Vehicle towing hook control method and device, vehicle, storage medium and electronic device

Abstract

The invention provides a vehicle tow hook control method and device, a vehicle, a storage medium and an electronic device.The method comprises the steps that a tow hook unfolding instruction triggered by a vehicle machine interface of a traction vehicle is received through a vehicle body domain controller BDC; driving the tow hook to switch from a folded state to an unfolded state according to the tow hook unfolding instruction; prompting information is displayed on a vehicle machine interface, the traction vehicle is controlled to enter a towing mode, the prompting information is used for representing that a towing hook of the traction vehicle is unfolded, a synchronization instruction is sent to a towed vehicle of the traction vehicle in the towing mode, and the synchronization instruction is used for synchronizing a vehicle lamp control signal of the traction vehicle to the towed vehicle; receiving a towing hook folding instruction triggered by a vehicle machine interface of the traction vehicle through the BDC; and driving the towing hook to switch from the unfolded state to the folded state according to the towing hook folding instruction. According to the embodiment, the technical problem that in the prior art, the safety of controlling the vehicle towing hook is low is solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a control method and device for a vehicle tow hook, a vehicle, a storage medium, and an electronic device. Background Technology

[0002] In related technologies, trailer hitches (tow hooks) are important on-board accessories for passenger vehicles, used for towing goods, other vehicles, and other operations. With the diversification of tow hook application scenarios and the personalization of users, the control requirements for tow hooks are becoming increasingly sophisticated. The control of existing electric tow hooks for passenger vehicles is mostly coarse-grained or manual by the user, which cannot form efficient interaction with the vehicle's infotainment system and cannot meet the needs of intelligent cockpits in the new market.

[0003] The control methods of related technologies are relatively simple, the feedback is incomplete, the operating system is inconvenient, and it cannot provide timely feedback on various faults. It only achieves basic unfolding and folding operations, cannot be integrated with active safety, and cannot meet the requirements of intelligent vehicle-machine interaction.

[0004] No efficient and accurate solution has yet been found to address the aforementioned issues in the relevant technologies. Summary of the Invention

[0005] This invention provides a control method and device for a vehicle tow hook, a vehicle, a storage medium, and an electronic device to solve technical problems in related technologies.

[0006] According to an embodiment of the present invention, a control method for a vehicle tow hook is provided, comprising: receiving a tow hook deployment command triggered by the vehicle interface of a towing vehicle via a Body Domain Controller (BDC); driving the tow hook to switch from a folded state to an deployed state according to the tow hook deployment command; displaying a prompt message on the vehicle interface and controlling the towing vehicle to enter a towing mode, wherein the prompt message indicates that the towing vehicle has deployed the tow hook; sending a synchronization command to the towed vehicle of the towing vehicle in the towing mode, wherein the synchronization command is used to synchronize the headlight control signals of the towing vehicle to the towed vehicle; receiving a tow hook folding command triggered by the vehicle interface of the towing vehicle via the BDC; and driving the tow hook to switch from a deployed state to a folded state according to the tow hook folding command.

[0007] Optionally, driving the tow hook to switch from a folded state to an unfolded state according to the tow hook unfolding command includes: responding to the tow hook unfolding command, obtaining the vehicle status of the towing vehicle; sending an unfolding command to the tow hook control unit of the towing vehicle according to the vehicle status, and controlling the drive actuator of the tow hook control unit to drive the tow hook to switch from a folded state to an unfolded state.

[0008] Optionally, the vehicle status includes power-on status and real-time vehicle speed; sending an deployment command to the towing vehicle's tow hook control unit based on the vehicle status includes: if the power-on status is that the entire vehicle is powered on and the real-time vehicle speed is less than a preset speed, and the towing vehicle's power-on status is that the entire vehicle is powered on and the real-time vehicle speed is less than a preset speed, sending an deployment command to the towing vehicle's tow hook control unit.

[0009] Optionally, controlling the drive actuator of the tow hook control unit to switch the tow hook from a folded state to an unfolded state includes: controlling the drive propulsion unit to start rotating, pulling the locking pin out of the base locking groove, and unlocking the rotating main shaft, wherein the drive actuator includes the drive propulsion unit and a drive motor, the drive propulsion unit is used to lock or unlock the tow hook, and the drive motor is used to rotate the tow hook; controlling the drive motor to start rotating, driving the rotating main shaft to start rotating through the drive gear disk, and simultaneously collecting the rotation step of the tow hook and the real-time motor current of the drive motor through a Hall sensor, wherein the extension end of the rotating main shaft is the tow hook; clearing the tow hook from icing faults during the first running period of the drive motor; clearing the tow hook from anti-pinch faults during the second running period of the drive motor after the icing faults are cleared, wherein the second running period is the next period after the first running period; and controlling the drive actuator to unfold the tow hook to the target position after the anti-pinch faults are cleared.

[0010] Optionally, clearing the icing fault of the tow hook during the first running period of the drive motor includes: continuously controlling the drive motor to drive the tow hook to rotate during the first running period, determining whether the change in the rotation step length within a preset unfolding time is less than a preset amount; if the change in the rotation step length within the preset unfolding time is less than the preset amount, determining that an icing fault has occurred; and controlling the drive actuator to drive the tow hook to rotate at the highest power to clear the icing fault.

[0011] Optionally, the process of resolving the anti-pinch fault of the tow hook during the second operating period of the drive motor includes: continuously controlling the drive motor to drive the tow hook to rotate during the second operating period, determining whether the real-time current of the motor exceeds a set threshold; if the real-time current of the motor exceeds the set threshold, determining that an anti-pinch fault has occurred; and controlling the drive actuator to drive the tow hook to rotate in the opposite direction by a preset angle to resolve the anti-pinch fault.

[0012] Optionally, controlling the drive actuator to drive the hook to unfold to the target position includes: controlling the drive propulsion unit to release the locking pin so that the locking pin automatically pops out under the preload of the internal spring, ready to enter the next locking position; after the rotating spindle enters the end region, controlling the drive propulsion unit to output full power and push the locking pin into the locking state; when the rotating spindle rotates to coincide with the base locking groove, controlling the drive propulsion unit to push the locking pin into the base locking groove, the hook unfolds to the target position, and the locking action of the hook is completed.

[0013] According to another embodiment of the present invention, a control device for a vehicle tow hook is provided, comprising: a first receiving module, configured to receive a tow hook deployment command triggered by the vehicle interface of a towing vehicle via a Body Domain Controller (BDC); a deployment module, configured to drive the tow hook from a folded state to an deployed state according to the tow hook deployment command; a display module, configured to display a prompt message on the vehicle interface and control the towing vehicle to enter a towing mode, wherein the prompt message indicates that the towing vehicle has deployed the tow hook, and in the towing mode, a synchronization command is sent to the towed vehicle of the towing vehicle, wherein the synchronization command is used to synchronize the headlight control signal of the towing vehicle to the towed vehicle; a second receiving module, configured to receive a tow hook folding command triggered by the vehicle interface of the towing vehicle via the BDC; and a folding module, configured to drive the tow hook from an deployed state to a folded state according to the tow hook folding command.

[0014] Optionally, the unfolding module includes: an acquisition unit, configured to acquire the vehicle status of the towing vehicle in response to the tow hook unfolding command; and an unfolding unit, configured to send an unfolding command to the tow hook control unit of the towing vehicle according to the vehicle status, and control the drive actuator of the tow hook control unit to drive the tow hook to switch from a folded state to an unfolded state.

[0015] Optionally, the vehicle status includes power-on status and real-time vehicle speed, and the deployment unit includes: a sending subunit, used to send a deployment command to the tow hook control unit of the traction vehicle when the power-on status is that the whole vehicle is powered on and the real-time vehicle speed is less than a preset speed.

[0016] Optionally, the unfolding unit includes: an unlocking subunit for controlling the drive propulsion unit to initiate rotation, pulling the locking pin out of the base locking groove, and unlocking the rotating main shaft, wherein the drive actuator includes the drive propulsion unit and a drive motor, the drive propulsion unit is used to lock or unlock the tow hook, and the drive motor is used to rotate the tow hook; a data acquisition subunit for controlling the drive motor to initiate rotation, driving the rotating main shaft to start rotating via a drive gear disk, and simultaneously acquiring the rotational step length of the tow hook and the real-time motor current of the drive motor via a Hall sensor, wherein the extension end of the rotating main shaft is the tow hook; a first release subunit for releasing the icing fault of the tow hook during the first running period of the drive motor; a second release subunit for releasing the anti-pinch fault of the tow hook during the second running period of the drive motor after the icing fault is released, wherein the second running period is the next period after the first running period; and an unfolding subunit for controlling the drive actuator to unfold the tow hook to the target position after the anti-pinch fault is released.

[0017] Optionally, the first release subunit includes: a judgment subunit, configured to continuously control the drive motor to drive the tow hook to rotate during the first running period, and judge whether the change in the rotation step length within a preset deployment time is less than a preset amount; a determination subunit, configured to determine that an icing fault has occurred if the change in the rotation step length within the preset deployment time is less than the preset amount; and a release subunit, configured to control the drive actuator to drive the tow hook to rotate at the highest power to release the icing fault.

[0018] Optionally, the second release subunit includes: a judgment subunit, used to continuously control the drive motor to drive the hook to rotate during the second running period, and judge whether the real-time current of the motor exceeds a set threshold; a determination subunit, used to determine that an anti-pinch fault has occurred if the real-time current of the motor exceeds the set threshold; and a release subunit, used to control the drive actuator to drive the hook to rotate in the opposite direction by a preset angle to release the anti-pinch fault.

[0019] Optionally, the unfolding subunit includes: a control subunit for controlling the drive propulsion unit to release the locking pin, so that the locking pin automatically pops out under the preload of the internal spring, ready to enter the next locking position; a propulsion subunit for controlling the drive propulsion unit to output full power after the rotating spindle enters the end region, pushing the locking pin into the locking state; and an unfolding subunit for controlling the drive propulsion unit to push the locking pin into the base locking groove when the rotating spindle rotates to coincide with the base locking groove, so that the tow hook unfolds to the target position and completes the locking action of the tow hook.

[0020] According to another aspect of the embodiments of this application, a vehicle is also provided, including: an electric tow hook control unit and a tow hook, wherein the electric tow hook control unit includes the device described in the above embodiments; the tow hook includes a drive motor, a drive gear disk, a rotating spindle, a drive propulsion unit, a locking pin, and a base locking groove, the drive propulsion unit is used to drive the rotating spindle to unlock from the base locking groove, and the drive motor is used to drive the rotating spindle to rotate through the drive gear disk.

[0021] According to another aspect of the embodiments of this application, a storage medium is also provided, the storage medium including a stored program that executes the above steps when the program is run.

[0022] According to another aspect of the embodiments of this application, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the programs stored in the memory.

[0023] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the above-described method.

[0024] The beneficial effects of this invention are: 1. Through the collaboration of vehicle-machine interaction, location feedback, status feedback, fault identification and other aspects, the tow hook control is made more intelligent and convenient. The vehicle's BDC communicates efficiently with the vehicle machine to achieve efficient control of the tow hook, reduce the failure rate, provide comprehensive information feedback, make driving safer and customers more at ease. 2. The system controls the tow hook to enter the unfolded state based on the vehicle's status, and controls it to enter the folded state based on the tow hook's status, ensuring the safety of the towing vehicle when entering and exiting towing mode. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a hardware structure block diagram of a vehicle according to an embodiment of the present invention; Figure 2 This is a flowchart of a vehicle tow hook control method according to an embodiment of the present invention; Figure 3 This is a vehicle system diagram according to an embodiment of the present invention; Figure 4 This is a logic diagram of the tow hook control unit in an embodiment of the present invention; Figure 5 This is a schematic diagram of the drive actuator of the tow hook in an embodiment of the present invention; Figure 6 This is a flowchart illustrating the deployment of the rear electric tow hook for passenger vehicles in an embodiment of the present invention; Figure 7 This is a flowchart illustrating the folding of the rear electric tow hook of a passenger vehicle in an embodiment of the present invention; Figure 8 This is a flowchart illustrating the collaborative interaction between the internal execution units of the drag hook in this embodiment of the invention. Figure 9 This is a structural block diagram of a vehicle tow hook control device according to an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present application can be combined with each other.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1 The method embodiment provided in Embodiment 1 of this application can be executed in a vehicle, vehicle controller, tow hook controller, processor, computer, or similar processing device. Taking operation in a vehicle as an example, Figure 1 This is a hardware structure block diagram of a vehicle according to an embodiment of the present invention. For example... Figure 1 As shown, a vehicle may include one or more ( Figure 1Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the vehicle may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle described above. For example, the vehicle may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0029] The memory 104 can be used to store vehicle programs, such as application software programs and modules, like the vehicle program corresponding to a vehicle tow hook control method in an embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the vehicle program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0030] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the vehicle's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0031] This embodiment provides a control method for a vehicle tow hook. Figure 2 This is a flowchart of a vehicle tow hook control method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Receive the tow hook deployment command triggered by the vehicle interface of the towing vehicle through the vehicle domain controller (BDC). Optionally, the rear electric tow hook control system of the towing vehicle includes the coordinated operation of three modules: THU (Telematics Unit and Vehicle Control Unit), BDC (Body Control Module), and TRM (Electric Tow Hook Control Unit). This system performs scene judgment, boundary checks, action execution, position and fault feedback, etc. Firstly, the THU executes user operations, inputting tow hook unfolding / folding commands into the vehicle control system via the vehicle interface, while simultaneously receiving relevant information from the vehicle system and displaying it in real time. Secondly, the BDC uploads the operation command data, analyzed and processed internally by the vehicle controller, to the CAN bus system, and simultaneously feeds back command data from the CAN bus system to the vehicle controller. Thirdly, the TRM collects information such as tow hook status, tailgate status, and vehicle power status, feeding it back to the CAN bus system. It also converts the operation command data from the CAN bus system into actions to drive the electric tow hook to unfold / fold, and transmits the rear trailer's lighting control signals to the following vehicle.

[0032] Optionally, when the TRM is not connected to the vehicle gateway network, the soft switch related to the tow hook in the THU interface will be grayed out, indicating that the function is unavailable.

[0033] Step S202: Drive the tow hook from the folded state to the unfolded state according to the tow hook unfolding command; Optionally, the tow hook includes a folded state and an unfolded state. Under normal circumstances, to ensure vehicle safety, the tow hook is folded and hidden under the vehicle or in the rear bumper. It is then unfolded after the vehicle moves to the target attachment point. In this embodiment, the target attachment point is the connection point on the towed vehicle, which can be at the front or rear of the towed vehicle.

[0034] After the tow hook is deployed but before entering towing mode, when the towing vehicle is reversing, the THU interface displays tow hook guide lines to facilitate hooking and connection with the towed vehicle.

[0035] Step S203: Display a prompt message on the vehicle interface and control the towing vehicle to enter the towing mode. The prompt message indicates that the towing vehicle has deployed the tow hook. In the towing mode, send a synchronization command to the towed vehicle of the towing vehicle. The synchronization command is used to synchronize the headlight control signal of the towing vehicle to the towed vehicle. Once towing mode is entered, the THU interface promptly reminds users of speed limits. After the towing vehicle and the towed vehicle enter towing mode, they connect to the headlight control units or in-vehicle infotainment systems of both vehicles via wireless networks (such as Bluetooth, WiFi, etc.) to achieve synchronized command transmission and headlight synchronization.

[0036] Step S204: Receive the tow hook folding command triggered by the vehicle interface of the tractor through the BDC. Step S205: Drive the tow hook from the unfolded state to the folded state according to the tow hook folding command.

[0037] Optionally, the tow hook status includes the tow hook load and the tow hook rope status (indicating whether the tow hook connecting rope between the towing vehicle and the towed vehicle has been disconnected). If the tow hook load is less than a preset load threshold and the tow hook connecting rope has been unloaded, the drive actuator is allowed to drive the tow hook to switch from the unfolded state to the folded state. In specific implementation, the preset load threshold can be a specific load value or load range, such as the no-load rated safe load, the tow hook leaving the critical low load range, etc. This load value and load range can be determined based on the vehicle chassis calibration parameters, the tow hook structural strength limit, vehicle towing test data, etc. The preset load threshold can also be the change value, change range, or change trend of the tow hook load within a certain period of time, such as the tow hook load continuously decreasing and stabilizing close to zero load within a preset time period, or the load fluctuation amplitude being lower than the safe fluctuation limit within a short period of time.

[0038] Through the above steps, the vehicle's BDC receives a tow hook deployment command triggered by the vehicle's infotainment system; the tow hook is driven to switch from a folded state to an deployed state according to the deployment command; a prompt message is displayed on the vehicle's infotainment system, and the vehicle is controlled to enter towing mode, wherein the prompt message indicates that the towing vehicle has deployed the tow hook; in towing mode, a synchronization command is sent to the towed vehicle, wherein the synchronization command is used to synchronize the headlight control signals of the towing vehicle to the towed vehicle; the BDC receives a tow hook folding command triggered by the vehicle's infotainment system; the tow hook is driven to switch from a deployed state to a folded state according to the folding command, thus solving the technical problem of low safety in controlling vehicle tow hooks in the prior art and improving the safety of using vehicle tow hooks.

[0039] In this embodiment, driving the tow hook to switch from a folded state to an unfolded state according to the tow hook unfolding command includes: responding to the tow hook unfolding command, obtaining the vehicle status of the towing vehicle; sending an unfolding command to the tow hook control unit of the towing vehicle according to the vehicle status, and controlling the drive actuator of the tow hook control unit to drive the tow hook to switch from a folded state to an unfolded state.

[0040] In one embodiment of this example, sending an deployment command to the tow hook control unit of the traction vehicle based on the vehicle status includes: wherein the vehicle status includes the power-on status and the real-time vehicle speed; determining whether the power-on status of the traction vehicle is that the entire vehicle is powered on, and determining whether the real-time vehicle speed of the traction vehicle is less than a preset speed; if the power-on status of the traction vehicle is that the entire vehicle is powered on, and the real-time vehicle speed of the traction vehicle is less than the preset speed, determining that the traction vehicle meets the traction conditions, and sending an deployment command to the tow hook control unit of the traction vehicle.

[0041] Optionally, the preset speed can be set to 3 km / h, and the vehicle will be powered on when the engine of the towing vehicle is started. Simultaneously, the vehicle status includes gear position and intelligent driving status. When the gear position is parked and the intelligent driving status is disengaged, it is determined that the towing vehicle meets the towing conditions.

[0042] In one embodiment of this example, controlling the drive actuator of the tow hook control unit to switch the tow hook from a folded state to an unfolded state includes: controlling the drive propulsion unit to start rotating, pulling the locking pin out of the base locking groove, and unlocking the rotating main shaft. The drive actuator includes the drive propulsion unit and a drive motor. The drive propulsion unit is used to lock or unlock the tow hook, and the drive motor is used to rotate the tow hook. The drive motor is controlled to start rotating, driving the rotating main shaft to start rotating via a drive gear disk. Simultaneously, a Hall sensor is used to collect the rotational step size of the tow hook and the real-time motor current of the drive motor. The extension end of the rotating main shaft is the tow hook. During a first operating period of the drive motor, the tow hook is de-iced. After the icing fault is resolved, during a second operating period of the drive motor, the tow hook is de-pinched. The second operating period is the next period after the first operating period. After the de-pinch fault is resolved, the drive actuator is controlled to unfold the tow hook to the target position.

[0043] Optionally, the target position can be the maximum position or other preset expansion positions.

[0044] In one example, controlling the drive actuator to extend the tow hook to the target position includes: controlling the drive propulsion unit to release the locking pin so that the locking pin automatically pops out under the preload of the internal spring, ready to enter the next locking position; after the rotating spindle enters the end region, controlling the drive propulsion unit to output full power and push the locking pin into the locking state; when the rotating spindle rotates to coincide with the base locking groove, controlling the drive propulsion unit to push the locking pin into the base locking groove, the tow hook extends to the target position, and the locking action of the tow hook is completed.

[0045] Figure 3 This is a vehicle system diagram according to an embodiment of the present invention, including a THU (vehicle infotainment unit and vehicle control unit), a BDC (gateway communication unit), and a TRM (electric tow hook control unit). The TRM interacts with the THU via the BDC, and vehicle control signals interact with the rear tow hook and the rear trailer via the tow hook control unit. The THU is responsible for executing user operation commands, inputting the user's tow hook unfold / fold command into the vehicle control system via a soft switch on the vehicle interface. The THU is responsible for receiving relevant information from the vehicle system and displaying it in real time on the vehicle interface. The THU, through the CPU, performs detailed calculations on the input information from each system (user commands, tow hook status, trailer status, tailgate status, vehicle power status, etc.) and finally outputs the execution command. The BDC is responsible for uploading the THU's executed command data to the CAN bus network system, and simultaneously feeding back various command data from the CAN bus network system to the THU. The TRM is responsible for collecting information on the status of the tow hook and trailer, and then using the CPU to calculate and output relevant instruction information to the CAN bus network system. At the same time, the CPU calculates and converts the operation instruction data on the CAN bus network system into relevant execution instructions for output, driving the electric tow hook to perform unfolding / folding operations, and transmitting the lighting control signals of the front tractor to the rear trailer.

[0046] Figure 4 This is a logical schematic diagram of the tow hook control unit in an embodiment of the present invention. The TRM (Tow Hook Control Unit) interacts with the internal execution units (including a position sensor unit, a thruster sensor unit, a drive motor unit, and a drive propulsion unit) of the tow hook body to accurately feedback and execute the commands issued by the control unit. The position sensor unit is responsible for feeding back the rotational position signal (expanded / folded position) of the tow hook body; the thruster sensor unit is responsible for feeding back the position signal (locked / unlocked position) of the locking pin; the drive motor Hall sensor unit is responsible for feeding back the specific rotational step of the tow hook, marked by the Hall number (0-1000); the tow hook control unit is responsible for real-time detection of the motor current and execution of command output; the drive motor unit is responsible for driving the tow hook body to rotate to the unfolded / folded position; the drive propulsion unit is responsible for driving the propulsion main shaft to propel the locking pin to perform telescopic movement, so that the locking pin is in the locked / unlocked position.

[0047] Figure 5This is a schematic diagram of the drive actuator of the tow hook in this embodiment of the invention, including a drive motor 1, a drive gear disk 2, a rotating spindle 3, a drive propulsion unit 4, a locking pin 5, and a base locking groove 6. After receiving the unfolding command, the drive motor 1 and the drive propulsion unit 4 will synchronously receive drive current and start the rotation. To avoid impact, a soft start will be performed. During the first few Hall effect counts, the rotating spindle 3 will overlap with the base locking groove 6 for a moment. During this interval, the drive propulsion unit 4 will output full power to pull the locking pin 5 out of the base locking groove 6, unlocking the rotating spindle 3. The rotating spindle 3 will continue to rotate under the drive of the drive motor 1 and the drive gear disk 2. When the rotating spindle 3 passes the ice-breaking area, the drive propulsion unit 4 will release the locking pin 5. The locking pin 5 will automatically pop out under the preload of the internal spring, waiting to enter the next locking position. When the rotating spindle 3 enters the end region, the drive propulsion unit 4 will output full power, and the push locking pin 5 will enter the locking state. At the instant the rotating spindle 3 coincides with the base locking groove 6, the locking pin 5, pushed by the drive propulsion unit 4, enters the base locking groove 6, completing the locking action. Each sensor feeds back the position signal to the control unit, the controller releases the drive current, and the mechanism completes the execution action. The folding action is performed in reverse.

[0048] In one example, clearing the icing fault of the tow hook during the first running period of the drive motor includes: continuously controlling the drive motor to drive the tow hook to rotate during the first running period, determining whether the change in the rotation step length within a preset unfolding time is less than a preset amount; if the change in the rotation step length within the preset unfolding time is less than the preset amount, determining that an icing fault has occurred; and controlling the drive actuator to drive the tow hook to rotate at the highest power to clear the icing fault.

[0049] Optionally, preset values ​​can be calibrated. For example, preset values ​​can be zero, other quantities, ranges, or amplitude values. For instance, preset values ​​can be the standard step size change base per unit deployment time under low-temperature conditions without jamming faults, or the minimum step size change limit corresponding to the critical state of icing jamming. Among them, the standard step size change base per unit deployment time under low-temperature conditions without jamming faults can be obtained by calibrating under normal temperature reference no-load conditions and statistically fitting the motor rotation angle feedback data collected from low-temperature no-load reciprocating opening and closing tests. The minimum step size change limit corresponding to the critical state of icing jamming can be obtained by calibrating under gradient icing thickness simulation stall tests and gradually increasing transmission resistance to collect the limit step size change threshold combined with the vehicle fault judgment strategy.

[0050] In one example, resolving the anti-pinch fault of the tow hook during the second operating phase of the drive motor includes: continuously controlling the drive motor to drive the tow hook to rotate during the second operating phase, determining whether the real-time current of the motor exceeds a set threshold; if the real-time current of the motor exceeds the set threshold, determining that an anti-pinch fault has occurred; and controlling the drive actuator to drive the tow hook to rotate in the opposite direction by a preset angle to resolve the anti-pinch fault.

[0051] Optionally, the threshold can be calibrated. For example, the threshold can be the maximum safe current, the rated stall current of the motor, the critical current range for anti-pinch triggering, the instantaneous change amplitude of the current, or other quantities, ranges, or the magnitude of change.

[0052] Figure 6 This is a flowchart illustrating the deployment of the electric rear tow hook for passenger vehicles in an embodiment of the present invention. It is applied to scenarios involving the deployment of the tow hook, and includes: S301, the user can initiate the deployment request by clicking the "Electric Tow Hook Open" soft switch through the THU vehicle interface; S302, the THU system is responsible for collecting information on the vehicle's power status, tow hook status, trailer status, and vehicle status. It confirms whether the tow hook is ready to deploy. Once the conditions are met, it initiates the execution command sending and sends the command information to the BDC gateway.

[0053] S303, the tow hook control unit, after receiving the unfold command from the gateway, first checks whether the tow hook has been initialized. If the tow hook has not been initialized, it will drive the tow hook to perform initialization self-learning (completing a complete unfold-fold action). Then, the user needs to request startup a second time through the vehicle's soft switch; and it will determine whether the vehicle meets the startup conditions. After the conditions are met, the tow hook control unit issues a start unfold command.

[0054] Optionally, the hook control unit drives the actuator to deploy the hook. The Hall effect sensor value initially increases with the deployment angle. If the Hall effect sensor value changes to zero within a limited time, the ice-breaking mode will be activated, and the hook will be rotated at full power output.

[0055] Optionally, if the ice-breaking mode fails to execute successfully three times (Hall number does not increase), an ice-breaking warning is issued, the system displays an ice-breaking alarm mode, the unfolding function is paused, and the THU display shows the operation mode as off, requiring the user to perform the unfolding operation again. In other embodiments, the failure of the ice-breaking mode can also be determined by the real-time change in motor rotation angle, exceeding the running time limit, or continuously exceeding the operating current limit. For example, if there is no effective increase in motor rotation angle within the preset drive cycle, the ice-breaking drive timeout fails to complete the action, or the current remains at a high stall level during multiple drives.

[0056] S304, if the unfolding function starts normally (the Hall effect count increases according to a pattern), the tow hook will enter the anti-pinch zone.

[0057] During operation, if the operating load of the electric hook exceeds the threshold (motor current exceeds the set threshold), the anti-pinch protection will be activated, the hook will stop running, and rotate in the opposite direction by a certain angle (set via Hall effect data). The user needs to check the cause of the hook stopping and troubleshoot the problem. Then, select the open / fold operation. If folding is selected, the hook will rotate in the opposite direction to the folded position, ending the unfolding action. If continuing to unfold is selected, the hook will continue to unfold until it is fully unfolded.

[0058] S305, with the tow hook fully extended, the THU display shows the operating mode as extended, simultaneously prompting the user that it will enter towing mode, and turning off the intelligent driving system, reversing radar, and tailgate remote control function, and restricting the vehicle's control soft switch (retaining manual opening and closing function). For S306, after the tow hook is deployed, the user needs to attach the trailer to the tow hook to ensure a reliable connection.

[0059] Optionally, it can detect whether the tow hook load exceeds the limit. If it does, an alarm will be triggered to indicate a trailer load alarm. If the requirements are met, THU will indicate that it has entered towing mode.

[0060] S307, THU vehicle system issues command to turn off intelligent driving function and simultaneously turn off reversing radar. IP (Vehicle Instrument Panel) will display intelligent driving turned off, thus starting formal towing operation.

[0061] If the user has not attached a trailer and the tractor is switched to a gear other than P, the THU will prompt that the trailer is not connected and ask the user to fold the tow hook.

[0062] In this embodiment, controlling the tractor vehicle to enter the towing mode includes: generating a synchronization command; sending the synchronization command to the towed vehicle of the tractor vehicle, wherein the synchronization command is used to synchronize the headlight control signal of the tractor vehicle to the towed vehicle.

[0063] Optionally, the infotainment systems of the towing vehicle and the towed vehicle establish a wireless connection, sending synchronization commands to the towed vehicle via a wireless network. This allows vehicles behind the towed vehicle to observe its driving status (such as braking and steering), improving safety. Specifically, this is achieved through Bluetooth or Wi-Fi modules in both vehicles.

[0064] In other embodiments, controlling the towing vehicle to enter the towing mode may further include: generating a disable command; and transmitting the disable command to the tailgate of the towing vehicle.

[0065] During towing operations, the tailgate (including the trunk, spare tire box, etc.) is restricted, the reversing radar (ParkDistance Control, PDC) cannot be operated remotely, the soft switch function in the synchronized THU interface is limited (can only be manually operated to open / close), and the rear fog lights of the towing vehicle are turned off during towing operations to further improve safety.

[0066] Figure 7 This is a flowchart illustrating the folding process of the electric rear tow hook for passenger vehicles in an embodiment of the present invention. It is applied to scenarios involving folding the tow hook, and includes: In the S401, users can initiate a folding request by clicking the "Electric Tow Hook Folding" soft switch through the THU vehicle interface. S402, the tow hook control unit confirms whether the trailer has been disconnected and sends a signal command back to the BDC gateway. The THU receives the trailer status signal through the BDC gateway and then sends a tow hook folding command to the BDC gateway. The tow hook control unit accepts the command and then drives the tow hook actuator to start the folding action.

[0067] S403, the tow hook control unit drives the actuator to fold the tow hook. The Hall effect value begins to decrease with the unfolding angle. If the Hall effect value changes to zero within a limited time, the ice-breaking mode will be activated, and the device will output full power to drive the tow hook to rotate.

[0068] Optionally, if the three ice-breaking modes fail to execute successfully (the Hall effect count does not decrease), an ice-breaking warning will be issued, the system will display the ice-breaking alarm mode, the folding function will be paused, and the THU display will show the operation mode as enabled, requiring the user to perform the unfolding operation again.

[0069] S404, if the folding function starts normally (the Hall effect count decreases according to a pattern), the tow hook will enter the anti-pinch zone.

[0070] During operation, if the operating load of the electric hook exceeds the threshold (motor current exceeds the set threshold), the anti-pinch protection will be activated, the hook will stop running, and rotate in the opposite direction by a certain angle (set via Hall effect data). The user needs to check the cause of the hook stopping and troubleshoot the problem. Then, select the open / fold operation. If open is selected, the hook will rotate in the opposite direction to the open position, ending the folding action. If folding is continued, the hook will continue to perform the folding action until it is folded into the retracted state.

[0071] S405, the control unit confirms that the tow hook is fully folded, and sends a folding signal to the THU vehicle system. The THU interface displays that the tow hook is in the folded state.

[0072] S406, THU system, controls the vehicle to restore intelligent driving mode, activate the reversing radar, remotely control the tailgate, and remove the tailgate soft switch restriction.

[0073] Figure 8 This is a flowchart illustrating the collaborative interaction between the internal execution units of the tow hook in this embodiment of the invention. It can be applied to scenarios where a vehicle executes commands to unfold or fold the tow hook, including: S501, the control unit initiates the unfold / fold command.

[0074] S502, the position sensor unit feeds back the position signal of the tow hook (expanded / folded position).

[0075] S503, the push sensor unit provides feedback on the position of the locking pin (locked / unlocked).

[0076] S504, all parameters meet the command requirements, start the motor and propeller to run.

[0077] S505: After the motor starts, it monitors the motor feedback Hall effect count (0-1000) to determine if a freezing phenomenon exists (Hall effect count does not change). If so, it initiates the ice-breaking mode. If ice-breaking fails three times, it stops running. The user needs to issue the start command again.

[0078] After the motor starts rotating, when the rotating disk begins to move slightly, the locking pin will retract instantly under the action of the pusher, completing the unlocking. The tow hook rotating gear disk begins to rotate normally, the pusher returns to the pushing state, the locking pin expands outward under the action of the spring, and the gear disk continues to rotate.

[0079] S506: After the motor passes through the ice-breaking zone (the initial section of the Hall effect sensor count is set as the ice-breaking zone), it enters the anti-pinch zone (the middle section of the Hall effect sensor count is set as the anti-pinch zone). The control unit monitors the motor current in real time. When the motor current exceeds the set threshold, the output stops and the motor stops working. The user needs to troubleshoot the cause of the fault. After the cause of the fault is resolved, the motor will continue to rotate.

[0080] When the gear plate rotates to the next end position, the locking pin is pushed into the locking position instantly by the combined action of the spring and the pusher, thus completing the gear plate locking action.

[0081] S507: The position sensor and propulsion sensor provide position signals to confirm that the tow hook is fully extended / folded, and the rotation action ends. The tow hook extension / folding action is complete.

[0082] The solution adopted in this embodiment involves the coordinated operation of the rear electric tow hook control system, which covers all aspects such as vehicle-machine interaction, position feedback, status feedback, and fault identification. It is more intelligent and convenient. Through efficient communication between BDC and THU, it can achieve agile control of the tow hook, reduce the failure rate, and provide comprehensive information feedback, making driving safer and giving customers more peace of mind.

[0083] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0084] Example 2 This embodiment also provides a control device for a vehicle tow hook, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0085] Figure 9 This is a structural block diagram of a vehicle tow hook control device according to an embodiment of the present invention, such as... Figure 9 As shown, the device includes: The first receiving module 91 is used to receive the tow hook deployment command triggered by the vehicle interface of the towing vehicle through the vehicle domain controller (BDC). The unfolding module 92 is used to drive the tow hook to switch from a folded state to an unfolded state according to the tow hook unfolding command; Display module 93 is used to display prompt information on the vehicle interface and control the towing vehicle to enter the towing mode. The prompt information indicates that the towing vehicle has deployed the tow hook. In the towing mode, a disabling command is transmitted to the tailgate of the towing vehicle, and a synchronization command is sent to the towed vehicle. The synchronization command is used to synchronize the headlight control signal of the towing vehicle to the towed vehicle. The second receiving module 94 is used to receive the hook folding command triggered by the vehicle interface of the tractor through the BDC. The folding module 95 is used to drive the tow hook to switch from an unfolded state to a folded state according to the tow hook folding command.

[0086] Optionally, the unfolding module includes: an acquisition unit, configured to acquire the vehicle status of the towing vehicle in response to the tow hook unfolding command; and an unfolding unit, configured to send an unfolding command to the tow hook control unit of the towing vehicle according to the vehicle status, and control the drive actuator of the tow hook control unit to drive the tow hook to switch from a folded state to an unfolded state.

[0087] Optionally, the vehicle status includes power-on status and real-time vehicle speed, and the deployment unit includes: a sending subunit, used to send a deployment command to the tow hook control unit of the traction vehicle when the power-on status is that the whole vehicle is powered on and the real-time vehicle speed is less than a preset speed.

[0088] Optionally, the unfolding unit includes: an unlocking subunit for controlling the drive propulsion unit to initiate rotation, pulling the locking pin out of the base locking groove, and unlocking the rotating main shaft, wherein the drive actuator includes the drive propulsion unit and a drive motor, the drive propulsion unit is used to lock or unlock the tow hook, and the drive motor is used to rotate the tow hook; a data acquisition subunit for controlling the drive motor to initiate rotation, driving the rotating main shaft to start rotating via a drive gear disk, and simultaneously acquiring the rotational step length of the tow hook and the real-time motor current of the drive motor via a Hall sensor, wherein the extension end of the rotating main shaft is the tow hook; a first release subunit for releasing the icing fault of the tow hook during the first running period of the drive motor; a second release subunit for releasing the anti-pinch fault of the tow hook during the second running period of the drive motor after the icing fault is released, wherein the second running period is the next period after the first running period; and an unfolding subunit for controlling the drive actuator to unfold the tow hook to the target position after the anti-pinch fault is released.

[0089] Optionally, the first release subunit includes: a judgment subunit, configured to continuously control the drive motor to drive the tow hook to rotate during the first running period, and judge whether the change in the rotation step length within a preset deployment time is less than a preset amount; a determination subunit, configured to determine that an icing fault has occurred if the change in the rotation step length within the preset deployment time is less than the preset amount; and a release subunit, configured to control the drive actuator to drive the tow hook to rotate at the highest power to release the icing fault.

[0090] Optionally, the second release subunit includes: a judgment subunit, used to continuously control the drive motor to drive the hook to rotate during the second running period, and judge whether the real-time current of the motor exceeds a set threshold; a determination subunit, used to determine that an anti-pinch fault has occurred if the real-time current of the motor exceeds the set threshold; and a release subunit, used to control the drive actuator to drive the hook to rotate in the opposite direction by a preset angle to release the anti-pinch fault.

[0091] Optionally, the unfolding subunit includes: a control subunit for controlling the drive propulsion unit to release the locking pin, so that the locking pin automatically pops out under the preload of the internal spring, ready to enter the next locking position; a propulsion subunit for controlling the drive propulsion unit to output full power after the rotating spindle enters the end region, pushing the locking pin into the locking state; and an unfolding subunit for controlling the drive propulsion unit to push the locking pin into the base locking groove when the rotating spindle rotates to coincide with the base locking groove, so that the tow hook unfolds to the target position and completes the locking action of the tow hook.

[0092] This embodiment provides a vehicle, including: an electric tow hook control unit and a tow hook, wherein the electric tow hook control unit includes the device described in the above embodiment; the tow hook includes a drive motor, a drive gear disk, a rotating main shaft, a drive propulsion unit, a locking pin, and a base locking groove, the drive propulsion unit is used to drive the rotating main shaft to unlock from the base locking groove, and the drive motor is used to drive the rotating main shaft to rotate through the drive gear disk.

[0093] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0094] Example 3 Embodiments of the present invention also provide a storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0095] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps: S1 receives the tow hook deployment command triggered by the vehicle's infotainment interface via the vehicle domain controller (BDC). S2, drive the tow hook to switch from the folded state to the unfolded state according to the tow hook unfolding command; S3, a prompt message is displayed on the vehicle interface, and the towing vehicle is controlled to enter the towing mode. The prompt message indicates that the towing vehicle has deployed the tow hook. In the towing mode, a disabling command is transmitted to the tailgate of the towing vehicle, and a synchronization command is sent to the towed vehicle of the towing vehicle. The synchronization command is used to synchronize the headlight control signal of the towing vehicle to the towed vehicle. S4, receive the tow hook folding command triggered by the vehicle interface of the towing vehicle through the BDC; S5, drive the tow hook to switch from the unfolded state to the folded state according to the tow hook folding command.

[0096] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0097] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0098] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0099] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program: S1 receives the tow hook deployment command triggered by the vehicle's infotainment interface via the vehicle domain controller (BDC). S2, drive the tow hook to switch from the folded state to the unfolded state according to the tow hook unfolding command; S3, a prompt message is displayed on the vehicle interface, and the towing vehicle is controlled to enter the towing mode. The prompt message indicates that the towing vehicle has deployed the tow hook. In the towing mode, a disabling command is transmitted to the tailgate of the towing vehicle, and a synchronization command is sent to the towed vehicle of the towing vehicle. The synchronization command is used to synchronize the headlight control signal of the towing vehicle to the towed vehicle. S4, receive the tow hook folding command triggered by the vehicle interface of the towing vehicle through the BDC; S5, drive the tow hook to switch from the unfolded state to the folded state according to the tow hook folding command.

[0100] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0101] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0102] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0103] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0104] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A control method for a vehicle tow hook, characterized in that, include: The vehicle receives the tow hook deployment command triggered by the vehicle's infotainment system interface via the Body Domain Controller (BDC). The tow hook is driven to switch from a folded state to an unfolded state according to the tow hook unfolding command; The vehicle interface displays a prompt message and controls the towing vehicle to enter the towing mode. The prompt message indicates that the towing vehicle has deployed the tow hook. In the towing mode, a synchronization command is sent to the towed vehicle of the towing vehicle. The synchronization command is used to synchronize the headlight control signal of the towing vehicle to the towed vehicle. The BDC receives the tow hook folding command triggered by the vehicle's infotainment interface. The tow hook is driven to switch from an unfolded state to a folded state according to the tow hook folding command.

2. The method according to claim 1, characterized in that, The process of driving the tow hook to switch from a folded state to an unfolded state according to the tow hook unfolding command includes: In response to the tow hook deployment command, the vehicle status of the towing vehicle is obtained; Based on the vehicle status, an unfolding command is sent to the tow hook control unit of the tractor vehicle, and the drive actuator of the tow hook control unit is controlled to drive the tow hook to switch from the folded state to the unfolded state.

3. The method according to claim 2, characterized in that, The vehicle status includes power-on status and real-time vehicle speed; sending deployment commands to the tow hook control unit of the tractor vehicle based on the vehicle status includes: When the vehicle is powered on and the real-time vehicle speed is less than a preset speed, a deployment command is sent to the tow hook control unit of the tractor vehicle.

4. The method according to claim 2, characterized in that, The drive actuator controlling the tow hook control unit drives the tow hook to switch from a folded state to an unfolded state, including: The control drive propulsion unit starts rotating, pulls the locking pin out of the base locking groove, and unlocks the rotating spindle. The drive actuator includes the drive propulsion unit and the drive motor. The drive propulsion unit is used to lock or unlock the tow hook, and the drive motor is used to rotate the tow hook. The drive motor is controlled to start rotating, and the rotating spindle is driven to start rotating through the drive gear disk. At the same time, the rotation step of the hook and the real-time motor current of the drive motor are collected in real time through Hall sensor. The extension end of the rotating spindle is the hook. During the first operating period of the drive motor, the icing fault of the tow hook is resolved. After the icing fault is cleared, the anti-pinch fault of the tow hook is cleared during the second running period of the drive motor, wherein the second running period is the next period after the first running period; After the anti-pinch fault is resolved, the drive actuator is controlled to drive the tow hook to unfold to the target position.

5. The method according to claim 4, characterized in that, Resolving the icing fault of the tow hook during the first operating period of the drive motor includes: During the first running period, the drive motor is continuously controlled to drive the hook to rotate, and it is determined whether the change in the rotation step size within a preset deployment time is less than a preset amount. If the change in the rotation step size within the preset unfolding time is less than a preset amount, an icing fault is determined to have occurred. The drive actuator is controlled to drive the hook to rotate at maximum power in order to relieve the icing fault.

6. The method according to claim 4, characterized in that, Releasing the anti-pinch fault of the tow hook during the second operating period of the drive motor includes: During the second operating period, the drive motor is continuously controlled to drive the hook to rotate, and it is determined whether the real-time current of the motor exceeds a set threshold. If the real-time current of the motor exceeds the set threshold, an anti-pinch fault is determined to have occurred; The drive actuator is controlled to drive the hook to rotate in the opposite direction by a preset angle to release the anti-pinch fault.

7. The method according to claim 4, characterized in that, Controlling the drive actuator to drive the tow hook to unfold to the target position includes: The drive propulsion unit is controlled to release the locking pin, so that the locking pin automatically pops out under the preload of the internal spring, ready to enter the next locking position; After the rotating spindle enters the end region, the drive propulsion unit is controlled to output full power to push the locking pin into the locking state; When the rotating spindle rotates to coincide with the base locking groove, the drive propulsion unit is controlled to push the locking pin into the base locking groove, the tow hook unfolds to the target position, and the locking action of the tow hook is completed.

8. A control device for a vehicle tow hook, characterized in that, include: The first receiving module is used to receive the tow hook deployment command triggered by the vehicle interface of the towing vehicle through the Body Domain Controller (BDC). The unfolding module is used to drive the tow hook to switch from a folded state to an unfolded state according to the tow hook unfolding command; The display module is used to display prompt information on the vehicle interface and control the towing vehicle to enter the towing mode. The prompt information indicates that the towing vehicle has deployed the tow hook. In the towing mode, the module sends a synchronization command to the towed vehicle of the towing vehicle. The synchronization command is used to synchronize the headlight control signal of the towing vehicle to the towed vehicle. The second receiving module is used to receive the hook folding command triggered by the vehicle interface of the tractor through the BDC. The folding module is used to drive the tow hook from an unfolded state to a folded state according to the tow hook folding command.

9. A vehicle, characterized in that, include: The electric tow hook control unit and the tow hook, wherein, The electric tow hook control unit includes the device as described in claim 8; The tow hook includes a drive motor, a drive gear disk, a rotating spindle, a drive propulsion unit, a locking pin, and a base locking groove. The drive propulsion unit is used to drive the rotating spindle to unlock from the base locking groove, and the drive motor is used to drive the rotating spindle to rotate through the drive gear disk.

10. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 7 when it is run.

11. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method as described in any one of claims 1 to 7.

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