Traction trailer rearview adjusting method, device and equipment, vehicle and medium

Abstract

The invention discloses a traction trailer rearview adjusting method, device and equipment, a vehicle and a medium. The method comprises the following steps: constructing a traction stress model between a current traction vehicle and a target trailer according to physical parameters and motion information of the current traction vehicle and the target trailer, and constructing a rearview view model of the current traction vehicle and the target trailer according to the physical parameters; according to the traction stress model, a target included angle between the current traction vehicle and the target trailer in the advancing direction is determined; determining a critical included angle between the current traction vehicle and the target trailer in the advancing direction according to the rear view field model; if the target included angle is larger than or equal to the critical included angle, the view field range of the rearview mirror content in the current traction vehicle is adjusted, so that the target trailer does not shield the view field of the rearview mirror. According to the technical scheme, the flexibility and adaptability of rearview view adjustment are improved, and the safety of the traction trailer is further improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle rearview systems, and in particular, to a method, device, equipment, vehicle and medium for adjusting the rearview of a towed trailer. Background Art

[0002] With the progress of society and the development of science and technology, more and more intelligent functions have emerged in people's daily lives. In the field of vehicles, technicians transform various components and / or functions of vehicles through automation technology to enable vehicles to achieve some intelligent functions. This is of great significance for improving the applicability and comfort of vehicles and enhancing the user experience.

[0003] Currently, in the field of towed trailers, during the driving process of a traditional tractor-trailer, especially during turning, there will be a certain angle between the tractor and the trailer, which causes the trailer to block the view of the traditional rearview mirror. The driver can only observe the trailer through the traditional rearview mirror, which poses a potential hazard and reduces safety. Summary of the Invention

[0004] The present application provides a method, device, equipment, vehicle and medium for adjusting the rearview of a towed trailer to improve the flexibility of rearview adjustment of the towed trailer and enhance the safety of the vehicle.

[0005] According to one aspect of the present application, a method for adjusting the rearview of a towed trailer is provided, including:

[0006] Construct a traction force model between the current towing vehicle and the target trailer according to the physical parameters and motion information of the current towing vehicle and the target trailer, and construct a rearview field of view model of the current towing vehicle and the target trailer according to the physical parameters;

[0007] Determine the target angle between the current towing vehicle and the target trailer in the traveling direction according to the traction force model;

[0008] Determine the critical angle between the current towing vehicle and the target trailer in the traveling direction according to the rearview field of view model;

[0009] If the target angle is greater than or equal to the critical angle, adjust the field of view range of the rearview mirror content in the current towing vehicle so that the target trailer does not block the rearview mirror view.

[0010] According to another aspect of the present application, a device for adjusting the rearview of a towed trailer is provided, including:

[0011] A model construction module for constructing a traction force model between the current towing vehicle and the target trailer according to the physical parameters and motion information of the current towing vehicle and the target trailer, and constructing a rearview field of view model of the current towing vehicle and the target trailer according to the physical parameters;

[0012] An included angle determination module, configured to determine a target included angle between the current towing vehicle and the target trailer in the traveling direction according to a towing force model;

[0013] A critical calculation module, configured to determine a critical included angle between the current towing vehicle and the target trailer in the traveling direction according to a rear view field model;

[0014] A field of view adjustment module, configured to, if the target included angle is greater than or equal to the critical included angle, adjust the field of view range of the rearview mirror content in the current towing vehicle so that the target trailer does not block the rearview mirror field of view.

[0015] According to another aspect of the present application, there is provided an electronic device, where the electronic device includes:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the towing trailer rear view adjustment method according to any embodiment of the present application.

[0019] According to another aspect of the present application, there is provided a vehicle, where the vehicle is provided with an electronic device according to an embodiment of the present application for implementing the towing trailer rear view adjustment method according to an embodiment of the present application.

[0020] According to another aspect of the present application, there is provided a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the towing trailer rear view adjustment method according to any embodiment of the present application when executed by a processor.

[0021] According to another aspect of the present application, there is provided a computer program product, where the computer program product includes a computer program, and the computer program implements the towing trailer rear view adjustment method according to any embodiment of the present application when executed by a processor.

[0022] Based on the physical parameters and motion information of the current towing vehicle and the target trailer, the technical solution of the embodiment of the present application respectively constructs a traction force model and a rear view field model; based on these two models, the target angle and the critical angle between the current towing vehicle and the target trailer are calculated. Thus, when the target angle is greater than or equal to the critical angle, the viewing range of the rearview mirror is adjusted so that the target trailer does not block the rearview mirror field of view. Constructing the two models respectively according to the physical parameters and motion information can be applied to any combination of towing vehicles and trailers, enabling different models of towing vehicles and trailers to be analyzed in this way. The size of the target angle may change in real time due to the influence of the vehicle's motion state. Adjusting the viewing range when it is detected that the target angle is greater than or equal to the critical angle can ensure that the vehicle can still obtain the best viewing effect even under complex working conditions, not only improving the flexibility and adaptability of the rearview adjustment, but also further enhancing the safety of towing the trailer.

[0023] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1A is a flowchart of a method for adjusting the rear view of a towed trailer according to Embodiment 1 of the present application;

[0026] Figure 1B is a schematic diagram of a traction force model according to Embodiment 1 of the present application;

[0027] Figure 1C is a schematic diagram of a rear view field model according to Embodiment 1 of the present application;

[0028] Figure 2A is a schematic diagram generated from the rearview mirror content according to Embodiment 2 of the present application;

[0029] Figure 2B is a schematic diagram of adjusting the rearview mirror field of view according to Embodiment 2 of the present application;

[0030] Figure 3 is a schematic structural diagram of a device for adjusting the rear view of a towed trailer according to Embodiment 3 of the present application;

[0031] Figure 4 It is a schematic structural diagram of an electronic device for implementing the rear view adjustment method of a tractor-trailer according to an embodiment of the present application. Detailed implementation manners

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] FIG. 1 is a flowchart of a rear view adjustment method for a tractor-trailer provided in Embodiment 1 of the present application. This embodiment is applicable to the situation where the trailer blocks the rear view angle of the tractor during vehicle driving. This method can be executed by a rear view adjustment device for a tractor-trailer. The rear view adjustment device for a tractor-trailer can be implemented in the form of hardware and / or software. The rear view adjustment device for a tractor-trailer can be configured in an electronic device, and the electronic device can be set on the vehicle to implement the solution of the present application. As shown in FIG. 1, the method includes:

[0036] S101. Construct a traction force model between the current tractor and the target trailer according to the physical parameters and motion information of the current tractor and the target trailer, and construct a rear view field model of the current tractor and the target trailer according to the physical parameters.

[0037] Among them, the current towing vehicle can be any type of tractor, and the target trailer can be the vehicle towed by the current towing vehicle. Generally, the towing vehicle and the trailer can be connected by a hinge. In the embodiments of the present application, conditions such as the vehicle types of the current towing vehicle and the target trailer are not limited. The physical parameters can be the basic data of the current towing vehicle and the target trailer, which can be directly obtained. These physical parameters do not change due to the movement of the vehicle. For example, they can include but are not limited to the masses of the two vehicles, the length, width, and height of each vehicle body, the positions of the axles, the lengths of the axles, the cornering stiffness of the tires, the positions of the hinge points, etc. The embodiments of the present application do not list them all here. The motion information can be the data related to motion during the driving of the current towing vehicle and the target trailer, which needs to be detected by corresponding sensors. These motion information may change as the vehicle moves during driving. For example, they can include the centroid velocities, accelerations, front wheel angles of the two vehicles, etc. The embodiments of the present application do not list them all here.

[0038] The towing force model can be the force analysis model generated during the towing motion of the current towing vehicle and the target trailer. Regarding the current towing vehicle and the target trailer as a whole system, the force analysis can be carried out from the force on the vehicle body centroid or from the forces on the axles of the current towing vehicle and the target trailer. For example, when the current towing vehicle and the target trailer are connected by a hinge, the towing force model can be a linear two-degree-of-freedom model. The advantage of using the linear two-degree-of-freedom model is that regardless of the specific models of the towing vehicle and the trailer, and how many axles and tires they have, the linear two-degree-of-freedom model can be used for analysis. Since there is bound to be motion or a tendency of motion during the force application process, it is necessary to perform a force analysis based on the physical parameters and the motion information.

[0039] Correspondingly, the rear view field of view model can be the analysis model of the geometric relationship generated when the current towing vehicle and the target trailer turn. Since whether the rear view field of view is blocked by the target trailer is mainly related to the attributes of the tractor and the trailer themselves, geometric analysis can be performed through the physical parameters. In particular, the rear view field of view model can mainly study the critical situation where the target trailer is about to block the rear view field of view of the current towing vehicle, so as to help the user judge how to adjust the rear view field of view in the subsequent process.

[0040] S102. Determine the target angle between the current towing vehicle and the target trailer in the traveling direction according to the towing force model.

[0041] Among them, the target angle between the current towing vehicle and the target trailer in the traveling direction can be the offset angle generated due to the offset of the traveling directions of the two vehicles caused by the steering of the towing vehicle and the follow-up of the trailer. It can be understood that if the current towing vehicle and the target trailer are connected by a hinge, then the target angle can be equivalent to the hinge angle between the two vehicles. Each embodiment and implementation manner of the present application will take the example of the current towing vehicle and the target trailer being connected by a hinge.

[0042] Based on the traction force model constructed in the foregoing steps, the relationship between the change rate of the target angle between the current towing vehicle and the target trailer and the yaw angular velocity of the two vehicles can be analyzed, so as to calculate the value of the target angle.

[0043] S103. Determine the critical angle between the current towing vehicle and the target trailer in the traveling direction according to the rear view field of view model.

[0044] Among them, according to the above description, the rear view field of view model can be used to study the critical situation where the target trailer is about to block the rear view field of view of the current towing vehicle. The angle formed between the current towing vehicle and the target trailer in the traveling direction in this critical situation can be the critical angle.

[0045] Since the rear view field of view model is used to study whether the view angle is blocked, the critical angle in the critical situation where the target trailer is about to block the rear view field of view of the current towing vehicle can be obtained only through operations such as geometric analysis and trigonometric functions.

[0046] S104. If the target angle is greater than or equal to the critical angle, adjust the field of view range of the content in the rearview mirror of the current towing vehicle so that the target trailer does not block the rearview mirror field of view.

[0047] Among them, the field of view range of the content in the rearview mirror can be the rearview mirror field of view. It should be noted that whether the current towing vehicle uses a traditional rearview mirror or an electronic rearview mirror, the field of view that the driver can observe is limited. Then, it can be understood that when the target angle is greater than or equal to the critical angle, it means that the target trailer is about to appear in the field of view of the content in the rearview mirror. As the target angle continues to increase, it will gradually block the rearview mirror field of view until the content in the rearview mirror is completely the trailer body, making the driver unable to observe the situation behind the vehicle. Therefore, when the target angle is greater than or equal to the critical angle, adjust the rearview mirror field of view so that the target trailer does not block the rearview mirror field of view.

[0048] Of course, there are various ways to adjust the field of view of the rearview mirror content. If the currently towed vehicle uses traditional rearview mirrors, the attitude of the traditional rearview mirrors can be adjusted electronically according to the target angle and the critical angle, so as to achieve the purpose of adjusting the field of view. In another way, if the currently towed vehicle uses electronic rearview mirrors, the attitude of the cameras arranged outside the vehicle can be adjusted, so as to achieve the purpose of adjusting the field of view. However, whether it is to adjust the traditional rearview mirrors or the cameras outside the vehicle, the reliability of these hardware with adjustable attitudes is poor and prone to failures. Therefore, the present application also provides a method for adjusting the field of view of the fixed cameras outside the vehicle. For details, see Embodiment 2 of the present application, which will not be elaborated here.

[0049] Based on the physical parameters and motion information of the currently towed vehicle and the target trailer, the technical solution of the embodiment of the present application respectively constructs a traction force model and a rearview field of view model between the currently towed vehicle and the target trailer; based on these two models, the target angle and the critical angle between the currently towed vehicle and the target trailer are calculated, so that when the target angle is greater than or equal to the critical angle, the field of view of the rearview mirror is adjusted, so that the target trailer does not block the rearview mirror field of view. Constructing the two models respectively according to the physical parameters and motion information can be applied to any combination of tractors and trailers, so that different models of tractors and trailers can adopt this method for analysis. The size of the target angle may change in real time due to the influence of the vehicle's motion state. Adjusting the field of view when it is detected that the target angle is greater than or equal to the critical angle can ensure that the vehicle can still obtain the best field of view effect even under complex working conditions, which not only improves the flexibility and adaptability of rearview field of view adjustment, but also further enhances the safety of towing trailers.

[0050] In an alternative embodiment, constructing a traction force model between the currently towed vehicle and the target trailer according to the physical parameters and motion information of the currently towed vehicle and the target trailer in S101 may include: respectively determining the representation of the resultant external force of the currently towed vehicle and the target trailer in each axle direction and the representation of the resultant external torque in the vertical direction according to the physical parameters and motion information of the currently towed vehicle and the target trailer; constructing a traction force model according to each resultant external force representation and each resultant external torque representation.

[0051] Among them, the representation of the resultant external force may be an expression that uses the various data in the physical parameters and motion information of the currently towed vehicle and the target trailer to represent how to calculate the resultant external force of the vehicle. For example, it may be a formulaic expression that uses the operation relationship between various physical quantities to express how to calculate the resultant external force. Since the situation of the trailer blocking the rearview field of view only occurs when the vehicle is turning, what needs to be explored is the representation of the resultant external force in the axle direction, and the force in the axle direction is also generated due to turning.

[0052] Similarly, the resultant external torque representation can be an expression that uses the physical parameters and various data in the motion information of the current towing vehicle and the target trailer to represent how to calculate the resultant external torque borne by the vehicle. For example, it can also be a formulaic expression that uses the operational relationships between various physical quantities to express how to calculate the resultant external torque. Since torque is the tendency of a force to cause an object to rotate around a certain axis of rotation or pivot point, in the embodiments of the present application, the vertical direction (i.e., the direction perpendicular to the ground) is taken as the axis of rotation to explore the representation of the resultant external torque.

[0053] Exemplarily, taking a tractor with a drive form of 6×4 and a 6-wheel trailer (without steering wheels) as an example, as Figure 1B shown, for the tractor part, analyze its resultant external force ΣF fy along the y-axis (the direction of the axle) and the resultant external torque ΣM fz around the z-axis (the vertical direction):

[0054] ΣF fy = F Y1 cosδ + F Y2 + F Y3 - F y (1);

[0055] ΣM fz = F Y1 cosδa + F y h1 - F Y2 b - F Y3 c(2);

[0056] Wherein, F Y1 / F Y2 / F Y3 are the lateral force of the tires on the 1st / 2nd / 3rd axles of the tractor, δ is the front wheel angle (which can be obtained through the steering wheel sensor), a / b / c are the distances from the 1st / 2nd / 3rd axles of the tractor to the center of mass (inherent physical parameters), and F y is the y-direction component of the force exerted by the trailer on the tractor.

[0057] Meanwhile, according to the lateral characteristics of the tires, the lateral force is equal to the lateral stiffness multiplied by the lateral angle, so there are:

[0058] F Y1 = k1α1(3);

[0059] F Y2 = k2α2(4);

[0060] F Y3 = k3α3(5);

[0061] where k1 / k2 / k3 are the cornering stiffnesses (inherent physical parameters) of the tires on the 1st / 2nd / 3rd axles of the tractor, and α1 / α2 / α3 are the cornering angles of the tires on the 1st / 2nd / 3rd axles of the tractor.

[0062] Meanwhile, there are also:

[0063]

[0064]

[0065]

[0066] where, ν fx and ν fy are the components of the velocity of the center of mass of the tractor (detected by a velocity sensor) along the x and y axes of the vehicle coordinate system, and ω f is the instantaneous yaw angular velocity of the tractor.

[0067] Since the force is equal to the mass of an object multiplied by its acceleration, and the moment of inertia multiplied by the angular acceleration represents the angular momentum (torque) of the object, therefore, by combining the above equations (1)-(8), the expressions for the resultant external force and resultant external torque of the tractor part can be transformed into:

[0068]

[0069]

[0070] where, is the acceleration of the tractor along the y direction of the vehicle coordinate system, I fz is the moment of inertia of the tractor about its own z axis, is the yaw angular acceleration of the tractor.

[0071] Similarly, for the trailer part, analyze the resultant external force ΣF ry along the y axis (axle direction) and the resultant external torque ΣM rz about the z axis (vertical direction):

[0072]

[0073]

[0074] where, F Y4 / F Y5 / F Y6 are the cornering forces of the tires on the 1st / 2nd / 3rd axles of the trailer, d / e / f are the distances from the 1st / 2nd / 3rd axles of the trailer to the center of mass, F x is the x-direction (travel direction) component of the force exerted by the tractor on the trailer (relative to the vehicle coordinate system of the tractor), F yis the y - component of the force exerted by the tractor on the trailer (relative to the tractor vehicle coordinate system), is the angle between the tractor and the trailer.

[0075] Meanwhile, according to the side - slip characteristics of the tires, the side - slip force is equal to the side - slip stiffness multiplied by the side - slip angle, so we have:

[0076] F Y4 = k4α4 (13);

[0077] F Y5 = k5α5 (14);

[0078] F Y6 = k6α6 (15);

[0079] where k4 / k5 / k6 are the side - slip stiffnesses of the tires on the 1st / 2nd / 3rd axles of the trailer, and α4 / α5 / α6 are the side - slip angles of the tires on the 1st / 2nd / 3rd axles of the trailer.

[0080] Meanwhile, there are also:

[0081]

[0082]

[0083]

[0084] where, ν rx and ν ry are the components of the trailer's center - of - mass velocity along the x and y axes of the vehicle coordinate system respectively, and ω r is the instantaneous yaw angular velocity of the trailer.

[0085] Since the acting force is equal to the mass of the object multiplied by the acceleration, and the moment of inertia multiplied by the angular acceleration represents the angular momentum (torque) of the object, therefore, combining the above equations (11) - (18), the expressions of the resultant external force and the resultant external torque of the trailer part can be transformed into:

[0086]

[0087]

[0088] where, is the acceleration of the trailer along the y - direction of the vehicle coordinate system, I rz is the moment of inertia of the trailer about its own z - axis, is the yaw angular acceleration of the trailer.

[0089] In summary, Equation (9) represents the resultant external force of the tractor, and Equation (10) represents the resultant external torque of the tractor; Equation (19) represents the resultant external force of the trailer, and Equation (20) represents the resultant external torque of the trailer. These four equations form the traction force model between the current towing vehicle and the target trailer.

[0090] In another alternative embodiment, determining the target angle between the current towing vehicle and the target trailer according to the traction force model in S102 may include: determining a first correlation relationship between the centroid velocity and the yaw angular velocity between the current towing vehicle and the target trailer according to the traction force model; determining a second correlation relationship between the change rate of the target angle and the yaw angular velocity according to the traction force model; and calculating the target angle according to the first correlation relationship and the second correlation relationship.

[0091] Among them, the centroid velocity of the current towing vehicle may be the instantaneous velocity of the vehicle itself when the centroid of the current towing vehicle is used as the reference point, and the yaw angular velocity of the current towing vehicle may be the instantaneous yaw angular velocity that appears during the movement of the current towing vehicle (such as steering). Similarly, the centroid velocity of the target trailer may be the instantaneous velocity of the trailer itself when the centroid of the target trailer is used as the reference point, and the yaw angular velocity of the target trailer may be the instantaneous yaw angular velocity that appears during the towing process of the target trailer (such as steering).

[0092] The first correlation relationship is the relationship between the centroid velocity and the yaw angular velocity; the second correlation relationship is the relationship between the change rate of the target angle and the yaw angular velocity. Therefore, according to the first correlation relationship and the second correlation relationship, the target angle can be calculated using the centroid velocity that is easily directly obtained.

[0093] Exemplarily, continuing the previous example, based on the foregoing formulas, since the connection between the tractor and the trailer is a hinge, the relationship between the centroid velocity and the yaw angular velocity between the two is as follows:

[0094]

[0095]

[0096] Since the connection between the tractor and the trailer is a hinge, the relationship between the change rate of the target angle and the yaw angular velocity is as follows:

[0097]

[0098] In each of the embodiments of the present application, the cornering stiffness of each tire, the distance from the rotation axis to the centroid, etc. are physical parameters of the vehicle itself (design parameters determined during production), and various speeds can be measured by corresponding sensors. Therefore, the target angle between the tractor and the trailer can be calculated according to the above formulas.

[0099] In yet another alternative embodiment, determining the critical angle between the current towing vehicle and the target trailer in the traveling direction according to the rear view field of view model in S103 may include: determining the articulation angle between the current towing vehicle and the target trailer when the target trailer is about to block the field of view according to the rear view field of view model; and using the articulation angle as the critical angle.

[0100] Wherein, the current towing vehicle and the target trailer are connected in an articulated manner. Then, the articulation angle between the two vehicles when the target trailer is about to block the field of view is the critical angle.

[0101] Exemplarily, as Figure 1C shown, performing geometric analysis on the rear view field of view model in Figure 1C yields the following relational expressions:

[0102]

[0103]

[0104]

[0105] ae = ao - eo (27);

[0106] fh = ae cos(λ + φ0) (28);

[0107] ce = octan(λ + φ0) (29);

[0108] ef = cf - ce (30);

[0109]

[0110] gh = fh - fg (32);

[0111] ah = ghtan(λ + φ0) (33);

[0112]

[0113] ∠4 = 90° - ∠1 - ∠2 - ∠3 = 90° - ∠ λ - ∠ φ0 (35);

[0114] ∠1 = ∠ λ (36);

[0115] ∠ φ0 = ∠2 + ∠3 (37);

[0116] Through the above formulas (24) - (37), it can be derived that:

[0117]

[0118] Thus, the value of the critical angle φ0 can be solved, where ab is the width of the tractor bo is the distance from the front of the tractor to the articulation point, cf is the width of the trailer fi is the length of the trailer, co is the distance from the front of the trailer to the articulation point, and ∠3 is the angle between the boundary of the field of view observable by the user in the current field of view gear of the electronic rearview mirror and the body of the tractor.

[0119] The above embodiments respectively introduce how to construct the traction force model and how to calculate the target angle and the critical angle, providing a strong basis for helping the driver adjust the rearview mirror field of view and improving the accuracy of the field of view adjustment.

[0120] Embodiment 2

[0121] Figure 2A The flowchart of the rearview mirror content presentation provided in Embodiment 2 of the present application. This embodiment of the present application introduces how to obtain the rearview mirror content, and on the basis of the foregoing embodiments, further details how to adjust the field of view of the rearview mirror content in the current towing vehicle. Specifically as follows:

[0122] S201. In response to the startup of the current towing vehicle, obtain the basic image of the rearview camera provided on the current towing vehicle.

[0123] Among them, the startup of the current towing vehicle may refer to the process of the vehicle changing from having no power to having power. For example, after the engine starts, the entire vehicle enters a state where it can drive normally, and the startup of the current towing vehicle is completed. Correspondingly, when the current towing vehicle enters a state where it can drive normally, it is necessary to enable the driver to observe the content in the rearview mirror. In this embodiment of the present application, different from traditional rearview mirrors and adjustable rearview cameras, a fixed camera (the rearview camera) is used to obtain the rearview content. This fixed camera uses a wide-angle (even ultra-wide-angle) lens with a relatively small focal length value to obtain continuous frame images (such as videos). Therefore, the basic image is related to the inherent focal length of the rearview camera and is a wide-angle image (or ultra-wide-angle image).

[0124] Exemplarily, in real life, large tractors use monitors to provide rearview mirror content for drivers. The rearview images are obtained by fixed cameras provided on the outside of the vehicle body. When the driver starts the vehicle, the rearview camera and the monitor can be turned on synchronously to provide rearview reference information for the driver.

[0125] S202. Crop the basic image according to the preset cropping position and preset cropping frame to obtain the standard rearview image.

[0126] Among them, the preset cropping position can be a cropping position preset in the base image, for example, cropping centered on a certain point. The preset cropping frame size can be the image size of the standard rear-view image, for example, having a certain number of pixels in terms of length and width. Of course, both the preset cropping position and the preset cropping frame size can be calibrated by those skilled in the relevant art based on a large number of experiments. Correspondingly, the content presented in the standard rear-view image can be the content observed by the driver in the rear-view mirror after starting the vehicle, which is the content under a default perspective, and this perspective is cropped from the wide angle in the rear-view camera.

[0127] S203. Use the standard rear-view image as the rear-view mirror content and display it to the driver through a monitor set in the driver's seat of the current towing vehicle.

[0128] Transmit the standard rear-view image cropped in the previous step to the monitor to provide it to the driver so that the driver can use it as a driving reference.

[0129] In the technical solution of the embodiment of the present application, it is introduced how to obtain a standard rear-view image for the driver to refer to through a fixed camera. By cropping the base image, reliable rear-view information can be obtained quickly and accurately, and the fixed camera has a lower failure rate and is more reliable, improving the reliability of the towing vehicle to obtain rear-view information, and further ensuring driving safety.

[0130] In a further optional embodiment, when the target trailer blocks the rear-view mirror field of view of the current towing vehicle, based on the above base image, adjust the rear-view mirror content, as Figure 2B shown, continuing the previous Embodiment 1, specifically as follows:

[0131] S211. According to the physical parameters and motion information of the current towing vehicle and the target trailer, construct a traction force model between the current towing vehicle and the target trailer, and construct a rear-view field of view model of the current towing vehicle and the target trailer according to the physical parameters.

[0132] S212. According to the traction force model, determine the target angle between the current towing vehicle and the target trailer in the traveling direction.

[0133] S213. According to the rear-view field of view model, determine the critical angle between the current towing vehicle and the target trailer in the traveling direction.

[0134] S214. If the target angle is greater than or equal to the critical angle, keep the preset cropping frame size unchanged, and move the cropping position of the base image from the preset cropping position towards the outside of the vehicle body so that the target trailer does not block the rear-view mirror field of view.

[0135] It can be understood that the size of the preset cropped frame can ensure that the driver can clearly observe in the monitor. Therefore, the ratio and size of the cropped frame remain unchanged, and only the cropping position is changed. It can be understood that the content cropped by the preset cropping position itself is blocked by the target trailer. Then, the cropping position can be moved along the direction outward from the vehicle body, so that when turning, the target trailer moves away from the image content in the cropping position, that is, the target trailer does not block the rearview mirror vision. Moreover, as the target trailer moves, the size ratio of the target angle and the critical angle also changes. According to this size ratio, the cropping position can be adaptively adjusted in real time to ensure that during the entire turning process, the rearview mirror content obtained by the driver moves along with the movement of the trailer, and the content in the follow-up rearview mirror vision can enable the driver to always observe the road conditions behind.

[0136] In the above embodiment, based on the fixed camera obtaining the rearview mirror vision, the cropping position of the wide-angle basic image is changed so that the trailer does not block the rearview mirror vision in the tractor, effectively helping the driver avoid the influence of the trailer during turning, being able to clearly obtain the road condition information behind, and ensuring driving safety.

[0137] Embodiment III

[0138] Figure 3 The following is a schematic structural diagram of a rearview adjustment device for a towed trailer provided in Embodiment III of the present application. As Figure 3 shown, the device 300 includes:

[0139] A model construction module 310, configured to construct a traction force model between the current towing vehicle and the target trailer according to the physical parameters and motion information of the current towing vehicle and the target trailer, and construct a rearview vision model of the current towing vehicle and the target trailer according to the physical parameters;

[0140] An angle determination module 320, configured to determine a target angle between the current towing vehicle and the target trailer in the traveling direction according to the traction force model;

[0141] A critical calculation module 330, configured to determine a critical angle between the current towing vehicle and the target trailer in the traveling direction according to the rearview vision model;

[0142] A vision adjustment module 340, configured to adjust the vision range of the rearview mirror content in the current towing vehicle if the target angle is greater than or equal to the critical angle, so that the target trailer does not block the rearview mirror vision.

[0143] Based on the physical parameters and motion information of the current towing vehicle and the target trailer, the technical solution of the embodiment of the present application respectively constructs a traction force model and a rear view field of view model; based on these two models, the target angle and the critical angle between the current towing vehicle and the target trailer are calculated, so that when the target angle is greater than or equal to the critical angle, the field of view range of the rearview mirror is adjusted, so that the target trailer does not block the rearview mirror field of view. Constructing the two models respectively according to the physical parameters and motion information can be applied to any combination of towing vehicles and trailers, so that different models of towing vehicles and trailers can be analyzed in this way. The size of the target angle may change in real time due to the motion state of the vehicle. When it is detected that the target angle is greater than or equal to the critical angle, the field of view range is adjusted, which can ensure that the vehicle can still obtain the best field of view effect even under complex working conditions, not only improving the flexibility and adaptability of the rear view field of view adjustment, but also further enhancing the safety of towing the trailer.

[0144] In an alternative embodiment, the device 300 further includes a rearview mirror content acquisition module, and the rearview mirror content acquisition module may include:

[0145] A basic image acquisition unit, configured to acquire a basic image of a rearview camera disposed on the current towing vehicle in response to the startup of the current towing vehicle;

[0146] A standard rear view image acquisition unit, configured to crop the basic image according to a preset cropping position and a preset cropping frame to obtain a standard rear view image;

[0147] A rearview mirror content determination unit, configured to use the standard rear view image as the rearview mirror content and display it to the driver through a monitor disposed in the driver's seat of the current towing vehicle.

[0148] In an alternative embodiment, the field of view adjustment module 340 may specifically be configured to:

[0149] Keep the preset cropping frame unchanged, and move the cropping position of the basic image from the preset cropping position towards the outside of the vehicle body, so that the target trailer does not block the rearview mirror field of view.

[0150] In an alternative embodiment, the model construction module 310 may include:

[0151] An external force sum overall planning unit, configured to respectively determine the representation of the resultant external force of the current towing vehicle and the target trailer in each axle direction and the representation of the resultant external torque in the vertical direction according to the physical parameters and motion information of the current towing vehicle and the target trailer;

[0152] A model construction unit, configured to construct a traction force model according to each resultant external force representation and each resultant external torque representation.

[0153] In an alternative embodiment, the included angle determination module 320 may include:

[0154] A first association relationship determination unit, configured to determine a first association relationship between the centroid velocity and the yaw angular velocity between the current towing vehicle and the target trailer according to the towing force model;

[0155] A second association relationship determination unit, configured to determine a second association relationship between the change rate of the target included angle and the yaw angular velocity according to the towing force model;

[0156] A target included angle determination unit, configured to calculate the target included angle according to the first association relationship and the second association relationship.

[0157] In an alternative embodiment, the critical calculation module 330 may specifically be configured to:

[0158] According to the rear view field model, when it is determined that the target trailer is about to block the field of view, determine the articulation angle between the current towing vehicle and the target trailer; and use the articulation angle as the critical included angle.

[0159] The towing trailer rear view adjustment device provided by the embodiments of the present application can execute the towing trailer rear view adjustment method provided by any embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing each towing trailer rear view adjustment method.

[0160] Embodiment 4

[0161] Figure 4 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present application described herein and / or claimed.

[0162] As Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0163] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0164] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the trailer rearview adjustment method.

[0165] In some embodiments, the embodiments of the present application also provide a vehicle, which can be provided with an electronic device proposed in the embodiments of the present application to implement the trailer rearview adjustment method provided by the embodiments and implementation manners of the present application.

[0166] In some embodiments, the tractor-trailer rearview adjustment method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the tractor-trailer rearview adjustment method described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the tractor-trailer rearview adjustment method by any other suitable means (e.g., by means of firmware).

[0167] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0168] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0169] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0170] For purposes of providing an interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide an interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0171] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0172] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0173] The embodiments of the present application also disclose a computer program product, which includes a computer program that, when executed by a processor, implements the trailer rearview adjustment method provided in any embodiment of the present application. This program product and the trailer rearview adjustment methods disclosed in the embodiments of the present application belong to the same inventive concept, and thus will not be elaborated herein.

[0174] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the present application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present application can be achieved, and no limitations are imposed herein.

[0175] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A method for adjusting the rear view of a towed trailer, characterized in that, Including: Construct a traction force model between the current towing vehicle and the target trailer according to the physical parameters and motion information of the current towing vehicle and the target trailer, and construct a rear vision model of the current towing vehicle and the target trailer according to the physical parameters; Determine a target angle between the current towing vehicle and the target trailer in the traveling direction according to the traction force model; Determine a critical angle between the current towing vehicle and the target trailer in the traveling direction according to the rear vision model; If the target angle is greater than or equal to the critical angle, adjust the viewing range of the rearview mirror content in the current towing vehicle so that the target trailer does not block the rearview mirror view.

2. The method according to claim 1, wherein The rearview mirror content is obtained by the following method: In response to the start of the current towing vehicle, obtain a basic image of a rearview camera provided on the current towing vehicle; Crop the basic image according to a preset cropping position and a preset cropping frame to obtain a standard rearview image; Use the standard rearview image as the rearview mirror content and display it to the driver through a monitor provided at the driver's seat in the current towing vehicle.

3. The method according to claim 2, wherein The adjustment of the viewing boundary so that the target trailer does not block the rearview mirror view includes: Keep the preset cropping frame unchanged, and move the cropping position of the basic image from the preset cropping position towards the outside of the vehicle body so that the target trailer does not block the rearview mirror view.

4. The method according to claim 1, wherein The constructing of the traction force model between the current towing vehicle and the target trailer according to the physical parameters and motion information of the current towing vehicle and the target trailer includes: According to the physical parameters and motion information of the current towing vehicle and the target trailer, respectively determine the representation of the resultant external force of the current towing vehicle and the target trailer in the direction of each axle, and the representation of the resultant external torque in the vertical direction; Construct the traction force model according to each resultant external force representation and each resultant external torque representation.

5. The method according to claim 1, characterized in that The determining of the target angle between the current towing vehicle and the target trailer according to the traction force model includes: Determine a first correlation between the centroid velocity and the yaw angular velocity between the current towing vehicle and the target trailer according to the traction force model; Determine a second correlation between the change rate of the target angle and the yaw angular velocity according to the traction force model; Calculate the target angle according to the first correlation and the second correlation.

6. The method according to claim 1, characterized in that, The determining of the critical angle between the current towing vehicle and the target trailer in the traveling direction according to the rear vision model includes: According to the rear vision model, determine the articulation angle between the current towing vehicle and the target trailer when the target trailer is about to block the viewing range; Use the articulation angle as the critical angle.

7. A rear view adjustment device for a towed trailer, characterized in that, Including: A model construction module, configured to construct a traction force model between the current towing vehicle and the target trailer according to the physical parameters and motion information of the current towing vehicle and the target trailer, and construct a rear vision model of the current towing vehicle and the target trailer according to the physical parameters; An included angle determination module, configured to determine a target included angle between the current towing vehicle and the target trailer in the traveling direction according to the traction force model; A critical angle calculation module, configured to determine a critical included angle between the current towing vehicle and the target trailer in the traveling direction according to the rear view field model; A field of view adjustment module, configured to adjust the field of view range of the rearview mirror content in the current towing vehicle if the target included angle is greater than or equal to the critical included angle, so that the target trailer does not block the rearview mirror field of view.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the towing trailer rear view adjustment method according to any one of claims 1-6.

9. A vehicle, characterized in that, The vehicle is provided with an electronic device as described in claim 8.

10. A computer program product, characterized in that, The computer program product includes a computer program, and the computer program realizes the towing trailer rear view adjustment method according to any one of claims 1-6 when executed by a processor.

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