Vehicle towing hook hooking method and device, storage medium and electronic device

Abstract

The invention provides a vehicle towing hook hooking method and device, a storage medium and an electronic device.The method comprises the steps that environment information of a vehicle tail towing hook operation area is collected; identifying position information of a target hanging point of the towing hook according to the environment information; according to the position information, a target reversing path between a tow hook unfolding point and the target hooking point is determined, and the tow hook unfolding point is a connecting point after the tow hook is unfolded; controlling the vehicle to reverse based on the target reversing path so as to move the towing hook unfolding point to the target hooking point; and controlling the vehicle to unfold the towing hook so as to hang the towed vehicle. According to the embodiment, the technical problem that in the prior art, the alignment efficiency of the towing hook and the hooking point is low is solved, manual operation is reduced through environment perception and intelligent alignment guiding, and the hooking difficulty of the trailer is remarkably reduced.

Description

Technical Field

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

[0002] In related technologies, with the increasing multi-functionality of automobiles and the continuous expansion of outdoor and towing applications, tow hooks have been widely used in RV towing, trailers, baskets, bicycle racks, and emergency rescue scenarios. Existing vehicle tow hooks mainly include three types: fixed tow hooks, manually detachable tow hooks, and electrically retractable tow hooks.

[0003] In existing technologies, electric tow hooks typically only achieve simple motor-driven extension or retraction. Their control logic relies on manual observation and operation by the driver, resulting in the following significant shortcomings: Lack of environmental awareness: Existing electric tow hook systems cannot sense the environment behind the vehicle or the position of the object being hooked. The driver must confirm via rearview mirrors or by getting out of the vehicle, leading to low operational efficiency and insufficient safety at night, in rain or snow, or in confined spaces. Alignment accuracy dependent on human experience: The alignment of the tow hook and the towing device relies entirely on the driver's reversing experience, resulting in alignment failures and repeated adjustments, which can easily damage the tow hook, bumper, or object being hooked. System isolation, lacking coordination with vehicle control: Most tow hook systems exist as independent components, not coordinating with the vehicle controller, driver assistance systems, or onboard communication networks, thus failing to achieve status linkage, risk warning, and functional expansion. Limited safety control methods: Existing tow hook systems lack proactive identification and handling mechanisms for abnormal operating conditions (such as personnel approaching, obstacle intrusion, hooking failure, etc.), posing potential safety hazards.

[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 method and apparatus for attaching a vehicle tow hook, a storage medium, and an electronic device to solve technical problems in related technologies.

[0006] According to an embodiment of the present invention, a method for attaching a vehicle tow hook is provided, comprising: collecting environmental information of the tow hook operation area at the rear of the vehicle; identifying the location information of the target attachment point of the tow hook based on the environmental information; determining a target reversing path between the tow hook deployment point and the target attachment point based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; controlling the vehicle to reverse based on the target reversing path to move the tow hook deployment point to the target attachment point; and controlling the vehicle to deploy the tow hook to attach to a towed vehicle.

[0007] Optionally, the environmental information includes an environmental image, and identifying the location information of the target attachment point of the tow hook based on the environmental information includes: identifying the attachment point geometric features of the target attachment point of the tow hook based on the environmental image; outputting the target bounding box of the target attachment point based on the attachment point geometric features; converting the target bounding box into three-dimensional coordinates in the camera coordinate system, and determining the three-dimensional coordinates as the location information of the target attachment point.

[0008] Optionally, converting the target bounding box into three-dimensional coordinates in the camera coordinate system includes: extracting the pixel coordinates of the target bounding box in the image coordinate system; determining the camera intrinsic parameter matrix of the vehicle's rear camera, wherein the rear camera is used to acquire the environmental image; and converting the pixel coordinates into three-dimensional coordinates in the camera coordinate system of the rear camera based on the camera intrinsic parameter matrix.

[0009] Optionally, determining the target reversing path between the tow hook deployment point and the target attachment point based on the location information includes: establishing a rectangular coordinate system with the rear axle center of the vehicle as the origin; determining the yaw deviation between the heading angle of the vehicle and the tangent of the target attachment point in the rectangular coordinate system; and generating the target reversing path between the tow hook deployment point and the target attachment point based on the yaw deviation.

[0010] Optionally, controlling the vehicle to reverse based on the target reversing path to move the tow hook deployment point to the target attachment point includes: dividing the target reversing path into a continuous first path and a second path, wherein the distance between the second path and the target attachment point is less than a preset distance; periodically selecting a dynamic look-ahead point on the first path in real time; calculating the steering angle of the vehicle to move the tow hook deployment point to the dynamic look-ahead point according to the vehicle kinematics model; determining a first target reversing speed, and controlling the vehicle to move the tow hook deployment point to the starting point of the second path according to the first target reversing speed and the steering angle; determining a second target reversing speed, and controlling the vehicle to move the tow hook deployment point from the starting point to the ending point of the second path according to the second target reversing speed, wherein the ending point is the point where the center of the tow hook deployment point coincides with the center of the target attachment point.

[0011] Optionally, determining the second target reversing speed and controlling the vehicle to move the tow hook deployment point from the starting point to the ending point of the second path according to the second target reversing speed includes: acquiring in real time the first echo signal collected by the first ultrasonic probe at the rear of the vehicle, and acquiring in real time the second echo signal collected by the second ultrasonic probe at the rear of the vehicle, wherein the first ultrasonic probe and the second ultrasonic probe are respectively located on both sides of the tow hook; calculating the echo time difference between the first echo signal and the second echo signal; dynamically correcting the alignment error between the tow hook deployment point and the target attachment point on the second path based on the echo time difference to obtain a corrected path; and controlling the vehicle to move from the starting point to the ending point along the corrected path according to the second target reversing speed.

[0012] Optionally, after controlling the vehicle to deploy the tow hook, the method further includes: controlling the vehicle to enter a traction mode and limiting the maximum speed of the vehicle; continuously monitoring whether obstacles appear in the tow hook operation area in the traction mode; if obstacles are detected in the tow hook operation area, controlling the vehicle to stop the traction mode and outputting a safety warning message.

[0013] According to another embodiment of the present invention, a vehicle tow hook attachment device is provided, comprising: a data acquisition module for acquiring environmental information of the tow hook operation area at the rear of the vehicle; an identification module for identifying the location information of the target attachment point of the tow hook based on the environmental information; a calculation module for determining a target reversing path between the tow hook deployment point and the target attachment point based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; and a control module for controlling the vehicle to reverse based on the target reversing path to move the tow hook deployment point to the target attachment point; and controlling the vehicle to deploy the tow hook to attach to a towed vehicle.

[0014] Optionally, the environmental information includes an environmental image, and the recognition module includes: a recognition unit, used to recognize the geometric features of the target attachment point of the tow hook based on the environmental image; an output unit, used to output the target bounding box of the target attachment point based on the geometric features of the attachment point; and a conversion unit, used to convert the target bounding box into three-dimensional coordinates in the camera coordinate system, and to determine the three-dimensional coordinates as the position information of the target attachment point.

[0015] Optionally, the transformation unit includes: an extraction subunit for extracting the pixel coordinates of the target bounding box in the image coordinate system; a determination subunit for determining the camera intrinsic parameter matrix of the rear camera of the vehicle, wherein the rear camera is used to acquire the environmental image; and a transformation subunit for converting the pixel coordinates into three-dimensional coordinates of the camera coordinate system of the rear camera based on the camera intrinsic parameter matrix.

[0016] Optionally, the calculation module includes: a construction unit for establishing a rectangular coordinate system with the rear axle center of the vehicle as the origin; a calculation unit for determining the yaw deviation between the heading angle of the vehicle and the tangent of the target attachment point in the rectangular coordinate system; and a generation unit for fitting and generating a target reversing path from the tow hook deployment point to the target attachment point based on the yaw deviation.

[0017] Optionally, the control module includes: a processing unit, configured to divide the target reversing path into a continuous first path and a second path, wherein the distance between the second path and the target hook-up point is less than a preset distance; a selection unit, configured to periodically select dynamic look-ahead points on the first path in real time; a calculation unit, configured to calculate the steering angle by which the vehicle moves the tow hook deployment point to the dynamic look-ahead point based on a vehicle kinematics model; a first control unit, configured to determine a first target reversing speed and control the vehicle to move the tow hook deployment point to the starting point of the second path according to the first target reversing speed and the steering angle; and a second control unit, configured to determine a second target reversing speed and control the vehicle to move the tow hook deployment point from the starting point to the ending point of the second path according to the second target reversing speed, wherein the ending point is the point where the center of the tow hook deployment point coincides with the center of the target hook-up point.

[0018] Optionally, the second control unit includes: an acquisition subunit, configured to acquire in real time a first echo signal collected by a first ultrasonic probe at the rear of the vehicle, and a second echo signal collected in real time by a second ultrasonic probe at the rear of the vehicle, wherein the first ultrasonic probe and the second ultrasonic probe are respectively disposed on both sides of the tow hook; a calculation subunit, configured to calculate the echo time difference between the first echo signal and the second echo signal; a correction subunit, configured to dynamically correct the alignment error between the tow hook deployment point and the target attachment point on the second path based on the echo time difference, thereby obtaining a corrected path; and a control subunit, configured to control the vehicle to move from the starting point to the ending point along the corrected path according to the second target reversing speed.

[0019] Optionally, the device further includes: a limiting module, used to control the vehicle to enter traction mode and limit the maximum speed of the vehicle after the control module controls the vehicle to deploy the tow hook; a monitoring module, used to continuously monitor whether there are obstacles in the tow hook operation area in the traction mode; and a safety module, used to control the vehicle to stop the traction mode and output safety warning information if an obstacle is detected in the tow hook operation area.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] The beneficial effects of this invention are: 1. By using environmental perception and intelligent positioning guidance, manual operation is reduced, significantly lowering the difficulty of trailer docking; 2. The environmental perception module monitors the tow hook operation area in real time. When it detects personnel approaching, obstacles intruding, or abnormal hooking, the control unit can automatically pause or terminate the tow hook operation and issue a warning message to the driver, thus forming a multi-level safety protection mechanism. Attached Figure Description

[0024] 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 method for attaching a vehicle tow hook according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the intelligent environmental sensing tow hook system in an embodiment of the present invention; Figure 4 This is an identification feature map of the target attachment point in an embodiment of the present invention; Figure 5This is a schematic diagram of the communication between the tow hook system and the vehicle control system in an embodiment of the present invention; Figure 6 This is a flowchart of the automatic alignment and hooking control of the tow hook in an embodiment of the present invention; Figure 7 This is a structural block diagram of a vehicle tow hook attachment device according to an embodiment of the present invention. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] Example 1 The method embodiment provided in Embodiment 1 of this application can be executed in a vehicle, vehicle controller, processor, computer, or similar processing device. Taking its 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 1 Only 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 1The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0028] 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 attachment 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 above-described 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.

[0029] 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.

[0030] This embodiment provides a method for attaching a vehicle tow hook. Figure 2 This is a flowchart of a vehicle tow hook attachment method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Collect environmental information of the vehicle's rear tow hook operation area; Optionally, the environmental perception module in the rear bumper of the vehicle includes at least one or more of the following: a camera, an ultrasonic sensor, and a millimeter-wave radar. For example, a 190° high-definition fisheye camera can be installed in the center of the rear bumper, combined with four ultrasonic probes and one solid-state lidar. It is positioned at the rear of the vehicle or near the tow hook to acquire image information, distance information, and obstacle information within the tow hook's operating area.

[0031] Figure 3This is a schematic diagram of the overall structure of the intelligent environmental perception tow hook system in this embodiment of the invention, including an environmental perception module (camera / radar), a tow hook actuator (motor / transmission), a control unit (ECU), a tow hook status detection (position / force / lock), a vehicle control system (ESP / parking), and a human-machine interaction module (central control / HUD).

[0032] Step S202: Identify the location information of the target attachment point of the tow hook based on the environmental information; In this embodiment, the target attachment point is the connection point on the towed vehicle, which can be at the head or tail of the towed vehicle.

[0033] Step S203: Determine the target reversing path between the tow hook deployment point and the target attachment point based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; Optionally, the tow hook can be in a folded state or an unfolded state. In normal scenarios, to ensure vehicle safety, the tow hook is in a folded state and hidden under the vehicle or in the rear bumper. The tow hook is unfolded after the vehicle moves to the target attachment point.

[0034] Step S204: Control the vehicle to reverse based on the target reversing path to move the tow hook deployment point to the target attachment point; Step S205: Control the vehicle to deploy the tow hook to hook up the towed vehicle.

[0035] Through the above steps, environmental information of the vehicle's rear tow hook operation area is collected; the location information of the target attachment point of the tow hook is identified based on the environmental information; the target reversing path between the tow hook deployment point and the target attachment point is determined based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; the vehicle is controlled to reverse based on the target reversing path to move the tow hook deployment point to the target attachment point; the vehicle is controlled to deploy the tow hook to attach to the towed vehicle. This solves the technical problem of low alignment efficiency between the tow hook and the attachment point in the prior art. Through environmental perception and intelligent alignment guidance, manual operation is reduced, and the difficulty of towing is significantly reduced.

[0036] In one embodiment of this example, the environmental information includes an environmental image, and identifying the location information of the target attachment point of the tow hook based on the environmental information includes: identifying the attachment point geometric features of the target attachment point of the tow hook based on the environmental image; outputting the target bounding box of the target attachment point based on the attachment point geometric features; converting the target bounding box into three-dimensional coordinates in the camera coordinate system, and determining the three-dimensional coordinates as the location information of the target attachment point.

[0037] The pre-trained deep learning model is invoked to scan the image and identify attachment point features (such as A-frames and ball-head receivers). The algorithm outputs a bounding box containing the target and a classification confidence score, and selects the one with the highest confidence score. Figure 4 This is the identification feature map of the target attachment point in this embodiment of the invention. The type of the attachment point geometric feature is: Hitch_01, and the confidence level is 99.8%.

[0038] In one example, converting the target bounding box into three-dimensional coordinates in the camera coordinate system includes: extracting the pixel coordinates of the target bounding box in the image coordinate system; determining the camera intrinsic matrix of the vehicle's rear camera, wherein the rear camera is used to acquire the environmental image; and converting the pixel coordinates into three-dimensional coordinates in the camera coordinate system of the rear camera based on the camera intrinsic matrix.

[0039] The system will use pixels in the image coordinate system Convert the camera intrinsic parameter matrix to 3D coordinates in the camera coordinate system. .

[0040] In one example of this embodiment, determining the target reversing path between the tow hook deployment point and the target attachment point based on the location information includes: establishing a Cartesian coordinate system with the rear axle center of the vehicle as the origin; determining the yaw deviation between the heading angle of the vehicle and the tangent of the target attachment point in the Cartesian coordinate system; and generating the target reversing path between the tow hook deployment point and the target attachment point based on the yaw deviation.

[0041] After locking onto the target engagement point, the algorithm generates the target reversing path based on the current pose: First, geometric modeling is performed: a Cartesian coordinate system is established with the vehicle's rear axle center as the origin. The system calculates the vehicle's heading angle. Yaw deviation from the tangent to the target point Then, Bézier curve fitting is performed, and the target reversing path is generated using a third-order Bézier curve equation. The formula is: , Yaw deviations selected at different time points .

[0042] This algorithm ensures that the path curvature is continuous throughout the entire segment, thereby avoiding severe vibrations in the EPS steering system.

[0043] In one embodiment of this example, controlling the vehicle to reverse based on the target reversing path to move the tow hook deployment point to the target attachment point includes: dividing the target reversing path into a continuous first path and a second path, wherein the distance between the second path and the target attachment point is less than a preset distance; periodically selecting dynamic look-ahead points on the first path in real time; calculating the steering angle of the vehicle to move the tow hook deployment point to the dynamic look-ahead point according to the vehicle kinematics model; determining a first target reversing speed, and controlling the vehicle to move the tow hook deployment point to the starting point of the second path according to the first target reversing speed and the steering angle; determining a second target reversing speed, and controlling the vehicle to move the tow hook deployment point from the starting point of the second path to the ending point according to the second target reversing speed, wherein the ending point is the point where the center of the tow hook deployment point coincides with the center of the target attachment point.

[0044] Optionally, the first target reversing speed and the second target reversing speed in this embodiment can be preset constant reversing speeds. The first target reversing speed and the second target reversing speed can be the same or different. The first target reversing speed and the second target reversing speed can also be determined comprehensively based on information such as the current vehicle status, environment (e.g., road conditions), steering angle, and remaining reversing distance. For example, if the current road conditions are good, a higher first target reversing speed and the second target reversing speed can be set. The first target reversing speed and the second target reversing speed can also be dynamically adjusted based on the remaining reversing distance. For example, the shorter the remaining reversing distance of the second path, the lower the speed, until it is reduced to a preset minimum speed. It can be constant or variable, and the timing of the speed can also be matched with the path.

[0045] In this embodiment, the docking process is driven by the following closed-loop control algorithm: the system selects a look-ahead point in real time on the target reversing path and calculates the required steering angle based on the vehicle kinematics model. : ;in, This refers to the vehicle's wheelbase. For forward-looking distance, The angle between the vehicle's current heading and the line connecting the look-ahead point.

[0046] By controlling the powertrain controller to output a small amount of torque, the vehicle maintains a constant speed of approximately [missing information]. The second target is the reversing speed. When the ultrasonic radar and visual algorithm simultaneously determine that the center of the tow hook coincides with the center of the engagement point (i.e., ... When the algorithm sends a braking request to the EBS, the EPB automatically parks, deploys the tow hook, and completes the docking.

[0047] In one example, determining a second target reversing speed and controlling the vehicle to move the tow hook deployment point from the starting point to the ending point of the second path according to the second target reversing speed includes: acquiring a first echo signal collected by a first ultrasonic probe at the rear of the vehicle in real time, and acquiring a second echo signal collected by a second ultrasonic probe at the rear of the vehicle in real time, wherein the first ultrasonic probe and the second ultrasonic probe are respectively located on both sides of the tow hook; calculating the echo time difference between the first echo signal and the second echo signal; dynamically correcting the alignment error between the tow hook deployment point and the target attachment point on the second path based on the echo time difference to obtain a corrected path; and controlling the vehicle to move from the starting point to the ending point along the corrected path according to the second target reversing speed.

[0048] In this example, fine near-field compensation is performed when the distance to the target attachment point is relatively close: when the distance to the target point is relatively close... At this point, the algorithm automatically switches to ultrasonic high-frequency feedback mode. In this mode, the algorithm primarily corrects the alignment accuracy of the rear of the vehicle in real time by comparing the echo time difference between the two probes, controlling the accuracy error within a specified range. Within.

[0049] In one implementation scenario of this embodiment, after controlling the vehicle to deploy the tow hook, the method further includes: controlling the vehicle to enter a traction mode and limiting the maximum speed of the vehicle; continuously monitoring whether obstacles appear in the tow hook operation area in the traction mode; if obstacles are detected in the tow hook operation area, controlling the vehicle to stop the traction mode and outputting a safety warning message.

[0050] This invention monitors the tow hook operation area in real time through an environmental perception module. When personnel approach, obstacles intrude, or abnormal hooking is detected, the control unit can automatically pause or terminate the tow hook operation and issue a warning message to the driver, thereby forming a multi-level safety protection mechanism.

[0051] This embodiment provides an intelligent environmental sensing tow hook system. By introducing a multi-source environmental sensing module, an intelligent control unit, and an electric tow hook actuator, it achieves automatic positioning, automatic hooking assistance, and multi-level safety protection of the tow hook in complex environments, thereby solving the problems of reliance on manual operation, insufficient safety, and system isolation in the prior art.

[0052] The intelligent environmental perception tow hook system of this embodiment consists of three core modules: a perception layer, a decision layer, and a system layer. It includes: an environmental perception module, used to collect environmental information about the rear of the vehicle and the tow hook operation area; a control unit, used to process, analyze, and make decisions on the information collected by the environmental perception module; a tow hook actuator, used to complete the extension, retraction, position adjustment, and hooking actions of the tow hook under the control of the control unit; and a communication interface module, used to realize information interaction between the tow hook system and the vehicle control system. Figure 5 This is a communication diagram between the tow hook system and the vehicle control system in an embodiment of the present invention. The tow hook ECU and the central control display (unit) interact with the parking system and the ESP system through the CAN / LIN bus network.

[0053] The multimodal fusion perception system utilizes onboard rear-view cameras and ultrasonic radar for environmental modeling. It identifies the characteristic shapes of the trailer hitch points (such as tripods and ball joints) using deep convolutional neural networks (CNNs); and calculates the spatial coordinates between the hitch point and the tow hook using binocular vision or monocular structured light algorithms. and yaw angle Spatial positioning is performed; ultrasonic radar is used for high-precision ranging in the near field (<1m) to ensure safety in low-light conditions where vision fails. The system generates a Bézier curve or Ackermann steering model path from the current position to the docking point in real time. During reversing, the system updates the path at a frequency of more than 20Hz to compensate for yaw caused by uneven ground friction. Fully automatic control is achieved through electronic power steering (EPS), electronic braking system (EBS), and powertrain controller (ECU).

[0054] The environmental perception module in this embodiment includes at least one or more of a camera, an ultrasonic sensor, and a millimeter-wave radar. It is positioned at the rear of the vehicle or near the tow hook to acquire image information, distance information, and obstacle information within the tow hook's operating area. Through the fusion processing of multi-source perception information, the control unit can accurately identify the spatial position, attitude characteristics, and surrounding obstacle distribution of the towing device, providing a reliable data foundation for automatic tow hook alignment and safety control.

[0055] The communication interface module enables bidirectional communication with the vehicle's overall control system, allowing the tow hook system to share information with the vehicle's reversing system, parking assistance system, driver assistance system, or human-machine interface system. For example, when the tow hook is in operation, the vehicle can limit its speed, remind the driver of precautions, or automatically stop the towing action in abnormal situations, thereby significantly improving overall vehicle safety and system coordination.

[0056] Figure 6 This is a flowchart of the automatic alignment and engagement control of the tow hook in an embodiment of the present invention, providing an intelligent environmental perception tow hook control method based on the above system, which includes the following steps: Step S401: Start-up mode, collect environmental information; Step S402: Identify the target attachment point and location, process the environmental information, and identify the target attachment point of the towing device; Step S403: Calculate the relative pose relationship, calculate the relative pose relationship between the tow hook and the target attachment point; Step S404: Generate actuator control instructions; Step S405: Perform alignment and engagement actions, and control the tow hook actuator to perform position adjustment and engagement actions based on the calculation results; Step S406: Connection complete / abnormal handling. When connection is complete or an abnormal situation is detected, execute the corresponding termination or safety handling process.

[0057] The solution adopted in this embodiment significantly reduces the difficulty of trailer hooking, minimizing manual operation through environmental perception and intelligent alignment guidance. The tow hook system can detect surrounding obstacles in real time and perform safety interlocking. It can work in conjunction with parking assistance and autonomous driving systems. It is applicable to various trailer types and different vehicle platforms.

[0058] 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.

[0059] Example 2 This embodiment also provides a vehicle tow hook attachment device, 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 performs 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.

[0060] Figure 7 This is a structural block diagram of a vehicle tow hook attachment device according to an embodiment of the present invention, such as... Figure 7 As shown, the device includes: Data acquisition module 71 is used to collect environmental information of the vehicle's rear tow hook operation area; The identification module 72 is used to identify the location information of the target attachment point of the tow hook based on the environmental information. The calculation module 73 is used to determine the target reversing path between the tow hook deployment point and the target attachment point based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; The control module 74 is used to control the vehicle to reverse based on the target reversing path, so as to move the tow hook deployment point to the target hooking point; and to control the vehicle to deploy the tow hook to hook the towed vehicle.

[0061] Optionally, the environmental information includes an environmental image, and the recognition module includes: a recognition unit, used to recognize the geometric features of the target attachment point of the tow hook based on the environmental image; an output unit, used to output the target bounding box of the target attachment point based on the geometric features of the attachment point; and a conversion unit, used to convert the target bounding box into three-dimensional coordinates in the camera coordinate system, and to determine the three-dimensional coordinates as the position information of the target attachment point.

[0062] Optionally, the transformation unit includes: an extraction subunit for extracting the pixel coordinates of the target bounding box in the image coordinate system; a determination subunit for determining the camera intrinsic parameter matrix of the rear camera of the vehicle, wherein the rear camera is used to acquire the environmental image; and a transformation subunit for converting the pixel coordinates into three-dimensional coordinates of the camera coordinate system of the rear camera based on the camera intrinsic parameter matrix.

[0063] Optionally, the calculation module includes: a construction unit for establishing a rectangular coordinate system with the rear axle center of the vehicle as the origin; a calculation unit for determining the yaw deviation between the heading angle of the vehicle and the tangent of the target attachment point in the rectangular coordinate system; and a generation unit for fitting and generating a target reversing path from the tow hook deployment point to the target attachment point based on the yaw deviation.

[0064] Optionally, the control module includes: a processing unit, configured to divide the target reversing path into a continuous first path and a second path, wherein the distance between the second path and the target hook-up point is less than a preset distance; a selection unit, configured to periodically select dynamic look-ahead points on the first path in real time; a calculation unit, configured to calculate the steering angle by which the vehicle moves the tow hook deployment point to the dynamic look-ahead point based on a vehicle kinematics model; a first control unit, configured to determine a first target reversing speed and control the vehicle to move the tow hook deployment point to the starting point of the second path according to the first target reversing speed and the steering angle; and a second control unit, configured to determine a second target reversing speed and control the vehicle to move the tow hook deployment point from the starting point to the ending point of the second path according to the second target reversing speed, wherein the ending point is the point where the center of the tow hook deployment point coincides with the center of the target hook-up point.

[0065] Optionally, the second control unit includes: an acquisition subunit, configured to acquire in real time a first echo signal collected by a first ultrasonic probe at the rear of the vehicle, and a second echo signal collected in real time by a second ultrasonic probe at the rear of the vehicle, wherein the first ultrasonic probe and the second ultrasonic probe are respectively disposed on both sides of the tow hook; a calculation subunit, configured to calculate the echo time difference between the first echo signal and the second echo signal; a correction subunit, configured to dynamically correct the alignment error between the tow hook deployment point and the target attachment point on the second path based on the echo time difference, thereby obtaining a corrected path; and a control subunit, configured to control the vehicle to move from the starting point to the ending point along the corrected path according to the second target reversing speed.

[0066] Optionally, the device further includes: a limiting module, used to control the vehicle to enter traction mode and limit the maximum speed of the vehicle after the control module controls the vehicle to deploy the tow hook; a monitoring module, used to continuously monitor whether there are obstacles in the tow hook operation area in the traction mode; and a safety module, used to control the vehicle to stop the traction mode and output safety warning information if an obstacle is detected in the tow hook operation area.

[0067] 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.

[0068] 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.

[0069] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps: S1, collect environmental information of the vehicle's rear tow hook operation area; S2, Identify the location information of the target attachment point of the tow hook based on the environmental information; S3, determine the target reversing path between the tow hook deployment point and the target attachment point based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; S4, based on the target reversing path, control the vehicle to reverse so as to move the tow hook deployment point to the target attachment point; S5, control the vehicle to deploy the tow hook to hook up the towed vehicle.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program: S1, collect environmental information of the vehicle's rear tow hook operation area; S2, Identify the location information of the target attachment point of the tow hook based on the environmental information; S3, determine the target reversing path between the tow hook deployment point and the target attachment point based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; S4, based on the target reversing path, control the vehicle to reverse so as to move the tow hook deployment point to the target attachment point; S5, control the vehicle to deploy the tow hook to hook up the towed vehicle.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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 method for attaching a vehicle tow hook, characterized in that, include: Collect environmental information about the area where the vehicle's rear tow hook is operating; Identify the location information of the target attachment point of the tow hook based on the environmental information; The target reversing path between the tow hook deployment point and the target attachment point is determined based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; The vehicle is reversed based on the target reversing path to move the tow hook deployment point to the target attachment point; Control the vehicle to deploy the tow hook to hook up the towed vehicle.

2. The method according to claim 1, characterized in that, Controlling the vehicle to reverse based on the target reversing path to move the tow hook deployment point to the target attachment point includes: The target reversing path is divided into a continuous first path and a second path, wherein the distance between the second path and the target attachment point is less than a preset distance; Dynamic look-ahead points are selected in real time along the first path according to the cycle. The steering angle by which the vehicle moves the tow hook deployment point to the dynamic look-ahead point is calculated based on the vehicle kinematics model. Determine the first target reversing speed, and control the vehicle to move the tow hook deployment point to the starting point of the second path according to the first target reversing speed and the steering angle; Determine the second target reversing speed, and control the vehicle to move the tow hook deployment point from the starting point to the ending point of the second path according to the second target reversing speed, wherein the ending point is the point where the center of the tow hook deployment point coincides with the center of the target attachment point.

3. The method according to claim 2, characterized in that, Determining the second target reversing speed and controlling the vehicle to move the tow hook deployment point from the starting point to the ending point of the second path according to the second target reversing speed includes: The system acquires the first echo signal collected by the first ultrasonic probe at the rear of the vehicle in real time, and acquires the second echo signal collected by the second ultrasonic probe at the rear of the vehicle in real time, wherein the first ultrasonic probe and the second ultrasonic probe are respectively disposed on both sides of the tow hook. Calculate the echo time difference between the first echo signal and the second echo signal; Based on the echo time difference, the alignment error between the tow hook deployment point and the target attachment point on the second path is dynamically corrected to obtain the corrected path; The vehicle is controlled to move from the starting point to the ending point along the corrected path according to the second target reversing speed.

4. The method according to claim 1, characterized in that, The environmental information includes an environmental image, and the location information of the target attachment point of the tow hook identified based on the environmental information includes: Based on the environmental image, identify the geometric features of the target attachment point of the tow hook; Output the target bounding box of the target attachment point based on the geometric features of the attachment point; The target bounding box is converted into three-dimensional coordinates in the camera coordinate system, and the three-dimensional coordinates are determined as the position information of the target attachment point.

5. The method according to claim 4, characterized in that, Converting the target bounding box to three-dimensional coordinates in the camera coordinate system includes: Extract the pixel coordinates of the target bounding box in the image coordinate system; Determine the camera intrinsic parameter matrix of the rear camera of the vehicle, wherein the rear camera is used to acquire the environmental image; The pixel coordinates are converted into three-dimensional coordinates of the camera coordinate system of the rear camera based on the camera intrinsic parameter matrix.

6. The method according to claim 1, characterized in that, Determining the target reversing path from the tow hook deployment point to the target attachment point based on the location information includes: A rectangular coordinate system is established with the center of the rear axle of the vehicle as the origin; In the Cartesian coordinate system, determine the yaw deviation between the vehicle's heading angle and the tangent of the target attachment point; Based on the yaw deviation, a target reversing path is generated between the tow hook deployment point and the target attachment point.

7. The method according to claim 1, characterized in that, After controlling the vehicle to deploy the tow hook, the method further includes: Control the vehicle to enter traction mode and limit the vehicle's maximum speed; In the traction mode, the system continuously monitors whether any obstacles appear within the tow hook's operating area. If an obstacle is detected in the tow hook's operating area, the vehicle will be controlled to stop the traction mode and a safety warning message will be output.

8. A vehicle tow hook attachment device, characterized in that, include: The data acquisition module is used to collect environmental information about the area where the vehicle's rear tow hook is operating. The identification module is used to identify the location information of the target attachment point of the tow hook based on the environmental information. The calculation module is used to determine the target reversing path between the tow hook deployment point and the target attachment point based on the location information, wherein the tow hook deployment point is the connection point after the tow hook is deployed; The control module is used to control the vehicle to reverse based on the target reversing path, so as to move the tow hook deployment point to the target hooking point; and to control the vehicle to deploy the tow hook to hook up the towed vehicle.

9. 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.

10. 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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