Management and control method and device for trailer type vehicle, computer equipment and storage medium

Abstract

The invention provides a trailer type vehicle management and control method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining a first entrance record of a head license plate and a second entrance record of a trailer license plate when the head license plate of a tractor head and the trailer license plate of a trailer are detected; based on the first admission record and the second admission record, generating corresponding to-be-paid payment information, and detecting a payment voucher matched with the to-be-paid payment information; and based on the payment voucher, traffic control is performed on the tractor head and the trailer. Through the first entrance record and the second entrance record, the to-be-paid payment information corresponding to the tractor head and the trailer can be accurately generated, charging errors caused by behaviors such as trailer changing are avoided, passing control is achieved according to the corresponding payment voucher, fee settlement and passing control of the trailer type vehicle can be completed without manual participation, and the efficiency is improved. Therefore, the automatic management capability of trailer type vehicles at the entrance and exit of the parking lot is improved, the passing efficiency is improved, and the manual guard cost is reduced.

Description

Technical Field

[0001] This application relates to the field of parking lot management, specifically to a method, device, computer equipment, and storage medium for controlling trailer vehicles. Background Technology

[0002] Most existing parking management systems are designed for ordinary single-license plate vehicles, meaning one vehicle corresponds to one license plate number. License plate recognition cameras capture license plate images, which are then combined with gate controllers, payment terminals, and other equipment to achieve automatic billing and passage control. In the case of trailer-type vehicles, the tractor unit and trailer are usually registered and licensed separately. The tractor unit has its own license plate, and the trailer has its own license plate; the two license plate numbers are different, and from a license plate management perspective, they are treated as two independent vehicles. However, in existing parking systems, most only one set of license plate recognition equipment is deployed in the lane. The system defaults to one license plate per vehicle. When trailer-type vehicles pass through, either only the tractor unit's license plate is recognized, ignoring the trailer's license plate, or, in some special deployments, only the trailer's license plate is recognized, making it difficult to achieve refined management and billing for trailer-type vehicles.

[0003] Under a primarily manual management model, the entry and exit of trailer-type vehicles often require manual visual verification at the toll booth, manual recording of the tractor and trailer license plates, and then inputting or modifying the relevant records in the toll collection system. During peak hours or in large logistics parks, ports, and freight yards, trailer-type vehicles frequently enter and exit, with numerous lanes and high traffic density. Personnel on duty need to complete license plate verification, toll calculation, invoice issuance, and gate control within a short period, which easily leads to input errors, omissions, or misrecording. For example, different batches of trailers may be incorrectly associated with the same tractor, or only the tractor's fee may be collected while the trailer's fee is missed. Furthermore, when there are operations such as trailer swapping or trailer replacement, the combination relationship between the tractor and trailer changes upon entry and exit, requiring entirely manual understanding and handling, often necessitating telephone communication or paper-based transactions, resulting in complex processes and low efficiency.

[0004] Therefore, how to provide a management method for trailer vehicles that can effectively improve the accuracy and efficiency of management has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a method, device, computer equipment, and storage medium for managing trailer-type vehicles, in order to solve the problems of low accuracy and efficiency in traditional methods for managing trailer-type vehicles.

[0006] According to a first aspect of this application, one embodiment provides a method for controlling trailer-type vehicles, the trailer-type vehicles comprising a tractor unit and a trailer, including: When the tractor's license plate and the trailer's license plate are detected, the first entry record of the tractor's license plate and the second entry record of the trailer's license plate are obtained. Based on the first entry record and the second entry record, corresponding payment information is generated, and payment vouchers that match the payment information are detected. Based on the payment receipt, traffic control is implemented for the tractor unit and the trailer.

[0007] Optionally, based on the first entry record and the second entry record, corresponding payment information is generated, including: Obtain the image features and / or time features of the passage of the tractor unit and the trailer; Based on the passage image features and / or passage time features of the tractor unit and the trailer, determine the association status between the tractor unit and the trailer; Based on the associated status, the first entry record, and the second entry record, corresponding payment information is generated.

[0008] Optionally, determining the association status between the tractor unit and the trailer based on the passage image features and / or passage time features of the tractor unit and the trailer includes: Based on the traffic image features, determine whether there is a spatial association between the tractor unit and the trailer; Based on the travel time characteristics, determine whether there is a temporal correlation between the tractor unit and the trailer; When the tractor unit and the trailer are spatially associated and / or temporally associated, the associated state is determined to be associated. When the tractor unit and the trailer are not spatially or temporally associated, the association status is determined to be unassociated.

[0009] Optionally, the traffic image features include contour features and size features, and determining whether the tractor unit and the trailer are spatially associated based on the traffic image features includes: Based on the outline features of the tractor unit and the trailer, determine whether there is a correlation between the outlines of the tractor unit and the trailer; Based on the size characteristics of the tractor unit and the trailer, determine whether there is a correlation between the sizes of the tractor unit and the trailer; When the outline of the tractor unit and the trailer are related, and / or their dimensions are related, it is determined that the tractor unit and the trailer are spatially related; When the outlines of the tractor unit and the trailer are not related, and their dimensions are not related, it is determined that the tractor unit and the trailer are not spatially related.

[0010] Optionally, the passage time feature is radar data or ground sensing data, and determining whether there is a temporal correlation between the tractor unit and the trailer based on the passage time feature includes: Based on the radar data or the ground sensing data, determine the time interval when the tractor and the trailer pass through the preset detection area; Based on the passage time interval and the preset time interval threshold, it is determined whether there is a temporal correlation between the tractor unit and the trailer.

[0011] Optionally, generating corresponding payment information based on the associated status, the first entry record, and the second entry record includes: Based on the first entry record, calculate the first cost of the tractor unit; Based on the second entry record, calculate the second cost of the trailer; When the association status is "associated", the total cost is calculated based on the first cost and the second cost, and the payment information is generated based on the total cost. When the association status is unassociated, the toll information of the tractor unit is generated based on the first fee, and the toll information of the trailer is generated based on the second fee.

[0012] According to a second aspect of this application, one embodiment provides a control device for a trailer-type vehicle, the trailer-type vehicle including a tractor unit and a trailer, the device comprising: The acquisition module is used to acquire a first entry record of the tractor license plate and a second entry record of the trailer license plate when the tractor license plate and the trailer license plate are detected. The generation module is used to generate corresponding payment information based on the first entry record and the second entry record, and to detect payment vouchers that match the payment information. The control module is used to control the passage of the tractor and the trailer based on the payment voucher.

[0013] Optionally, the generation module is further configured to: Obtain the image features and / or time features of the passage of the tractor unit and the trailer; Based on the passage image features and / or passage time features of the tractor unit and the trailer, determine the association status between the tractor unit and the trailer; Based on the associated status, the first entry record, and the second entry record, corresponding payment information is generated.

[0014] According to a third aspect of this application, one embodiment provides a computer device including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the above-described method for controlling trailer-type vehicles when executing the computer-readable instructions.

[0015] According to a fourth aspect of this application, one embodiment provides a readable storage medium storing computer-readable instructions thereon, which, when executed by a processor, implement a method for controlling trailer-type vehicles.

[0016] According to the above-described method for managing trailer-type vehicles, the first entry record of the tractor's license plate and the second entry record of the trailer's license plate can accurately generate payment information corresponding to the tractor and trailer, avoiding billing errors caused by trailer swapping and other actions. Furthermore, it enables passage control based on the corresponding payment voucher, completing the fee settlement and passage control for trailer-type vehicles without manual intervention. This improves the automated management capabilities of trailer-type vehicles at parking lot entrances and exits, increases traffic efficiency, and reduces manual duty costs. Attached Figure Description

[0017] Figure 1 This is one of the flowcharts illustrating a method for controlling trailer-type vehicles in one embodiment of the present invention; Figure 2 This is a second flowchart illustrating the method for controlling trailer-type vehicles in one embodiment of the present invention; Figure 3 This is a third flowchart illustrating the method for controlling trailer-type vehicles in one embodiment of the present invention; Figure 4 This is the fourth flowchart illustrating the method for controlling trailer-type vehicles in one embodiment of the present invention; Figure 5 This is the fifth flowchart illustrating the method for controlling trailer-type vehicles in one embodiment of the present invention; Figure 6 This is a schematic flowchart of a method for controlling trailer-type vehicles in one embodiment of the present invention; Figure 7 This is a schematic diagram of the control system for trailer-type vehicles in one embodiment of the present invention; Figure 8 This is a schematic diagram of a control device for trailer-type vehicles in one embodiment of the present invention; Figure 9 This is a schematic diagram of a computer device according to an embodiment of the present invention. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0019] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0020] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0021] In one embodiment, such as Figure 1 As shown, a method for managing trailer-type vehicles is provided, which includes a tractor unit and a trailer, and includes the following steps: 101. When the tractor's license plate and the trailer's license plate are detected, obtain the first entry record of the tractor's license plate and the second entry record of the trailer's license plate.

[0022] In this embodiment of the invention, when the license plate of the tractor unit and the license plate of the trailer are detected, the corresponding entry record can be extracted. Here, a trailer-type vehicle typically consists of a tractor unit and a trailer, which are mechanically connected to achieve transportation functions. However, it is not limited to standard road freight vehicle models; it can also be a vehicle group used for container transport, trailer swapping, or special vehicle transport.

[0023] The tractor head can be a motor vehicle with autonomous driving capabilities and an independent license plate, and its license plate serves as the only identification mark for the vehicle in the road traffic and parking management systems. The trailer is a vehicle unit that is towed and cannot be self-driven, and it also has an independently issued trailer license plate number, usually with the character "trailer" for distinction from the tractor head. Such tractor head license plates and trailer license plates can be common civilian blue plates or yellow plates, or special license plates for trailer vehicle management regulations. As long as the text, characters or image information can be obtained through visual recognition devices, vehicle identification can be achieved.

[0024] The above tractor head license plate can be collected by the first identification camera, and the above trailer license plate can be collected by the second identification camera. Specifically, the configuration method of the first identification camera and the second identification camera can be understood in combination with Figure 7 the structural schematic diagram of the control system for trailer-type vehicles shown. Through Figure 7 it can be seen that the control system for trailer-type vehicles can include identification camera A (i.e., the first identification camera), identification camera B (i.e., the second identification camera), and a road gate. In addition, it can also include a traffic detection device (such as a radar unit or a ground sensing unit) and a parking management platform. The above parking management platform obtains the data collected by the above identification camera A, identification camera B, and the above traffic detection device and executes the control method for trailer-type vehicles.

[0025] In this schematic diagram, the first identification camera is arranged near the lane road gate, usually in the front position of the vehicle passing direction, and its installation angle is convenient for preferentially capturing the license plate area of the tractor head when the vehicle approaches the road gate. Since the license plate position of the tractor head is relatively fixed, generally located on the front bumper or the lower part of the vehicle head, the first identification camera can adopt a high-definition imaging device with a fixed viewing angle. By setting appropriate focal length, exposure and inclination angle, it is ensured that a clear image of the tractor head license plate can be accurately obtained before the vehicle completely enters the road gate area.

[0026] Correspondingly, the second identification camera is located in the lane area behind the first identification camera, near the position where the trailer passes. This camera usually has the ability to identify at multiple angles. For example, a fish-eye lens can be used to achieve wide-field coverage, or a pan-tilt camera device that supports pitching rotation or automatic focus adjustment can be used, so that even when there are differences in the trailer length, vehicle body structure or license plate position, the license plate image of the trailer at different angles can still be captured. Since the license plate of the trailer is generally installed at the center and slightly lower position of the vehicle tail, and the trailer length may reach more than ten meters, the layout position of the second identification camera needs to be planned in combination with the lane width, vehicle running trajectory and possible offset of the trailer tail, so that the trailer can always be within the effective identification field of view when passing through camera B.

[0027] Figure 7The diagram illustrates a typical scenario where a tractor-trailer and a trailer pass sequentially along a lane. The tractor-trailer first enters the recognition area of ​​the first camera, where its license plate is captured and recognized before it continues forward. Subsequently, the trailer enters the detection range of the second camera as it continues through the lane. Through multi-angle recognition, this camera can adjust its recognition angle based on the trailer's actual position or process images from a wide viewing angle using distortion correction algorithms, ensuring that the trailer's license plate is also accurately recognized. This front-and-rear arrangement of recognition cameras allows for the separate and independent recognition of the tractor-trailer's license plate, providing fundamental data input for subsequent traffic feature analysis and correlation status determination.

[0028] Understandably, the two-camera collaborative recognition method is highly adaptable, capable of handling trailers of different sizes and structures. For example, for light trailers with a lower body height, the second recognition camera can identify them from a downward angle; for special container trailers or refrigerated trailers, where the rear may be obstructed or have strong reflections, multi-angle recognition allows the camera to capture usable images from different directions; and for low-light environments such as nighttime or rain / fog, stable recognition can be achieved through supplementary lighting, infrared cameras, or low-light imaging technology. In summary, Figure 7 The camera setup demonstrated ensures reliable license plate capture of trailer-mounted vehicles in unattended scenarios, thereby supporting subsequent automated billing and control processes.

[0029] It should be noted that the aforementioned control system is not limited to a two-camera collaborative identification method. In some implementations, considering the greater flexibility in the placement and stronger multi-angle recognition capabilities of the second identification camera, the first identification camera can be omitted, retaining only the second identification camera, which independently identifies the license plates of the tractor unit and the trailer. The second identification camera can be installed above, to the side, or behind the lane, and uses a wide-angle lens, a top-down angle, or continuous shooting mode to capture corresponding images when the tractor unit enters the detection area and when the trailer passes through the detection area. Since the tractor unit and trailer have a fixed passage order in the lane, the second identification camera can automatically extract the tractor unit's license plate and the trailer's license plate in two time periods, thereby achieving complete passage image features with a single camera. The single-camera approach reduces hardware investment and facilitates deployment in space-constrained, cost-sensitive, or parking lot environments where only a single camera can be placed, further improving the system's applicability and flexibility.

[0030] Furthermore, the aforementioned entry records can be stored in a preset entry record table, which can be obtained by the identification device at the entry lane when a trailer-type vehicle enters the parking lot. Specifically, when a tractor-trailer passes through the entrance lane, the identification camera at the entrance identifies the license plate of the tractor-trailer or trailer and stores the identified license plate number, entry time, entry lane, identification device number, and other information as an entry record in the parking management system.

[0031] For trailer-type vehicles, since the tractor and trailer each have different license plate numbers, two independent entry records can be generated during the entry phase, corresponding to the tractor's license plate and the trailer's license plate respectively. The entry record table can be one or more logical record tables in a database, used to query vehicle entry information by license plate dimension. The specific storage structure of the entry record table is not limited; it can be a relational database table, a key-value storage structure, or other storage formats with query capabilities, as long as the corresponding entry time information can be retrieved based on the license plate number, it meets the usage requirements of this invention.

[0032] Specifically, you can first retrieve the first entry record corresponding to the tractor license plate and the second entry record corresponding to the trailer license plate from the pre-set entry record table. Generally, if a license plate has multiple historical entry records, you can prioritize the one with the most recent exit time that has not yet been settled as the target entry record to avoid confusion with previously settled records.

[0033] Through the above methods, the entry record can provide reliable time and identity data for subsequent payment information, enabling trailer vehicles to accurately correspond to their actual entry behavior during the exit tolling process, and further providing a complete record link for subsequent fee calculation and payment voucher matching.

[0034] 102. Based on the first entry record and the second entry record, generate corresponding payment information and detect payment vouchers that match the payment information.

[0035] In this embodiment of the invention, after obtaining the first entry record and the second entry record, corresponding payment information can be generated by combining the entry time, entry channel information, and associated status recorded in the two records. The payment information can be understood as a set of data indicating the billing object that needs to be settled for this passage event and its basic billing basis. For example, it may include the license plate of the tractor unit, the license plate of the trailer, their respective entry time, exit time, applicable billing rule identifier, and associated status marker.

[0036] After generating the payment information, the corresponding payment voucher can be checked. This payment voucher can be a payment success message obtained by scanning a QR code on a mobile terminal, a QR code payment result provided by the lane-side display device, or an automatic deduction voucher linked to the parking system's online account. Once a valid payment voucher corresponding to the payment information is detected, it can be confirmed that the fee for this passage event has been settled.

[0037] Specifically, it can generate pending payment information for both the first and second entry records, separately checking the payment vouchers corresponding to the pending payment information for the first and second entry records, allowing users to pay separately. Alternatively, it can calculate the total cost of the tractor and trailer based on the first and second entry records, generate pending payment information for the total cost, and check the payment vouchers for the pending payment information for the total cost, allowing users to pay the parking fees for both the tractor and trailer at once. The method for generating pending payment information can be set according to actual needs and is not specifically limited here.

[0038] 103. Based on payment receipts, traffic control will be implemented for tractor units and trailers.

[0039] In this embodiment of the invention, traffic control typically occurs at the exit area where vehicles are preparing to leave the lane. This area is generally equipped with a barrier gate, traffic lights, or other physical barriers. When the generated payment information matches the payment voucher returned by the payment system, it indicates that the payment for this passage event has been settled. At this point, the parking management system can output confirmation information to the lane control module, triggering the corresponding release action. In practical applications, this release action can manifest as automatically raising the barrier, opening the barrier mechanism, or emitting a light signal indicating passage is possible, allowing the tractor unit and its corresponding trailer to leave smoothly without manual intervention.

[0040] After both the tractor and trailer have paid the toll, the traffic control can be applied to both simultaneously based on the same payment voucher, without the need for secondary confirmation of the tractor or trailer separately. This avoids the problem of repeated verification or waiting that vehicles with trailers may encounter when passing through the exit, and improves the passage efficiency of large transport vehicles in unmanned lanes.

[0041] If no valid payment voucher is detected, the barrier gate can remain closed or the blocking mechanism can remain locked. Simultaneously, drivers can be prompted to complete the outstanding payment via lane-side displays, voice prompts, or mobile terminal push notifications. In some embodiments, a waiting timeout mechanism can be set. If no payment voucher is detected after a preset time, auxiliary processes can be triggered, such as re-acquiring the payment information, re-issuing the payment interface, recording abnormal events, or guiding the vehicle to the manual processing lane to prevent vehicles from occupying exit resources for extended periods. Furthermore, for potential payment anomalies, invalid payment voucher formats, or unverifiable voucher sources, verification logic can be used to filter and block these situations, improving the security and accuracy of traffic control.

[0042] By employing the aforementioned payment-based access control method, a one-to-one correspondence between the toll collection process and the release operation can be established in unattended scenarios. This ensures that the release operation only takes effect upon successful payment, thereby guaranteeing the reliability of fee settlement and enabling smooth passage of tractor-trailers. The access control method of this invention is applicable to both the overall passage of associated vehicles and the passage of individual vehicle units, allowing the entire parking management process to flexibly adapt to various passage scenarios for trailer-type vehicles.

[0043] In this embodiment of the invention, when the license plate of the tractor unit and the license plate of the trailer are detected, a first entry record of the tractor unit's license plate and a second entry record of the trailer's license plate are obtained. Based on the first entry record and the second entry record, corresponding payment information is generated, and a payment voucher matching the payment information is detected. Based on the payment voucher, passage control is implemented for the tractor unit and the trailer. By using the first entry record of the tractor unit's license plate and the second entry record of the trailer's license plate, the payment information corresponding to the tractor unit and the trailer can be accurately generated, avoiding billing errors caused by actions such as trailer swapping. Passage control is implemented based on the corresponding payment voucher. Fee settlement and passage control for trailer-type vehicles can be completed without manual intervention, thereby improving the automated management capability of trailer-type vehicles at parking lot entrances and exits, increasing traffic efficiency, and reducing manual duty costs.

[0044] It is understood that, in the specific implementation of this application, data related to vehicle license plates, trailer license plates, traffic image features, traffic time features, contour features, size features, radar data, ground sensing data, toll payment information, and payment vouchers are involved. When the embodiments in this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0045] Reference Figure 2 , Figure 2This is a second flowchart illustrating a method for managing trailer-type vehicles according to an embodiment of the present invention; in one embodiment of the present invention, based on the first entry record and the second entry record, corresponding payment information is generated, including: 201. Obtain the passage image features and / or passage time features of the tractor unit and trailer; 202. Determine the association status between the tractor and trailer based on the passage image features and / or passage time features of the tractor and trailer; 203. Based on the associated status, the first entry record, and the second entry record, generate the corresponding payment information.

[0046] In this embodiment of the invention, after detecting the aforementioned license plate information, the passage image features and passage time features of the tractor and trailer can be further obtained. The passage image features can originate from a first and a second recognition camera positioned in the lane, obtained through continuous video stream analysis. Examples include the outline features of the tractor and trailer, the vehicle's proportions, appearance structure, color area distribution, and size estimation parameters, used to characterize their spatial relationship. The passage time features can come from passage detection devices such as inductive loop detectors, lidar, millimeter-wave radar, or ultrasonic detection equipment. Examples include the vehicle's entry time, exit time, detection duration, and signal continuity changes, reflecting whether the tractor and trailer pass through the lane area sequentially in a continuous manner.

[0047] Traffic image features and traffic time features can be used individually or simultaneously to determine whether the tractor and trailer belong to the same traffic process.

[0048] Specifically, the spatial correspondence between the tractor and trailer can be identified based on their relative positions in the image, the continuity of their shapes in consecutive frames, or the order in which the trailer appears relative to the tractor. The temporal continuity can be determined by the continuous vehicle passing signals, signal intervals, or changes in traffic status generated by inductive loop detectors, radar, or other traffic detection devices. When the trailer enters the identification or detection range within a reasonable time window after the tractor has passed, and its traffic image features or traffic status show a corresponding continuity with the tractor, the tractor and trailer can be considered to be in an associated state. If the trailer's appearance time is significantly delayed, the image cannot form a continuous relationship with the tractor, or the traffic status detection is interrupted, it can be determined to be in a non-associated state.

[0049] Using the above methods, even under different vehicle types, different traffic speeds, and different lane conditions, it is possible to accurately identify the relationship between the tractor and the trailer, providing a reliable basis for billing and traffic management.

[0050] Accordingly, the generation method for pending payment information is not limited to a fixed strategy; it can also be dynamically determined based on the association between the tractor and trailer in the current passage event. When the association status indicates that the tractor and trailer belong to the same passage event, the fees corresponding to the tractor and trailer can be combined in the billing logic to generate unified pending payment information containing the combined fees, so that the vehicle user only needs to complete one payment operation. If the association status is unassociated, that is, the tractor or trailer has separate passage situations, independent pending payment information can be generated for the tractor and trailer respectively to ensure that there are no cases of missed or incorrect billing.

[0051] By generating payment information based on the associated status and detecting payment vouchers, accurate billing and closed-loop fee processing for trailer vehicles can be achieved even under unattended conditions. This not only avoids the inefficiency and error-prone problems caused by manually entering trailer license plates or manually comparing tractor license plates with trailer license plates, but also accurately generates payment information for combined fees when the association status of the tractor and trailer is already associated. Users can pay the fees for the tractor and trailer at once, effectively improving payment efficiency.

[0052] Reference Figure 3 , Figure 3 This is a flowchart illustrating the method for controlling trailer-type vehicles in one embodiment of the present invention; in one embodiment of the present invention, determining whether there is a spatial association between the tractor and the trailer based on traffic image features includes: 301. Based on the features of the traffic image, determine whether there is a spatial relationship between the tractor unit and the trailer; 302. Based on the characteristics of travel time, determine whether there is a temporal correlation between the tractor unit and the trailer; 303. When the tractor unit and the trailer are spatially associated and / or temporally associated, the associated status is determined to be associated. 304. When the tractor unit and the trailer are not spatially or temporally related, the relationship status is determined to be unrelated.

[0053] In this embodiment of the invention, the existence of spatial correlation can be understood as whether the spatial representation of the tractor and trailer in the image has continuity and correspondence. This is typically determined based on the vehicle's positional relationship, appearance structure, or front-to-back arrangement characteristics in consecutive image frames. When the trailer appears sequentially in the camera's field of view behind the tractor in a manner consistent with the vehicle's structural characteristics, it can be considered that there is an observable spatial correlation between the two. The existence of temporal correlation can be understood as whether the temporal representation of the tractor and trailer when passing through the lane detection device has continuity. This is typically judged based on the signal duration, interval changes, or the degree of connection between traffic conditions. If the signal is not interrupted or the time interval is within a reasonable range when both pass through the detection area, then they can be considered to have temporal continuity.

[0054] The association status can be divided into two categories: "associated" and "not associated". "Associated" indicates that the tractor and trailer belong to the same passage event, while "not associated" indicates that the two do not form a corresponding vehicle unit in the current passage process, such as the tractor traveling alone, the trailer being towed by other vehicles, or the trailer being moved alone.

[0055] Specifically, when the image information can provide a stable correspondence between the front and rear structures, even if the passage detection device experiences a brief discontinuity in its state, the spatial correlation can still confirm the combination relationship between the tractor and the trailer. Similarly, even if the image is obstructed, there is insufficient lighting, or the vehicle deviates, resulting in an incomplete image link, as long as the vehicle's passage status in the passage detection device remains continuous or the interval is within a preset reasonable window, the temporal correlation can be used to determine that the two belong to the same passage event.

[0056] In real-world scenarios, the availability of spatial or temporal association between the tractor unit and the trailer can be affected by various environmental factors. Therefore, determining the association status does not necessarily require simultaneous satisfaction of both spatial and temporal dimensions. When at least one association feature meets the judgment criteria, the tractor unit and trailer can be considered to have a clear correspondence in this event. By using an "either one or both" approach, the stability of association judgment can be maintained under different shooting angles, vehicle speeds, vehicle structures, or complex lane conditions. For example, when insufficient nighttime lighting leads to unstable traffic image features, the continuous signal from the vehicle passing through the inductive loop can still be used to determine the temporal association between the tractor unit and the trailer; while when vehicles pass slowly or stop, causing longer detection signal intervals, the continuity of the shape in the image can still provide spatial association between the tractor unit and the trailer. By utilizing at least one of these association relationships, even when multiple uncertainties exist simultaneously, the association status between the tractor unit and the trailer can be reliably determined, providing an accurate basis for subsequent tolling rule execution and release strategy selection.

[0057] Reference Figure 4 , Figure 4 This is the fourth flowchart illustrating the method for controlling trailer-type vehicles in one embodiment of the present invention; in one embodiment of the present invention, the traffic image features include contour features and size features, and based on the traffic image features, determining whether there is a spatial association between the tractor and the trailer includes: 401. Based on the outline features of the tractor unit and the trailer, determine whether there is a relationship between the outlines of the tractor unit and the trailer; 402. Based on the dimensional characteristics of the tractor unit and the trailer, determine whether there is a correlation between the dimensions of the tractor unit and the trailer; 403. When the outlines of the tractor unit and the trailer are related, and / or their dimensions are related, it is determined that the tractor unit and the trailer are spatially related. 404. When the outlines of the tractor and the trailer are not related, and their dimensions are not related, it is determined that the tractor and the trailer are not related in space.

[0058] In this embodiment of the invention, the traffic image features can be acquired by recognition camera A and / or recognition camera B, and their source is not limited to a single fixed recognition device. In some implementations, recognition camera A mainly focuses on capturing the license plate and front structure of the tractor unit, while recognition camera B is positioned in the rear area of ​​the lane, making it more suitable for capturing images of the trailer's rear. Therefore, both can serve as sources of traffic image features. During image acquisition, recognition camera A typically has a fixed angle and strong forward recognition capability, enabling it to capture the outline of the tractor unit, the license plate, and image information related to the overall structure of the vehicle in the initial stage of the vehicle entering the recognition area. Recognition camera B can be configured to have wide-angle shooting, overhead shooting, or side supplementary shooting angles, used to acquire information such as the overall outline of the trailer, the rear structure, and the trailer's license plate as the vehicle continues to move forward, thereby forming a spatial feature combination corresponding to the image of the tractor unit.

[0059] The features of a typical image can be categorized into two types: contour features and size features. Contour features can be understood as the shape and boundary information of the tractor unit and trailer in the image, such as the overall outline of the vehicle body, edge direction, geometry of the rear or front of the vehicle, and the linear distribution of the upper and lower edges of the trailer body. These can be extracted using image processing algorithms such as object detection, edge detection, or semantic segmentation. Size features can be understood as the width, height, aspect ratio, or size variation trend of the tractor unit and trailer in the image coordinate system, used to characterize the relative size relationship of the vehicles from the shooting perspective.

[0060] Based on the contour features of the tractor unit and trailer, it is possible to determine whether their contours are related. For example, the contour boundaries of the tractor unit and trailer can be tracked in consecutive frames. When the trailer's contour is detected to always be located in the same lane area behind the tractor unit's contour, and the upper and lower edges of the trailer's contour show a spatial continuity with the tractor unit's contour, it can be considered that there is a strong correlation between the two contours. Alternatively, when the trailer's contour always moves along the same trajectory line as the tractor unit during vehicle travel, and the relative position between the two contours conforms to the common structural layout of a tractor unit with a trailer, it can also be determined that the contours are related. Determining whether the contours are related is not limited to a specific matching algorithm; it can be achieved through different methods such as contour overlap, contour shape similarity, and trajectory continuity scoring, as long as it reflects the front-to-back continuity relationship of the tractor unit and trailer in terms of appearance.

[0061] Based on the dimensional characteristics of the tractor unit and trailer, a correlation between their dimensions can be further determined. Typically, from the same viewpoint, the size ratio of the tractor unit and trailer follows a certain pattern. For example, the length and height of the trailer are within a reasonable range relative to the tractor unit, and their size changes in the image should maintain a consistent trend as the distance between them and the camera changes during vehicle movement. When similar scaling relationships are detected in the width, height, and aspect ratio changes of the tractor unit and trailer in consecutive frames, and the ratio of the trailer's size to the tractor unit's size falls within a preset size ratio range, a correlation between their dimensions can be considered. The determination of whether a size correlation exists can employ simple threshold comparisons or more complex statistical or learning models for fitting; it is not limited to a single fixed implementation.

[0062] After obtaining the contour and size correlations, the spatial relationship between the tractor and trailer can be determined based on both. Even if contour features are partially occluded or size features are affected by perspective distortion in certain situations, as long as at least one of the contour and size is correlated, it can be used as the basis for establishing a spatial correlation. For example, at night or in rainy or foggy weather, the contour edges may not be clear, but the size change relationship remains stable. In this case, the size correlation can be relied upon primarily for judgment. When the lane is narrow or the vehicle is driving close to the camera, causing drastic size changes, the continuity of the vehicle contour is more obvious, and the contour correlation can be given priority. By simultaneously introducing contour and size features for spatial correlation judgment, the robustness of the spatial correlation judgment between the tractor and trailer can be improved, reducing misjudgments caused by the failure of a single feature, and providing more reliable spatial feature support for subsequent comprehensive determination of the correlation status based on spatial and temporal correlations.

[0063] Reference Figure 5 , Figure 5This is the fifth flowchart illustrating the method for controlling trailer-type vehicles in one embodiment of the present invention; in one embodiment of the present invention, the passage time characteristic is radar data or ground sensor data, and based on the passage time characteristic, determining whether there is a temporal correlation between the tractor and the trailer includes: 501. Based on radar data or ground sensing data, determine the time interval between the tractor and trailer when they pass through a preset detection area; 502. Based on the passage time interval and the preset time interval threshold, determine whether there is a time correlation between the tractor and the trailer.

[0064] In this embodiment of the invention, the passage time characteristics can be obtained through radar data or ground-sensor data. Such data can reflect the temporal characteristics of a vehicle actually passing through the lane detection area. Ground-sensor data is usually generated by coil sensors buried in the ground. When a vehicle's metal structure passes over the coil, the inductance of the coil changes, thus forming a detection state of "vehicle present" or "no vehicle present". Radar data can be provided by devices such as millimeter-wave radar, lidar, or ultrasonic radar, which continuously detect the distance, speed, or reflected signals of vehicles to indicate whether a vehicle is within the detection area.

[0065] When determining the correlation between travel time and speed, the travel time interval between the tractor and trailer passing through the preset detection area can first be determined based on the aforementioned radar or ground sensor data. Typically, when the tractor passes through the detection area, the detection device's status changes from "no vehicle" to "vehicle present," and returns to "no vehicle" after the tractor has completely left the detection area; subsequently, when the trailer passes, the detection status changes back to "vehicle present." By recording the time difference between these two "vehicle present" phases, the travel time interval between the tractor and trailer can be obtained. This time interval has a clear physical meaning and reflects the continuity of their passage through the lane. When the vehicles are in a traction state, i.e., when the tractor and trailer are connected, the vehicle length is usually relatively long, and the entire combined vehicle will maintain a continuous "vehicle present" state within the ground sensor or radar detection area, or the interval between "vehicle present—no vehicle—vehicle present" is extremely short, resulting in a small travel time interval. However, when the trailer is not connected to the tractor, the time difference between their passage through the detection area may be significant, and the travel time interval will increase accordingly.

[0066] After obtaining the passage time interval, it can be used to determine whether the tractor and trailer are temporally related based on this interval and a preset time interval threshold. The time interval threshold can be preset based on factors such as lane length, average vehicle speed, and response time of the detection equipment, or it can be dynamically updated by the system based on actual data during long-term operation. When the passage time interval is less than the threshold, it can be considered that the tractor and trailer pass through the detection area continuously, representing the same passage event in terms of time; in this case, it can be determined that the tractor and trailer are temporally related. If the time interval is greater than the threshold, it indicates that their passage is discontinuous and does not belong to the passage process of vehicles of the same trailer type, thus it can be determined that there is no temporal relationship.

[0067] Time-related judgment offers several advantages. First, it does not rely on the stability of image recognition; even in low light, rainy or foggy weather, or when the trailer's license plate is obscured, it can still reliably identify the time relationship between the tractor and trailer based on passage time characteristics. Second, this method is adaptable to trailers of different lengths and types, requiring only reasonable threshold settings based on average vehicle speed and lane conditions. In scenarios involving low-speed driving, brief pauses, or slow-moving queues, combining signal change trends, signal duration, or multiple consecutive triggers can prevent misjudging continuous low-speed passage as a break in the connection, thereby improving accuracy.

[0068] Reference Figure 6 , Figure 6 This is a flowchart illustrating the method for managing trailer-type vehicles in one embodiment of the present invention; in one embodiment of the present invention, based on the associated status, the first entry record, and the second entry record, corresponding payment information is generated, including: 601. Based on the first entry record, calculate the first cost of the tractor unit; 602. Based on the second entry record, calculate the second cost of the trailer; 603. When the association status is "associated", calculate the total cost based on the first cost and the second cost, and generate payment information based on the total cost; 604. When the association status is not associated, generate the toll information of the tractor unit based on the first fee, and generate the toll information of the trailer based on the second fee.

[0069] In this embodiment of the invention, the first fee for the tractor unit and the second fee for the trailer can be calculated based on the first entry record and the second entry record, respectively. The first and second fees can be obtained based on the time difference between their respective entry times and current exit times, combined with applicable billing rules. For example, they can be calculated using methods such as billing by parking duration, tiered billing by billing period, or differentiating rates by vehicle type. In some implementations, factors such as parking lot zoning, the customer category of the vehicle, or whether it is a long-term cooperative vehicle can also be considered. The first and second fees can be flexibly determined through a rate table or rule engine, and the calculation method is not limited to a single time × rate model.

[0070] After obtaining the first and second fees, different strategies for generating pending payment information can be selected based on the association status. When the association status is "associated," it indicates that the tractor unit and trailer belong to the same passage event and use the parking lot resources as a group of trailer-type vehicles. In this case, the first and second fees can be combined to calculate the total fee, and a unified pending payment information can be generated based on the total fee. In this situation, the total fee can be mapped to the tractor unit or a preset settlement entity, allowing the driver or vehicle operator to settle the joint fee incurred by the tractor unit and trailer with only one payment operation before departure, simplifying the settlement process and avoiding duplicate charges or multiple operations.

[0071] When the association status is "unassociated," it indicates that the tractor unit and trailer did not travel together as a single trailer-type vehicle in the current exit event. This could mean the tractor unit enters and exits alone, the trailer is towed by another vehicle, or the trailer moves independently. In this case, a pending payment record can be generated based on the first fee and a pending payment record can be generated based on the second fee, resulting in two separate payment records. This way, whether the tractor unit exits first while the trailer remains in the parking lot, or the trailer is towed out again by another vehicle, charges can be calculated independently based on their actual parking duration. This avoids forcibly merging the two fees due to a simple binding relationship, ensuring that the billing result matches the vehicle's usage.

[0072] In other implementations, the fee allocation strategy can be expanded to meet the customer's settlement needs. For example, in corporate customer scenarios, the first fee and the second fee can be allocated to different departments or projects according to a preset ratio, or settlement bills can be generated separately for the trailer owner and the tractor owner in trailer swapping operations. Regardless of the specific strategy adopted, as long as the generation of toll information is based on the first entry record, the second entry record, and the associated status, the toll logic for trailer vehicles under various traffic conditions can be ensured to be clear and the boundaries well-defined, supporting both consolidated and independent settlements.

[0073] It should be noted that the "unassociated" state indicates that there is no hook-up relationship between the tractor and the trailer, or no corresponding relationship under the same passage event. In actual parking lot environments, this situation is not abnormal, but rather a special scenario with a real business background. For example, in some logistics warehousing areas, trailers may move short distances using manual forklifts, powered forklifts, or dedicated towing equipment. In this case, the trailer is not towed by a regular tractor, but passes through the entrance / exit area independently. When such a trailer passes through the recognition camera, only the trailer's license plate is detected, and there is no corresponding tractor license plate. In this case, the system can directly identify the trailer as an independent passage object, calculate the corresponding payment information based on its own entry record, and will not generate a combined fee with the tractor.

[0074] In another type of real-world scenario, the unassociated state may arise from a situation where the tractor unit is not recognized, but the trailer unit is. For example, a tractor unit 1 is traveling ahead, followed closely by a combination vehicle consisting of a tractor unit 2 and a trailer unit 2. Due to the close distance between tractor units 1 and 2, the license plate of tractor unit 2 may not be recognized at a certain angle, and the system only obtains the license plate of trailer unit 2 at that moment. In this case, through waveform continuity analysis from radar and ground sensors, as well as comparison of the outline and size features of trailer unit 2, it can be determined that trailer unit 2 is not spatially or temporally associated with tractor unit 1. Therefore, the system will classify tractor unit 1 and trailer unit 2 as unassociated. In this way, the toll information for tractor unit 1 is generated only based on its corresponding first entry record, without incurring the toll for trailer unit 2, thus avoiding incorrect billing or expanded payment liability.

[0075] After vehicle 1 completes payment and passes through, the license plate of vehicle 2 usually re-enters the effective field of view of the recognition camera because the preceding vehicle has cleared part of the field of view. At this time, the system can re-determine the association status between vehicle 2 and trailer 2 based on the image features and passage time features between them, thereby calculating the corresponding fees for vehicle 2 and trailer 2 separately or combining them to generate a total fee, and forming new payment information. This mechanism can ensure that the system maintains stable association judgment ability and accurate billing results even in situations such as multiple vehicles passing continuously, close vehicle distances, partial obstruction, or complex order.

[0076] Based on the aforementioned logic processing method for unassociated states, this approach better adapts to various traffic patterns in the actual business environment of parking lots. Whether it's a trailer being towed by manpower or a forklift traveling alone, a situation where the vehicles are too close together leading to incomplete identification, or a trailer or tractor unit entering or exiting the scene independently, the system can determine their respective independent payment information through association judgment logic. This method avoids mis-binding between vehicles, improves the accuracy of vehicle billing, and ensures that users' payment responsibilities are clear and reasonable, thus making the management of trailer-type vehicles more intelligent, robust, and in line with actual operational needs.

[0077] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0078] In one embodiment, a control device for trailer-type vehicles is provided, which corresponds one-to-one with the control methods for trailer-type vehicles described in the above embodiments. For example... Figure 8 As shown, the control device for this type of trailer vehicle includes an acquisition module 801, a generation module 802, and a control module 803. Detailed descriptions of each functional module are as follows: The acquisition module 801 is used to acquire a first entry record of the tractor license plate and a second entry record of the trailer license plate when the tractor license plate and the trailer license plate are detected. The generation module 802 is used to generate corresponding payment information based on the first entry record and the second entry record, and to detect payment vouchers that match the payment information. The control module 803 is used to control the passage of the tractor and the trailer based on the payment voucher.

[0079] Optionally, the generation module 802 is further configured to: Obtain the image features and / or time features of the passage of the tractor unit and the trailer; Based on the passage image features and / or passage time features of the tractor unit and the trailer, determine the association status between the tractor unit and the trailer; Based on the associated status, the first entry record, and the second entry record, corresponding payment information is generated.

[0080] Optionally, the generation module 802 is further configured to: Based on the traffic image features, determine whether there is a spatial association between the tractor unit and the trailer; Based on the travel time characteristics, determine whether there is a temporal correlation between the tractor unit and the trailer; When the tractor unit and the trailer are spatially associated and / or temporally associated, the associated state is determined to be associated. When the tractor unit and the trailer are not spatially or temporally associated, the association status is determined to be unassociated.

[0081] Optionally, the access image features include contour features and size features, and the generation module 802 is further configured to: Based on the outline features of the tractor unit and the trailer, determine whether there is a correlation between the outlines of the tractor unit and the trailer; Based on the size characteristics of the tractor unit and the trailer, determine whether there is a correlation between the sizes of the tractor unit and the trailer; When the outline of the tractor unit and the trailer are related, and / or their dimensions are related, it is determined that the tractor unit and the trailer are spatially related; When the outlines of the tractor unit and the trailer are not related, and their dimensions are not related, it is determined that the tractor unit and the trailer are not spatially related.

[0082] Optionally, the passage time feature is radar data or ground sensing data, and the generation module 802 is further used for: Based on the radar data or the ground sensing data, determine the time interval when the tractor and the trailer pass through the preset detection area; Based on the passage time interval and the preset time interval threshold, it is determined whether there is a temporal correlation between the tractor unit and the trailer.

[0083] Optionally, the generation module 802 is further configured to: Based on the first entry record, calculate the first cost of the tractor unit; Based on the second entry record, calculate the second cost of the trailer; When the association status is "associated", the total cost is calculated based on the first cost and the second cost, and the payment information is generated based on the total cost. When the association status is unassociated, the toll information of the tractor unit is generated based on the first fee, and the toll information of the trailer is generated based on the second fee.

[0084] The various modules in the aforementioned control device for trailer-type vehicles can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0085] In one embodiment, a computer device is provided, which may be a terminal device, and its internal structure diagram may be as follows: Figure 9As shown, the computer device includes a processor, memory, and network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a readable storage medium storing computer-readable instructions. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer-readable instructions implement a method for managing trailer-mounted vehicles. The readable storage medium provided in this embodiment includes both non-volatile and volatile readable storage media.

[0086] In this application embodiment, a computer device is provided, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, it implements the steps of the above-described method for controlling trailer-type vehicles.

[0087] In one embodiment of the application, a readable storage medium is provided, which stores computer-readable instructions. When the computer-readable instructions are executed by a processor, they implement the steps of the above-described method for controlling trailer-type vehicles.

[0088] Those skilled in the art will understand that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, which may include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to achieve the above functions. For example, the program can be stored in the memory of a device, and when the program in the memory is executed by the processor, all or part of the above functions can be achieved. In addition, when all or part of the functions in the above embodiments are implemented by computer programs, the program can also be stored in a server, another computer, disk, optical disk, flash drive, or external hard drive, etc., and can be downloaded or copied to the memory of a local device, or the system of the local device can be updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be achieved.

[0089] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A method for managing trailer-type vehicles, characterized in that, The trailer-type vehicle includes a tractor unit and a trailer, and the method includes: When the tractor's license plate and the trailer's license plate are detected, the first entry record of the tractor's license plate and the second entry record of the trailer's license plate are obtained. Based on the first entry record and the second entry record, corresponding payment information is generated, and payment vouchers that match the payment information are detected. Based on the payment receipt, traffic control is implemented for the tractor unit and the trailer.

2. The method for controlling trailer-type vehicles as described in claim 1, characterized in that, Based on the first entry record and the second entry record, corresponding payment information is generated, including: Obtain the image features and / or time features of the passage of the tractor unit and the trailer; Based on the passage image features and / or passage time features of the tractor unit and the trailer, determine the association status between the tractor unit and the trailer; Based on the associated status, the first entry record, and the second entry record, corresponding payment information is generated.

3. The method for controlling trailer-type vehicles as described in claim 2, characterized in that, The step of determining the association status between the tractor and the trailer based on the passage image features and / or passage time features of the tractor and the trailer includes: Based on the traffic image features, determine whether there is a spatial association between the tractor unit and the trailer; Based on the travel time characteristics, determine whether there is a temporal correlation between the tractor unit and the trailer; When the tractor unit and the trailer are spatially associated and / or temporally associated, the associated state is determined to be associated. When the tractor unit and the trailer are not spatially or temporally associated, the association status is determined to be unassociated.

4. The method for controlling trailer-type vehicles as described in claim 3, characterized in that, The traffic image features include contour features and size features. Determining whether the tractor unit and the trailer are spatially associated based on the traffic image features includes: Based on the outline features of the tractor unit and the trailer, determine whether there is a correlation between the outlines of the tractor unit and the trailer; Based on the size characteristics of the tractor unit and the trailer, determine whether there is a correlation between the sizes of the tractor unit and the trailer; When the outline of the tractor unit and the trailer are related, and / or their dimensions are related, it is determined that the tractor unit and the trailer are spatially related; When the outlines of the tractor unit and the trailer are not related, and their dimensions are not related, it is determined that the tractor unit and the trailer are not spatially related.

5. The method for controlling trailer-type vehicles as described in claim 3, characterized in that, The passage time characteristic is radar data or ground sensing data. Determining whether there is a temporal correlation between the tractor unit and the trailer based on the passage time characteristic includes: Based on the radar data or the ground sensing data, determine the time interval when the tractor and the trailer pass through the preset detection area; Based on the passage time interval and the preset time interval threshold, it is determined whether there is a temporal correlation between the tractor unit and the trailer.

6. The method for controlling trailer-type vehicles as described in claim 2, characterized in that, The step of generating corresponding payment information based on the associated status, the first entry record, and the second entry record includes: Based on the first entry record, calculate the first cost of the tractor unit; Based on the second entry record, calculate the second cost of the trailer; When the association status is "associated", the total cost is calculated based on the first cost and the second cost, and the payment information is generated based on the total cost. When the association status is unassociated, the toll information of the tractor unit is generated based on the first fee, and the toll information of the trailer is generated based on the second fee.

7. A control device for trailer-type vehicles, characterized in that, The trailer-type vehicle includes a tractor unit and a trailer, and the device includes: The acquisition module is used to acquire a first entry record of the tractor license plate and a second entry record of the trailer license plate when the tractor license plate and the trailer license plate are detected. The generation module is used to generate corresponding payment information based on the first entry record and the second entry record, and to detect payment vouchers that match the payment information. The control module is used to control the passage of the tractor and the trailer based on the payment voucher.

8. The control device for trailer-type vehicles as described in claim 7, characterized in that, The generation module is further configured to: Obtain the image features and / or time features of the passage of the tractor unit and the trailer; Based on the passage image features and / or passage time features of the tractor unit and the trailer, determine the association status between the tractor unit and the trailer; Based on the associated status, the first entry record, and the second entry record, corresponding payment information is generated.

9. A computer device comprising a memory, a processor, and computer-readable instructions stored in the memory and running on the processor, characterized in that, When the processor executes the computer-readable instructions, it implements the control method for trailer-type vehicles as described in any one of claims 1 to 6.

10. A readable storage medium having computer-readable instructions stored thereon, characterized in that, When the computer-readable instructions are executed by a processor, they implement the control method for trailer-type vehicles as described in any one of claims 1 to 6.

Images