Transportation semitrailer safety warning system

Abstract

The invention provides a transport semitrailer safety warning system. The transport semitrailer safety warning system comprises a hinge angle detection module, a vehicle speed detection module, a steering angle detection module, a processing control module and a warning module. The hinge angle detection module is used for obtaining the hinge angle between the tractor and the semitrailer, the vehicle speed detection module is used for obtaining the vehicle speed of the tractor, and the steering angle detection module is used for obtaining the steering angle of the tractor. And the processing control module is used for processing the data and controlling the warning module. The warning module comprises a projection module, an orientation angle adjusting module and a sound production module which are respectively arranged on the orientation angle adjusting module and are in communication connection with the processing control module. When the tractor steers, the system reminds surrounding traffic participants to leave a dangerous area by projecting a warning image to the ground of the dangerous area and making a warning sound, so that traffic accidents are avoided. The system effectively enhances the safety of the semitrailer in the transportation process.

Description

Technical Field

[0001] The present application relates to the field of transportation, and in particular to a safety warning system for a transport semi-trailer. Background Art

[0002] A semitrailer is a trailer without a front axle. Its front is connected to the rear of a tractor truck via a coupling. The front weight of the semitrailer is carried by the tractor truck, while the rear is supported by its own axle. Once connected, the tractor truck turns the semitrailer, while the rear axle supports its rear weight. Semitrailers typically have their own braking system, which synchronizes with the tractor truck's braking system via air pressure or electrical signals. Furthermore, the semitrailer's design allows for the flexibility of adapting different types of trailers, such as flatbed, box, or refrigerated trailers, to meet transportation needs.

[0003] The advantages of semi-trailers include high load capacity, flexibility, and reduced transportation costs. They can carry large amounts of cargo, improving transportation efficiency. By combining different tractors and semi-trailers, the cost of a single haul can be reduced. Furthermore, the design of semi-trailers, especially flatbed and box-type semi-trailers, makes loading and unloading cargo relatively easy.

[0004] However, semi-trailers also have some disadvantages. Since the front and rear wheels of the semi-trailer are on different axes, the front wheels will travel along a smaller circle when turning, while the rear wheels will travel along a larger circle. This leads to inconsistent trajectories of the front and rear wheels, resulting in an inner wheel difference. Due to the existence of the inner wheel difference, the trajectory of the rear wheel will be closer to the inside than the front wheel. If sufficient space is not reserved when turning, the semi-trailer and its rear wheels may run over pedestrians on the roadside, cyclists on the non-motorized vehicle lane or obstacles on the road. Summary of the Invention

[0005] This application provides a transport semi-trailer safety warning system, including:

[0006] Articulation angle detection module, used to obtain the articulation angle between the tractor and the semi-trailer;

[0007] The vehicle speed detection module is used to obtain the tractor speed of the tractor;

[0008] Steering angle detection module, used to obtain the steering angle of the tractor;

[0009] A processing control module is used to process data and control the warning module;

[0010] Warning module, used to issue safety warnings;

[0011] The articulation angle detection module, the vehicle speed detection module, the steering angle detection module and the warning module are respectively communicatively connected to the processing control module;

[0012] The articulation angle detection module includes a tractor direction detection module and a semi-trailer direction detection module, and the tractor direction detection module and the semi-trailer direction detection module are respectively communicatively connected to the processing control module;

[0013] Among them, the warning module includes a projection module, a direction angle adjustment module and a sound module, the projection module and the sound module are respectively arranged in the direction angle adjustment module, and the projection module, the direction angle adjustment module and the sound module are respectively communicatively connected to the processing control module.

[0014] By adopting the above technical solution, the transport semi-trailer safety warning system can alert surrounding traffic participants by projecting a warning image onto the ground in the danger zone and issuing a warning sound when the tractor turns, so as to enable other traffic participants to leave the danger zone and avoid traffic accidents.

[0015] Optionally, the transport trailer safety warning system further includes a safety warning strategy, including the following steps:

[0016] A1, obtaining the heading angle of the tractor through the tractor direction detection module;

[0017] A2, obtaining the heading angle of the semi-trailer through the semi-trailer direction detection module;

[0018] A3: Determine the articulation angle based on the tractor and semi-trailer heading angles.

[0019] A4, when the articulation angle is greater than a preset activation angle threshold, obtaining the traction vehicle speed through the vehicle speed detection module and obtaining the steering angle through the steering angle detection module;

[0020] A5, calculates and determines the corresponding response distance based on the traction vehicle speed and the preset response time;

[0021] A6, establish a positioning coordinate system based on the horizontal plane with the hinge position as the origin coordinate;

[0022] A7, determining the coordinates of the inner wheels of the tractor according to the articulation angle, the articulation position, the preset articulation wheelbase of the tractor steering wheel, and the preset width of the tractor;

[0023] A8, determining the corresponding response end point coordinates based on the tractor's inner wheel coordinates, steering angle, and response distance;

[0024] A9, determining the inner wheel coordinates of the semitrailer according to the articulation angle, the articulation position, the preset articulation wheelbase of the semitrailer, and the preset width of the semitrailer;

[0025] A10, determines the coordinate data of the dangerous area based on the origin coordinates, the response end point coordinates and the inner wheel coordinates of the semi-trailer;

[0026] A11, controlling the projection module and the orientation angle adjustment module through the processing control module to project a preset warning image onto the ground corresponding to the coordinate data of the dangerous area;

[0027] A12, controlling the sound module to play a preset safety warning audio through the processing control module.

[0028] By adopting the above technical solution, the transport semi-trailer safety warning system can determine the articulation angle between the tractor and the semi-trailer in real time, and comprehensively determine the corresponding danger zone based on data such as the articulation angle, the speed of the tractor, and the steering angle. It can also alert surrounding traffic participants by projecting warning images and playing warning audio onto the danger zone, thereby improving the safety of the tractor and semi-trailer when turning and reducing the risk of traffic accidents caused by steering inner wheel difference.

[0029] Optionally, the safety warning strategy further includes the following steps for determining the articulation angle:

[0030] B1, when the tractor vehicle speed is greater than a preset steady driving speed threshold, continuously acquiring the tractor vehicle heading angle to generate tractor heading angle data, and continuously acquiring the semi-trailer heading angle data to generate semi-trailer heading angle data within a preset heading detection time period;

[0031] B2, calculate the corresponding tractor direction angle standard deviation and tractor direction average angle according to the tractor direction angle data;

[0032] B3, calculating the corresponding semi-trailer direction angle standard deviation and the semi-trailer direction average angle according to the semi-trailer direction angle data;

[0033] B4, if the standard deviation of the tractor direction angle and the standard deviation of the semi-trailer direction angle are both less than or equal to the preset stable standard deviation threshold, the direction deviation angle is calculated based on the difference between the average tractor direction angle and the average trailer direction angle;

[0034] B5, calculate the articulation angle based on the tractor heading angle, semi-trailer heading angle and direction deviation angle.

[0035] By adopting the above technical solution, the transport semi-trailer safety warning system can judge whether the tractor and semi-trailer are in a stable straight-line driving state by using the tractor heading angle data and the semi-trailer heading angle data and the current tractor speed, and calculate the deviation value between the tractor heading angle data and the semi-trailer heading angle data in the straight-line driving state to improve the measurement accuracy of the articulation angle.

[0036] Optionally, the safety warning strategy further includes the following steps for determining the coordinates of the inner wheels of the tractor and the inner wheels of the semi-trailer:

[0037] C1, determine the corresponding inner wheels of the tractor and semi-trailer according to the articulation angle;

[0038] C2, calculates the coordinates of the inner wheels of the tractor according to the articulation angle, the origin coordinates, the articulated wheelbase of the tractor's steering wheels and the width of the tractor;

[0039] C3, calculates the inner wheel coordinates of the semitrailer based on the articulation angle, origin coordinates, semitrailer articulation wheelbase and semitrailer width.

[0040] By adopting the above technical solution, the transport semi-trailer safety warning system can determine the inner wheels of the tractor and semi-trailer when turning through the articulation angle, and can effectively judge the position coordinates of the inner wheels of the vehicle through the articulation angle, the origin coordinates and the fixed parameters of the vehicle, thereby improving the accuracy and reliability of the safety warning during turning and further ensuring driving safety.

[0041] Optionally, the safety warning strategy further includes the following steps for controlling the orientation angle adjustment module:

[0042] D1, calculate and determine the corresponding projection horizontal angle based on the response endpoint coordinates and the inner wheel coordinates of the semi-trailer;

[0043] D2, calculate the projected horizontal distance based on the response endpoint coordinates and the inner wheel coordinates of the semi-trailer;

[0044] D3, calculates the corresponding projection viewing angle based on the projection horizontal distance and the preset projection module installation height;

[0045] D4, adjusting the orientation angle adjustment module according to the projection horizontal angle and the projection downward angle.

[0046] By adopting the above technical solution, the transport semi-trailer safety warning system can accurately control the orientation angle adjustment module by calculating the projection horizontal angle, projection horizontal distance and projection overhead angle, so that the warning image can be accurately projected to the corresponding dangerous area, thereby improving the accuracy and effectiveness of the warning, ensuring that external traffic participants can be accurately reminded to stay away from the dangerous area, thereby improving driving safety.

[0047] Optionally, the safety warning strategy further includes the following steps for controlling the sound module:

[0048] E1, calculate and determine the corresponding adjustment coefficient based on the projection horizontal angle and the preset reference horizontal angle;

[0049] E2, calculating and determining the target frequency of the warning sound according to the preset reference frequency of the warning sound and the adjustment coefficient;

[0050] E3, playing the safety warning audio through the sound module according to the warning sound target frequency.

[0051] By adopting the above technical solution, the transport semi-trailer safety warning system can adjust the sound frequency of the warning audio according to the horizontal angle of the projection, so that the system can emit appropriate warning sounds under different steering amplitudes, which can more effectively remind external traffic participants to pay attention to potential dangers, improve the timeliness and effectiveness of the warning, and thus further reduce the risk of accidents.

[0052] Optionally, the transport trailer safety warning system further includes a trailer lateral stability warning strategy, comprising the following steps:

[0053] F1: When the towing vehicle speed is greater than the steady-state driving speed threshold, the articulation angle is continuously calculated within the preset stability detection time to generate articulation angle data;

[0054] F2, calculate the corresponding articulation angle standard deviation based on the articulation angle data;

[0055] F3: If the standard deviation of the articulation angle is greater than the preset stability angle threshold, a preset stability warning audio is played through the sound module.

[0056] By adopting the above technical solution, the transport semi-trailer safety warning system can monitor the changes in the articulation angles of the tractor and semi-trailer in real time. When it is detected that the standard deviation of the articulation angle exceeds the preset threshold, the system will play a stable warning audio through the sound module to promptly remind the driver to pay attention to the vehicle's driving stability, which can effectively prevent potential dangers caused by excessive changes in the articulation angle and further improve driving safety and stability.

[0057] Optionally, the transport trailer safety warning system further includes a cargo balance warning strategy, including the following steps:

[0058] G1, generates corresponding left deviation angle data and right deviation angle data of the semi-trailer according to the articulation angle data;

[0059] G2, calculate the average left deviation angle based on the average of the left deviation angle data of the semi-trailer;

[0060] G3, calculate the average right deviation angle based on the right deviation angle data of the semi-trailer;

[0061] G4, calculate the average angle difference based on the average left deviation angle and the average right deviation angle;

[0062] G5: If the average angle difference is greater than a preset angle difference threshold, a preset cargo balance warning audio is played through the sound module.

[0063] By adopting the above technical solution, the transport semi-trailer safety warning system can monitor the left and right deviation angles of the semi-trailer during driving, calculate the average left deviation angle and the average right deviation angle, and judge whether the cargo is balanced based on the difference between them. It can promptly remind the driver that the semi-trailer may have unbalanced cargo. This function effectively prevents safety hazards caused by unbalanced cargo and improves driving stability and safety.

[0064] In summary, this application includes at least one of the following beneficial technical effects:

[0065] 1. When the tractor turns, it can project a warning image onto the ground in the danger zone and emit a warning sound to alert surrounding traffic participants, so that other traffic participants can leave the danger zone and avoid traffic accidents.

[0066] 2. The articulation angle between the tractor and the semi-trailer can be determined in real time, and the corresponding danger zone can be comprehensively determined based on the articulation angle, the speed of the tractor, the steering angle and other data. The system can also alert surrounding traffic participants by projecting warning images and playing warning audio to the danger zone, thereby improving the safety of the tractor and semi-trailer during steering and reducing the risk of traffic accidents caused by steering inner wheel difference.

[0067] 3. Whether the tractor and semi-trailer are in a stable straight-line driving state can be determined by the tractor heading angle data and the semi-trailer heading angle data and the current tractor speed, and the deviation value between the tractor heading angle data and the semi-trailer heading angle data in the straight-line driving state can be calculated to improve the measurement accuracy of the articulation angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 The diagram is a schematic diagram of the principle of a safety warning system for a transport semi-trailer according to the present invention.

[0069] Figure 2 It is a process schematic diagram of a transport semi-trailer safety warning system of the present invention. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0071] The embodiments of the present application are described in further detail below with reference to the accompanying drawings.

[0072] refer to Figure 1The present invention provides a transport semi-trailer safety warning system, which is used to calculate the corresponding danger zone when the tractor turns, and project a warning image onto the ground within the danger zone to warn surrounding traffic participants, so as to minimize the risk of traffic accidents caused by the inner wheel difference when the tractor and semi-trailer turn.

[0073] The transport semi-trailer safety warning system includes:

[0074] The articulation angle detection module 10 is used to obtain the articulation angle between the tractor and the semi-trailer;

[0075] The vehicle speed detection module 20 is used to obtain the tractor speed of the tractor;

[0076] A steering angle detection module 30 is used to obtain the steering angle of the tractor;

[0077] The processing control module 40 is used to process the data and control the warning module;

[0078] Warning module 50, for issuing safety warnings;

[0079] The articulation angle detection module 10, the vehicle speed detection module 20, the steering angle detection module 30 and the warning module 50 are respectively communicatively connected to the processing control module 40;

[0080] The articulation angle detection module 10 includes a tractor direction detection module 11 and a semi-trailer direction detection module 12, and the tractor direction detection module 11 and the semi-trailer direction detection module 12 are respectively communicatively connected to the processing control module 40;

[0081] Among them, the warning module 50 includes a projection module 51, an orientation angle adjustment module 52 and a sound module 53. The projection module 51 and the sound module 53 are respectively arranged in the orientation angle adjustment module 52. The projection module 51, the orientation angle adjustment module 52 and the sound module 53 are respectively communicatively connected to the processing and control module 40.

[0082] The articulation angle detection module 10 is mainly used to obtain the articulation angle between the tractor and the semi-trailer, and can be used to determine whether the tractor is in the turning process based on the articulation angle.

[0083] The vehicle speed detection module 20 is mainly used to obtain the current speed of the tractor. The vehicle speed detection module 20 can be a speed sensor that independently obtains speed data, or it can be a data reading module that is communicatively connected to the vehicle computer system of the tractor to read the vehicle speed from the vehicle computer system.

[0084] The steering angle detection module 30 is mainly used to obtain the steering angle of the steering wheel of the tractor, so as to determine the moving direction of the tractor.

[0085] The processing control module 40 is mainly used to process the acquired data and control the warning module 50 to perform corresponding warning actions according to the results of the data processing.

[0086] The warning module 50 is mainly used to control the driver of the tractor or external traffic participants to make warning actions, such as light warning, sound warning, etc.

[0087] The tractor direction detection module 11 is mainly used to detect the angle data of the tractor's direction. The tractor direction detection module 11 can be installed on the central axis of the tractor to better obtain the tractor's direction angle data.

[0088] The semi-trailer direction detection module 12 is mainly used to detect the angle data of the semi-trailer's direction. The semi-trailer direction detection module 12 can be installed on the central axis of the semi-trailer to better obtain the semi-trailer's direction angle data.

[0089] The tractor direction detection module 11 and the semi-trailer direction detection module 12 may be a direction sensor. Generally, a direction sensor can obtain corresponding azimuth angle data in the horizontal direction, and the value range is generally 0° to 360°.

[0090] The articulation angle between the tractor and the semi-trailer can be conveniently determined by calculating the difference between the orientation angle data of the tractor and the orientation angle data of the semi-trailer.

[0091] The projection module 51 is mainly used to project image content onto the ground to warn other traffic participants of potential threat areas.

[0092] The orientation angle adjustment module 52 is mainly used to controllably adjust the projection angle of the projection module 51 to accurately perform projection.

[0093] The sound module 53 is mainly used to play sound to send warning information to the tractor driver or external traffic participants.

[0094] Preferably, there are multiple warning modules 50 , which are distributed and installed on both sides of the semi-trailer so as to be respectively on the tractor.

[0095] By obtaining the articulation angle, the transport semi-trailer safety warning system can determine whether the tractor is turning based on the articulation angle, and estimate and determine the dangerous area during turning based on the articulation angle, the angle of the steering wheel of the tractor and the vehicle speed. Then, the projection module 51 projects a warning image to the dangerous area to alert other external personnel, and the sound module 53 emits a warning sound to further enhance the warning effect.

[0096] Through the above technical solution, the transport semi-trailer safety warning system can project a warning image onto the ground in the danger zone and emit a warning sound to alert surrounding traffic participants when the tractor turns, so that other traffic participants can leave the danger zone and avoid traffic accidents.

[0097] Furthermore, the transport trailer safety warning system also includes a safety warning strategy, including the following steps:

[0098] A1, obtaining the tractor direction angle through the tractor direction detection module 11;

[0099] The tractor heading angle is the angle of the tractor's heading direction.

[0100] A2, obtaining the heading angle of the semi-trailer through the semi-trailer direction detection module 12;

[0101] The semi-trailer heading angle is the angle of the semi-trailer's heading direction.

[0102] A3: Determine the articulation angle based on the tractor and semi-trailer heading angles.

[0103] The articulation angle is the angle between the heading directions of the tractor and the semi-trailer. It can generally be determined by taking the difference between the heading angles of the tractor and the semi-trailer. For example, if the tractor heading angle is 45° and the semi-trailer heading angle is 15°, the articulation angle is 30°.

[0104] A4, when the articulation angle is greater than the preset activation angle threshold, the traction vehicle speed is obtained through the vehicle speed detection module 20, and the steering angle is obtained through the steering angle detection module;

[0105] The activation angle threshold is a pre-set reference value used to determine whether the tractor is in a steering state based on the articulation angle;

[0106] The tractor speed is the current speed of the tractor;

[0107] The steering angle is the angle of the tractor's steering wheels relative to the towing vehicle.

[0108] A5, calculates and determines the corresponding response distance based on the traction vehicle speed and the preset response time;

[0109] The response time is a pre-set reference time used to estimate the reaction time of the tractor driver. Usually, the reaction time of the vehicle driver is between 0.4 and 1 second. The response time can be set by taking into account the loading of the semi-trailer, the braking performance, weather factors, etc. For example, the response time can be set to 2 seconds when the semi-trailer is empty and to 3 seconds when the semi-trailer is loaded.

[0110] The response distance is calculated by multiplying the towing vehicle speed by the response time and is used to estimate the distance the towing vehicle travels before the towing vehicle operator responds.

[0111] A6, establish a positioning coordinate system based on the horizontal plane with the hinge position as the origin coordinate;

[0112] The articulation position is the position where the tractor and semi-trailer are articulated;

[0113] The positioning coordinate system is used to numerically reflect the location information of the tractor, semi-trailer and surrounding points.

[0114] A7, determining the coordinates of the inner wheels of the tractor according to the articulation angle, the articulation position, the preset articulation wheelbase of the tractor steering wheel, and the preset width of the tractor;

[0115] The tractor's steering wheel articulation wheelbase is the distance from the tractor's steering axle to the articulation position, which can be determined by manual measurement;

[0116] The tractor width is the width of the tractor, which can be determined by the factory parameters of the tractor;

[0117] The inner wheel coordinates of the tractor are the coordinate data of the inner wheel relative to the articulation position when the tractor is turning. Based on the articulation angle, it can be determined whether the tractor is turning and whether its turning direction is left or right, and furthermore, whether the left or right steering wheel of the tractor is the inner wheel.

[0118] For example, in a Cartesian coordinate system established with the center axis of the semi-trailer as the y-axis and the articulation position as the coordinate origin, since the center axis of the tractor is perpendicular to the steering axis of the tractor, the coordinates of the intersection of the center axis of the tractor and the steering axis of the tractor can be calculated based on the articulation wheelbase and articulation angle of the tractor's steering wheel, and the coordinates of the inner wheel can be further calculated based on half the width of the tractor.

[0119] A8, determining the corresponding response end point coordinates based on the tractor's inner wheel coordinates, steering angle, and response distance;

[0120] The response end point coordinates are the coordinate data of the end point of the response distance;

[0121] When the inner wheel coordinates and steering angle of the tractor are known, the corresponding direction angle of the steering wheel in the coordinate system can be calculated, and the response end point coordinates can be determined by extending the response distance outward along the direction angle of the steering wheel.

[0122] A9, determining the inner wheel coordinates of the semitrailer according to the articulation angle, the articulation position, the preset articulation wheelbase of the semitrailer, and the preset width of the semitrailer;

[0123] The articulated wheelbase of a semi-trailer is the distance from the wheel axle of the semi-trailer to the articulation position, which can be determined by manual measurement;

[0124] The semi-trailer width is the width of the semi-trailer, which can be determined by the factory parameters of the semi-trailer;

[0125] The inner wheel coordinates of the semi-trailer are the coordinate data of the inner wheels of the semi-trailer relative to the articulation position when the tractor is turning. For example, in a Cartesian coordinate system established with the central axis of the semi-trailer as the y-axis and the articulation position as the coordinate origin, based on half the width of the semi-trailer, the abscissa of the inner wheel coordinates of the semi-trailer can be determined to be half the width of the semi-trailer or negative half the width of the semi-trailer, and the ordinate is the negative articulation wheelbase of the semi-trailer.

[0126] A10, determines the coordinate data of the dangerous area based on the origin coordinates, the response end point coordinates and the inner wheel coordinates of the semi-trailer;

[0127] The dangerous area coordinate data is a coordinate data set corresponding to a triangle determined based on the origin coordinates, the response end point coordinates, and the inner wheel coordinates of the semi-trailer. For example, the vectors of the three sides of the triangle can be determined based on the origin coordinates, the response end point coordinates, and the inner wheel coordinates of the semi-trailer, and then the corresponding dangerous area of ​​the triangle can be determined.

[0128] A11, controlling the projection module 51 and the orientation angle adjustment module 52 through the processing control module 40 to project a preset warning image onto the ground corresponding to the coordinate data of the dangerous area;

[0129] The warning image is a preset projection image that is projected on the ground to warn surrounding traffic participants;

[0130] The warning image may be a graphic, text, image, or other content with a striking color. For example, a strip graphic with a striking color may be projected on the boundary corresponding to the coordinate data of the danger zone to warn other traffic participants not to enter the corresponding danger zone.

[0131] The coordinate data of the dangerous area generally includes the inner wheel difference area when the tractor and semi-trailer are turning, which can further improve the safety warning effect.

[0132] A12, controlling the sound module 53 to play a preset safety warning audio through the processing control module 40;

[0133] The safety warning audio is a pre-set audio used to remind surrounding traffic participants through sound warnings not to approach turning tractors and semi-trailers. The safety warning audio can be an intermittent sound emitted by a buzzer or similar original, such as a rhythmic "beep" sound, or a sound with warning voice content.

[0134] Through the above steps, the transport semi-trailer safety warning system can determine the articulation angle between the tractor and the semi-trailer in real time, and comprehensively determine the corresponding danger zone based on data such as the articulation angle, the speed of the tractor, and the steering angle, and remind surrounding traffic participants by projecting warning images and playing warning audio to the danger zone, thereby improving the safety of the tractor and semi-trailer when turning and reducing the risk of traffic accidents caused by steering inner wheel difference.

[0135] Furthermore, the safety warning strategy further includes the following steps for determining the articulation angle:

[0136] B1, when the tractor vehicle speed is greater than a preset steady driving speed threshold, continuously acquiring the tractor vehicle heading angle to generate tractor heading angle data, and continuously acquiring the semi-trailer heading angle data to generate semi-trailer heading angle data within a preset heading detection time period;

[0137] The steady driving speed threshold is a pre-set speed reference value used to determine whether the tractor is in a steady driving state. Usually, when a tractor is driving with a semi-trailer connected, the driver will not turn at a high speed for safety reasons. Therefore, it can be considered that when the speed is high, the tractor and semi-trailer are in a non-turning steady driving state.

[0138] The orientation detection duration is a pre-set duration used to determine the duration of data collection;

[0139] The tractor heading angle data is a collection of tractor heading angle data obtained during the heading detection period;

[0140] The semi-trailer heading angle data is a collection of semi-trailer heading angle data obtained during the heading detection period.

[0141] B2, calculate the corresponding tractor direction angle standard deviation and tractor direction average angle according to the tractor direction angle data;

[0142] The standard deviation of the tractor direction angle is the standard deviation of the tractor direction angle data;

[0143] The average tractor direction angle is the average value of the tractor direction angle data.

[0144] B3, calculating the corresponding semi-trailer direction angle standard deviation and the semi-trailer direction average angle according to the semi-trailer direction angle data;

[0145] The standard deviation of the semi-trailer direction angle is the standard deviation of the semi-trailer direction angle data;

[0146] The average semi-trailer direction angle is the average value of the semi-trailer direction angle data.

[0147] B4, if the standard deviation of the tractor direction angle and the standard deviation of the semi-trailer direction angle are both less than or equal to the preset stable standard deviation threshold, the direction deviation angle is calculated based on the difference between the average tractor direction angle and the average trailer direction angle;

[0148] The stability standard deviation threshold is a pre-set reference value, which is used to determine whether the current tractor and semi-trailer are in a straight-line driving state by combining the tractor direction angle standard deviation and the semi-trailer direction angle standard deviation;

[0149] When the standard deviation of the tractor's direction angle and the standard deviation of the semi-trailer's direction angle are both less than or equal to the stable standard deviation threshold, it can be ruled out that the tractor and semi-trailer are in a lane-changing state. It can be determined that the tractor and semi-trailer are in a stable straight-line driving state. When changing lanes, the direction angles of the tractor and semi-trailer will change significantly, resulting in a larger corresponding angle standard deviation;

[0150] The direction deviation angle is the measured deviation between the tractor direction angle and the trailer direction angle. It may occur when the tractor direction detection module 11 and the trailer direction detection module 12 are installed, or different data deviations may occur during continuous operation. By determining the deviation between the tractor direction detection module 11 and the trailer direction detection module 12, the accuracy of subsequent data processing can be improved.

[0151] When the tractor and semi-trailer are driving smoothly and in a straight line, the current direction deviation angle can be calculated to improve the accuracy of the articulation angle obtained by the tractor when turning.

[0152] B5, calculate the articulation angle based on the tractor heading angle, semi-trailer heading angle and direction deviation angle;

[0153] A more accurate articulation angle can be obtained by calculating the difference between the tractor's and trailer's heading angles and correcting the difference based on the direction deviation angle.

[0154] Through the above steps, the transport semi-trailer safety warning system can determine whether the tractor and semi-trailer are in a stable straight-line driving state by using the tractor heading angle data and the semi-trailer heading angle data and the current tractor speed, and calculate the deviation value between the tractor heading angle data and the semi-trailer heading angle data in the straight-line driving state to improve the measurement accuracy of the articulation angle.

[0155] Furthermore, the safety warning strategy further includes the following steps for determining the inner wheel coordinates of the tractor and the inner wheel coordinates of the semi-trailer:

[0156] C1, determine the corresponding inner wheels of the tractor and semi-trailer according to the articulation angle;

[0157] The inner wheel of the tractor is the inner wheel corresponding to the tractor when turning;

[0158] The inner wheel of the semi-trailer is the inner wheel corresponding to the direction of the semi-trailer when it follows the tractor;

[0159] For example, if the articulation angle of the tractor and semi-trailer when traveling in a straight line is set to 180°, then when the tractor turns right, the articulation angle will be less than 180°, and the steering wheel on the right side of the tractor can be identified as the inner wheel of the tractor, and the wheel on the right side of the semi-trailer can be identified as the inner wheel of the semi-trailer. When the tractor turns left, the articulation angle will be greater than 180°, and the steering wheel on the left side of the tractor can be identified as the inner wheel of the tractor, and the wheel on the left side of the semi-trailer can be identified as the inner wheel of the semi-trailer.

[0160] C2, calculates the coordinates of the inner wheels of the tractor according to the articulation angle, the origin coordinates, the articulated wheelbase of the tractor's steering wheels and the width of the tractor;

[0161] Because for the selected tractor, the origin coordinates set based on the articulation position, the tractor steering wheel articulation wheelbase and the tractor width are fixed, the coordinates of the steering axis midpoint can be calculated based on the articulation angle, the origin coordinates and the tractor steering wheel articulation wheelbase, and then the coordinates of the corresponding inner wheel can be calculated based on the coordinates of the steering axis midpoint and half of the tractor width.

[0162] C3, calculates the inner wheel coordinates of the semitrailer based on the articulation angle, origin coordinates, semitrailer articulation wheelbase and semitrailer width;

[0163] The same principle as step C2 can be used to calculate and determine the inner wheel coordinates of the semi-trailer.

[0164] Through the above steps, the transport semi-trailer safety warning system can determine the inner wheels of the tractor and semi-trailer when turning through the articulation angle, and can effectively determine the position coordinates of the inner wheels of the vehicle through the articulation angle, the origin coordinates and the fixed parameters of the vehicle, thereby improving the accuracy and reliability of the safety warning during turning and further ensuring driving safety.

[0165] Furthermore, the safety warning strategy further includes the following steps for controlling the orientation angle adjustment module:

[0166] D1, calculate and determine the corresponding projection horizontal angle based on the response endpoint coordinates and the inner wheel coordinates of the semi-trailer;

[0167] The projection horizontal direction angle is the angle of the orientation angle adjustment module 52 in the horizontal direction when the projection module 51 projects the warning image, and is used to determine the projection direction angle in the horizontal direction.

[0168] D2, calculate the projected horizontal distance based on the response endpoint coordinates and the inner wheel coordinates of the semi-trailer;

[0169] The projected horizontal distance is the distance from the response end point coordinate to the inner wheel coordinate of the semi-trailer in the horizontal direction, which can be calculated and determined based on the coordinates of the two.

[0170] D3, calculates the corresponding projection viewing angle based on the projection horizontal distance and the preset projection module installation height;

[0171] The projection module installation height is the installation height of the projection module 51 relative to the ground, which can be determined during installation;

[0172] The projection overlooking angle is the angle in the vertical direction of the orientation angle adjustment module 52 when the projection module 51 projects the warning image, and is used to determine the projection direction angle in the vertical direction. The projection overlooking angle can be calculated by taking the inverse tangent based on the projection horizontal distance and the installation height of the projection module.

[0173] D4, adjusting the orientation angle adjustment module 52 according to the projection horizontal angle and the projection downward angle;

[0174] After determining the projection horizontal angle and the projection downward angle, the orientation angle adjustment module 52 may be adjusted to a corresponding orientation.

[0175] Through the above steps, the transport semi-trailer safety warning system can accurately control the orientation angle adjustment module by calculating the projection horizontal angle, projection horizontal distance and projection overhead angle, so that the warning image can be accurately projected to the corresponding dangerous area, thereby improving the accuracy and effectiveness of the warning, ensuring that external traffic participants can be accurately reminded to stay away from the dangerous area, thereby improving driving safety.

[0176] Furthermore, the safety warning strategy further includes the following steps for controlling the sound module 53:

[0177] E1, calculate and determine the corresponding adjustment coefficient based on the projection horizontal angle and the preset reference horizontal angle;

[0178] The reference horizontal angle is a pre-set reference value used to determine the size of the projection horizontal angle;

[0179] E2, calculating and determining the target frequency of the warning sound according to the preset reference frequency of the warning sound and the adjustment coefficient;

[0180] The warning sound base frequency is a preset frequency of the safety warning audio, for example, one beep per second;

[0181] The warning sound target frequency is the sound frequency of the safety warning audio that needs to be adjusted, and is used to update the sound frequency of the safety warning audio;

[0182] When the steering amplitude of the traction vehicle increases, the connection angle will increase, which will in turn increase the horizontal angle of the projection. At this time, the range of the danger zone will also increase. In this case, it is necessary to adjust the sound frequency of the corresponding safety warning audio to improve the warning effect.

[0183] E3, playing the safety warning audio through the sound module 53 according to the warning sound target frequency;

[0184] Plays safety warning audio at the warning sound target frequency to match the actual turning situation.

[0185] Through the above steps, the transport semi-trailer safety warning system can adjust the sound frequency of the warning audio according to the horizontal angle of the projection, so that the system can emit appropriate warning sounds under different steering amplitudes, which can more effectively remind external traffic participants to pay attention to potential dangers, improve the timeliness and effectiveness of the warning, and thus further reduce the risk of accidents.

[0186] Furthermore, the transport trailer safety warning system also includes a trailer lateral stability warning strategy, including the following steps:

[0187] F1: When the towing vehicle speed is greater than the steady-state driving speed threshold, the articulation angle is continuously calculated within the preset stability detection time to generate articulation angle data;

[0188] The stability detection duration is a pre-set duration, which is used to continuously obtain the articulation angle within the set duration;

[0189] The articulation angle data is a data set of articulation angles obtained during the stability test time.

[0190] F2, calculate the corresponding articulation angle standard deviation based on the articulation angle data;

[0191] The standard deviation of the articulation angle is the standard deviation of the articulation angle data, which reflects the changes in the articulation angle.

[0192] F3, if the standard deviation of the articulation angle is greater than the preset stability angle threshold, the sound module 51 plays a preset stability warning audio;

[0193] The stable angle threshold is a pre-set reference value used to determine whether the standard deviation of the articulation angle is too large;

[0194] The stability warning audio is a pre-set audio content used to warn the vehicle of driving stability, which can be a specific sound or voice prompt content.

[0195] Through the above steps, the transport semi-trailer safety warning system can monitor the changes in the articulation angles of the tractor and semi-trailer in real time. When it is detected that the standard deviation of the articulation angle exceeds the preset threshold, the system will play a stable warning audio through the sound module to promptly remind the driver to pay attention to the vehicle's driving stability, which can effectively prevent potential dangers caused by excessive changes in the articulation angle and further improve driving safety and stability.

[0196] Furthermore, the transport trailer safety warning system also includes a cargo balance warning strategy, including the following steps:

[0197] G1, generates corresponding left deviation angle data and right deviation angle data of the semi-trailer according to the articulation angle data;

[0198] The left deviation angle data is a collection of data on the articulation angle of the tractor when it deviates to the left compared to the semi-trailer;

[0199] The right deviation angle data is a collection of data on the articulation angle of the tractor when it deviates to the right compared to the semi-trailer;

[0200] For example, if the articulation angle of the tractor and semi-trailer when traveling in a straight line is set to 180°, all articulation angles less than 180° are combined to generate right deviation angle data, and all articulation angles greater than 180° are combined to generate left deviation angle data, thereby achieving data segmentation.

[0201] G2, calculate the average left deviation angle based on the average of the left deviation angle data of the semi-trailer;

[0202] The average left deviation angle is the average value of the left deviation angle data of the semi-trailer.

[0203] G3, calculate the average right deviation angle based on the right deviation angle data of the semi-trailer;

[0204] The average right deviation angle is the average value of the right deviation angle data of the semi-trailer.

[0205] G4, calculate the average angle difference based on the average left deviation angle and the average right deviation angle;

[0206] The average angle difference is the difference between the average left deviation angle and the average right deviation angle.

[0207] G5: If the average angle difference is greater than the preset angle difference threshold, the sound module 53 plays a preset cargo balance warning audio;

[0208] The angle difference threshold is a pre-set reference value used to determine whether the average angle difference is too large;

[0209] The cargo balance warning audio is a pre-set warning audio used to inform the driver of possible imbalance of cargo in the semi-trailer;

[0210] When the center of the cargo on a semi-trailer is unbalanced, or the cargo is detached from its fixed position, the trailer may swing left and right at high speeds, resulting in a large difference in the angle of the swing. By calculating the articulation angles when swinging left and right, it can be found whether the semi-trailer is unbalanced.

[0211] Through the above steps, the transport semi-trailer safety warning system can monitor the left and right deviation angles of the semi-trailer during driving, calculate the average left deviation angle and the average right deviation angle, and judge whether the cargo is balanced based on the difference between them. It can promptly remind the driver that the semi-trailer may have unbalanced cargo. This function effectively prevents safety hazards caused by unbalanced cargo and improves driving stability and safety.

[0212] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise stated, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise stated, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A transport semi-trailer safety warning system, characterized in that: include: Articulation angle detection module, used to obtain the articulation angle between the tractor and the semi-trailer; The vehicle speed detection module is used to obtain the tractor speed of the tractor; Steering angle detection module, used to obtain the steering angle of the tractor; A processing control module is used to process data and control the warning module; Warning module, used to issue safety warnings; The articulation angle detection module, the vehicle speed detection module, the steering angle detection module and the warning module are respectively communicatively connected to the processing control module; The articulation angle detection module includes a tractor direction detection module and a semi-trailer direction detection module, and the tractor direction detection module and the semi-trailer direction detection module are respectively communicatively connected to the processing control module; Among them, the warning module includes a projection module, a direction angle adjustment module and a sound module, the projection module and the sound module are respectively arranged in the direction angle adjustment module, and the projection module, the direction angle adjustment module and the sound module are respectively communicatively connected to the processing control module.

2. The transport trailer safety warning system according to claim 1, characterized in that: The transport trailer safety warning system further includes a safety warning strategy, including the following steps: A1, obtaining the heading angle of the tractor through the tractor direction detection module; A2, obtaining the heading angle of the semi-trailer through the semi-trailer direction detection module; A3: Determine the articulation angle based on the tractor and semi-trailer heading angles. A4, when the articulation angle is greater than a preset activation angle threshold, obtaining the traction vehicle speed through the vehicle speed detection module and obtaining the steering angle through the steering angle detection module; A5, calculates and determines the corresponding response distance based on the traction vehicle speed and the preset response time; A6, establish a positioning coordinate system based on the horizontal plane with the hinge position as the origin coordinate; A7, determining the coordinates of the inner wheels of the tractor according to the articulation angle, the articulation position, the preset articulation wheelbase of the tractor steering wheel, and the preset width of the tractor; A8, determining the corresponding response end point coordinates based on the tractor's inner wheel coordinates, steering angle, and response distance; A9, determining the inner wheel coordinates of the semitrailer according to the articulation angle, the articulation position, the preset articulation wheelbase of the semitrailer, and the preset width of the semitrailer; A10, determines the coordinate data of the dangerous area based on the origin coordinates, the response end point coordinates and the inner wheel coordinates of the semi-trailer; A11, controlling the projection module and the orientation angle adjustment module through the processing control module to project a preset warning image onto the ground corresponding to the coordinate data of the dangerous area; A12, controlling the sound module to play a preset safety warning audio through the processing control module.

3. The transport trailer safety warning system according to claim 2, characterized in that: The safety warning strategy further includes the following steps for determining the articulation angle: B1, when the tractor vehicle speed is greater than a preset steady driving speed threshold, continuously acquiring the tractor vehicle heading angle to generate tractor heading angle data, and continuously acquiring the semi-trailer heading angle data to generate semi-trailer heading angle data within a preset heading detection time period; B2, calculate the corresponding tractor direction angle standard deviation and tractor direction average angle according to the tractor direction angle data; B3, calculating the corresponding semi-trailer direction angle standard deviation and the semi-trailer direction average angle according to the semi-trailer direction angle data; B4, if the standard deviation of the tractor direction angle and the standard deviation of the semi-trailer direction angle are both less than or equal to the preset stable standard deviation threshold, the direction deviation angle is calculated based on the difference between the average tractor direction angle and the average trailer direction angle; B5, calculate the articulation angle based on the tractor heading angle, semi-trailer heading angle and direction deviation angle.

4. The transport trailer safety warning system according to claim 3, characterized in that: The safety warning strategy further includes the following steps for determining the inner wheel coordinates of the tractor and the inner wheel coordinates of the semi-trailer: C1, determine the corresponding inner wheels of the tractor and semi-trailer according to the articulation angle; C2, calculate the coordinates of the inner wheels of the tractor according to the articulation angle, the origin coordinates, the articulated wheelbase of the tractor's steering wheels and the width of the tractor; C3, calculates the inner wheel coordinates of the semitrailer based on the articulation angle, origin coordinates, semitrailer articulation wheelbase and semitrailer width.

5. The transport trailer safety warning system according to claim 4, characterized in that: The safety warning strategy further includes the following steps for controlling the orientation angle adjustment module: D1, calculate and determine the corresponding projection horizontal angle based on the response endpoint coordinates and the inner wheel coordinates of the semi-trailer; D2, calculate the projected horizontal distance based on the response endpoint coordinates and the inner wheel coordinates of the semi-trailer; D3, calculates the corresponding projection viewing angle based on the projection horizontal distance and the preset projection module installation height; D4, adjusting the orientation angle adjustment module according to the projection horizontal angle and the projection downward angle.

6. The transport trailer safety warning system according to claim 5, characterized in that: The safety warning strategy further includes the following steps for controlling the sound module: E1, calculate and determine the corresponding adjustment coefficient based on the projection horizontal angle and the preset reference horizontal angle; E2, calculating and determining the target frequency of the warning sound according to the preset warning sound reference frequency and the adjustment coefficient; E3, playing the safety warning audio through the sound module according to the warning sound target frequency.

7. The transport trailer safety warning system according to claim 6, characterized in that: Further includes a semi-trailer lateral stability warning strategy, The following steps are involved: F1: When the towing vehicle speed is greater than the steady-state driving speed threshold, the articulation angle is continuously calculated within the preset stability detection time to generate articulation angle data; F2, calculate the corresponding articulation angle standard deviation based on the articulation angle data; F3: If the standard deviation of the articulation angle is greater than the preset stability angle threshold, a preset stability warning audio is played through the sound module.

8. The transport trailer safety warning system according to claim 7, characterized in that: Further comprising a cargo balance alert strategy comprising the following steps: G1, generates corresponding left deviation angle data and right deviation angle data of the semi-trailer according to the articulation angle data; G2, calculate the average left deviation angle based on the average of the left deviation angle data of the semi-trailer; G3, calculate the average right deviation angle based on the right deviation angle data of the semi-trailer; G4, calculate the average angle difference based on the average left deviation angle and the average right deviation angle; G5: If the average angle difference is greater than a preset angle difference threshold, a preset cargo balance warning audio is played through the sound module.

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