the same fluctuation pattern.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: If the first operating current is greater than a preset current threshold, it is determined that the trailer is connected to the tractor.

6. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: If the plurality of second operating currents do not have the same fluctuation pattern, it is determined that the trailer is not connected to the tractor.

7. A trailer connection status judgment device, characterized in that: include: A power supply control module, used for supplying power to a target trailer light of the trailer based on a preset constant voltage after the tractor is started, and collecting a first working current of the target trailer light; If the first operating current of the target trailer lamp is less than a preset current threshold, intermittently and cyclically power the target trailer lamp based on a preset constant voltage, and collect the second operating current of the target trailer lamp in each intermittent cyclic power supply cycle; A state judgment module is used to determine that the trailer is connected to the tractor if a plurality of the second working currents have the same fluctuation pattern.

8. A vehicle body controller, characterized in that: comprising a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed, are used to implement the method according to any one of claims 1 to 6.

10. A tractor, characterized in that: The tractor comprises a power module, a current sensor, and a vehicle body controller as claimed in claim 8; wherein the vehicle body controller comprises control pins respectively connected to the power module and the current sensor; The power module is used to supply power to the target trailer light of the trailer according to the control instruction of the vehicle body controller; The current sensor is used to sense the working current of the target trailer lamp and send the collected working current to the vehicle body controller.

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