Towing connection force detection device, towing vehicle motion state recognition system and vehicle

Abstract

This application provides a trailer connection force detection device, a trailer motion state recognition system, and a vehicle, relating to the field of vehicle control technology. The device includes: a trailer connection component for achieving mechanical connection and force transmission with a tractor; a connecting shaft fixedly connected to the trailer connection component; a connecting seat fixed to the vehicle body, having a through hole for the connecting shaft to pass through; a first spring, a first pressure sensor, a second spring, and a second pressure sensor, respectively sleeved on the connecting shaft and housed within the axial space of the connecting seat; wherein the first pressure sensor and the second pressure sensor are located at opposite axial ends of the connecting seat, for detecting axial forces in opposite directions. The trailer connection force detection device, trailer motion state recognition system, and vehicle provided by this application not only directly measure the connection force between the vehicle and the tractor through the trailer connection force detection device, but also achieve a technological leap from passive connection to active perception and early warning.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a trailer connection force detection device, a trailer motion state recognition system, and a vehicle. Background Technology

[0002] With the upgrading of the automotive industry and the popularization of outdoor living, the application of trailers (such as RVs and freight trailers) is becoming increasingly widespread. The driving safety and stability of trailers, especially preventing trailer swaying (also known as "snaking"), rollover and other instability accidents, are crucial technical challenges. This stability depends heavily on the dynamic interaction forces between the tractor and the trailer.

[0003] In related technologies, trailer coupling devices (such as trailer ball joints and connecting pins) are merely passive mechanical connecting components. Their function is limited to transmitting force and motion, and they do not possess any state perception capabilities. As a result, vehicles cannot perceive the towing status in real time, which to some extent affects the safe driving of vehicles. Summary of the Invention

[0004] The purpose of this application is to provide a trailer connection force detection device, a trailer motion state recognition system, and a vehicle, which can not only directly measure the connection force between the vehicle and the tractor through the trailer connection force detection device, but also achieve a technological leap from passive connection to active perception and early warning.

[0005] In a first aspect, this application provides a trailer connection force detection device, comprising: A trailer connection component is used to achieve mechanical connection and force transmission with a tractor; a connecting shaft is fixedly connected to the trailer connection component; a connecting seat fixed on the vehicle body has a through hole for the connecting shaft to pass through; a first spring, a first pressure sensor, a second spring, and a second pressure sensor are respectively sleeved on the connecting shaft and housed in the axial space of the connecting seat; wherein, the first pressure sensor and the second pressure sensor are respectively located at the two ends of the axial direction of the connecting seat, and are used to detect axial forces in opposite directions.

[0006] Optionally, the first pressure sensor is configured to detect the pressure generated by the compressed first spring when the device is subjected to an axial compressive force; the second pressure sensor is configured to detect the pressure generated by the compressed second spring when the device is subjected to an axial traction force.

[0007] Optionally, the device further includes a fixing nut, threadedly connected to the other end of the connecting shaft, for axially pressing the components housed in the axial space of the connecting seat.

[0008] Optionally, the second pressure sensor is fixedly mounted on the fixing nut; the second spring is constrained between the connecting seat and the second pressure sensor.

[0009] Optionally, the second pressure sensor is fixedly mounted on the end of the connector; the second spring is constrained between the second pressure sensor and the fixing nut.

[0010] Optionally, the connector has a fixing groove at one end near the first pressure sensor for fixing the first pressure sensor.

[0011] Secondly, this application provides a trailer motion state recognition system, comprising: The device includes a trailer connection force detection unit, a data acquisition unit, and a state recognition unit. The data acquisition unit is used to acquire the vehicle's wheel speed signal, inertial measurement signal, and pressure sensor signal of the trailer connection force detection device. The state recognition unit is used to identify the vehicle's motion state based on the acquired wheel speed signal, inertial measurement signal, and pressure sensor signal, and obtain the motion state recognition result.

[0012] Optionally, the motion state recognition result includes at least one of the following: vehicle load, vehicle driving slope, and vehicle stability.

[0013] Optionally, the state recognition unit is specifically configured to calculate the interaction force between the vehicle and the tractor based on the pressure sensor signal, and to calculate the vehicle load based on the interaction force and the inertial measurement signal; the state recognition unit is further configured to identify the vehicle's driving gradient based on the vehicle attitude information represented by the inertial measurement signal, the vehicle speed change represented by the speed signal, and the interaction force; the state recognition unit is further configured to determine the vehicle's stability based on the vehicle attitude information represented by the inertial measurement signal, the current vehicle speed represented by the speed signal, and the interaction force.

[0014] Thirdly, this application also provides a vehicle equipped with the trailer motion state recognition system described in any of the first aspects above.

[0015] Fourthly, this application also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the trailer motion state recognition system as described above.

[0016] Fifthly, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of any of the trailer motion state recognition systems described above.

[0017] Sixthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the trailer motion state recognition system as described above.

[0018] The towing connection force detection device, trailer motion state recognition system, and vehicle provided in this application include: a towing connection force detection device, a data acquisition unit, and a state recognition unit; the data acquisition unit is used to acquire the vehicle's wheel speed signal, inertial measurement signal, and pressure sensor signal of the towing connection force detection device; the state recognition unit is used to identify the vehicle's motion state based on the acquired wheel speed signal, inertial measurement signal, and pressure sensor signal, and obtain the motion state recognition result. Thus, not only can the connection force between the vehicle and the tractor be directly measured through the towing connection force detection device, but also, through a highly integrated design and advanced information fusion method, a technological leap from passive connection to active perception and early warning is achieved, demonstrating outstanding practicality, reliability, and broad application prospects. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a trailer connection force detection device provided in this application; Figure 2 This is a schematic diagram of another towing connection force detection device provided in this application; Figure 3 This is a schematic diagram of the trailer motion state recognition system provided in this application; Figure 4 This is a schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship. All actions involving the acquisition of signal information or data in this application are performed in accordance with the relevant data protection laws and policies of the country where the application is located and with authorization from the owner of the relevant device.

[0023] The technical solutions in related technologies mainly have the following shortcomings: 1. It is impossible to directly, accurately, and in real time measure the bidirectional interaction force (tension and compression) at the connection point between the tractor and the trailer; 2. There is a lack of a device with high structural integration, simple installation, and the ability to obtain key data from the source of force transmission; 3. Due to the lack of high-precision direct force signals, the estimation of key states such as trailer load and driving gradient is inaccurate, which in turn limits the performance and reliability of advanced stability control algorithms (such as active anti-sway).

[0024] To address the aforementioned technical problems in related technologies, this application provides a trailer connection force detection device and a trailer motion state recognition system built upon this device. This system not only directly measures the connection force between the vehicle and the tractor through the device, but also achieves a technological leap from passive connection to active perception and early warning through a highly integrated design and advanced information fusion methods, demonstrating outstanding practicality, reliability, and broad application prospects.

[0025] The towing connection force detection device provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0026] For example, an embodiment of this application provides a tow truck connection force detection device, comprising: A trailer connection component is used to achieve mechanical connection and force transmission with a tractor; a connecting shaft is fixedly connected to the trailer connection component; a connecting seat fixed on the vehicle body has a through hole for the connecting shaft to pass through; a first spring, a first pressure sensor, a second spring, and a second pressure sensor are respectively sleeved on the connecting shaft and housed in the axial space of the connecting seat; wherein, the first pressure sensor and the second pressure sensor are respectively located at the two ends of the axial direction of the connecting seat, and are used to detect axial forces in opposite directions.

[0027] For example, the first pressure sensor is configured to detect the pressure generated by the compressed first spring when the device is subjected to an axial compressive force; the second pressure sensor is configured to detect the pressure generated by the compressed second spring when the device is subjected to an axial traction force.

[0028] For example, the above-described trailer connection force detection device further includes: a fixing nut, threadedly connected to the other end of the connecting shaft, for axially pressing the components housed within the axial space of the connecting seat. The second pressure sensor is fixedly mounted on the fixing nut; the second spring is constrained between the connecting seat and the second pressure sensor. A fixing groove is provided at one end of the connecting seat near the first pressure sensor for fixing the first pressure sensor.

[0029] It should be noted that, in the embodiments of this application, the trailer connection force detection device causes relative movement between the connecting shaft and the connecting seat when the trailer connection component is in operation, thereby compressing the first spring or the second spring.

[0030] For example, such as Figure 1 The diagram shown is a structural schematic of a trailer connection force detection device provided in an embodiment of this application, including: a trailer ball joint (i.e., the trailer connection component mentioned above), spring 1 (i.e., the first spring mentioned above), spring 2 (i.e., the second spring mentioned above), pressure sensor 1 (i.e., the first pressure sensor mentioned above), pressure sensor 2 (i.e., the second pressure sensor mentioned above), a connecting seat, and a hexagonal nut for fixing (i.e., the fixing nut mentioned above).

[0031] It is understood that the towing connection force detection device in this application embodiment converts the complex interactions between vehicles into measurable electrical signals through a clever mechanical structure. Specifically, it includes the following: 1. Transmission and conversion of force: All longitudinal interaction forces between the tractor and trailer (traction force during acceleration and compressive force during braking) are transmitted to the entire assembly through the trailer ball joint. The connecting shaft transmits these forces to the internal springs 1 and 2.

[0032] 2. Differentiation detection of bidirectional forces: When subjected to compressive force (such as braking, the trailer pushing the trailer forward): Spring 1 is compressed, and the resulting pressure is accurately detected by pressure sensor 1. When subjected to traction force (such as acceleration, the trailer being pulled by the trailer): Spring 2 is compressed, and the resulting pressure is accurately detected by pressure sensor 2. The connecting seat and hexagonal nut form a robust housing and locking mechanism, ensuring that the internal components can produce stable and reliable deformation under stress.

[0033] In one possible implementation, the second pressure sensor can be fixed not only to the nut but also to the connector.

[0034] For example, the second pressure sensor is fixedly mounted to the end of the connector; the second spring is constrained between the second pressure sensor and the fixing nut.

[0035] For example, such as Figure 2 The diagram shown is a structural schematic of another trailer connection force detection device provided in this application embodiment. The pressure sensor 2 can also be fixedly installed on the connector, and its principle for measuring traction force is the same as... Figure 1 The installation method shown is the same.

[0036] The towing connection force detection device provided in this application includes: a trailer connecting component for achieving mechanical connection and force transmission with a tractor; a connecting shaft fixedly connected to the trailer connecting component; a connecting seat fixed on the vehicle body with a through hole for the connecting shaft to pass through; a first spring, a first pressure sensor, a second spring, and a second pressure sensor, respectively sleeved on the connecting shaft and housed within the axial space of the connecting seat; wherein the first pressure sensor and the second pressure sensor are located at opposite axial ends of the connecting seat and are used to detect axial forces in opposite directions. This towing connection force detection device is not only structurally reasonable and easy to install, but also capable of real-time detection of the connection force between the vehicle and the tractor, providing data support for identifying the vehicle's motion state.

[0037] The trailer motion state recognition system provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0038] like Figure 3 As shown in the embodiment of this application, a trailer motion state recognition system is provided, the system comprising: The data acquisition unit is used to acquire the vehicle's wheel speed signal, inertial measurement signal, and pressure sensor signal of the towing connection force detection device; the state recognition unit is used to identify the vehicle's motion state based on the acquired wheel speed signal, inertial measurement signal, and pressure sensor signal, and obtain a motion state recognition result. The motion state recognition result includes at least one of the following: vehicle load, vehicle driving gradient, and vehicle stability.

[0039] For example, the trailer motion state recognition system provided in the application embodiment can detect the interaction force between the front and rear vehicles in real time, recognize the trailer motion state (such as vehicle speed, attitude, slope, load, etc.) through multi-parameter fusion, and improve the driving safety and stability of the trailer, providing reliable input for the intelligent driving system.

[0040] For example, the state recognition unit is specifically used to calculate the interaction force between the vehicle and the tractor based on the pressure sensor signal, and to calculate the vehicle load based on the interaction force and the inertial measurement signal; the state recognition unit is further used to identify the vehicle's driving slope based on the vehicle attitude information represented by the inertial measurement signal, the vehicle speed change represented by the speed signal, and the interaction force; the state recognition unit is further used to determine the vehicle's stability based on the vehicle attitude information represented by the inertial measurement signal, the current vehicle speed represented by the speed signal, and the interaction force.

[0041] For example, the trailer motion state recognition system provided in this application embodiment can realize the recognition of vehicle motion state through the following steps: 1. System initialization and installation calibration After installing the device, perform sensor calibration and system self-test to confirm that all components are working properly.

[0042] 2. Real-time data acquisition The interaction force between the front and rear vehicles is collected through pressure sensors 1 and 2; the trailer speed is collected through wheel speed sensors; the vehicle's three-axis acceleration and angular velocity are collected through IMU; and the speed of the vehicle in front and braking signals are obtained through CAN bus or independent sensors (optional).

[0043] 3. Construction of dynamic model and calculation of force range Based on the vehicle's longitudinal dynamics model, and combined with parameters such as the mass of the front and rear vehicles, gradient resistance, and air resistance, the theoretical range of the interaction force between the front and rear vehicles is calculated, which is used for sensor selection and state recognition threshold setting.

[0044] 4. Status Parameter Identification Vehicle weight estimation: Based on interaction force and acceleration data, the trailer mass is estimated in real time; Slope recognition: Combining IMU attitude data and vehicle speed changes, the current driving slope is identified; Attitude recognition: IMU data is used to determine whether the trailer is in an abnormal state of tilting, pitching, or yaw; Stability judgment: Combining force, vehicle speed, and attitude data, the trailer is judged to be in a state of instability risk.

[0045] 5. Output and Control The identification results are output to the front vehicle's instrument panel or central control system via the CAN bus; it can trigger safety measures such as audible and visual alarms or automatic braking; it supports integration with autonomous driving systems to achieve functions such as adaptive cruise control and stability assist.

[0046] For example, the trailer connection force detection device is installed at the trailer connection point, and the signals from each sensor are connected to the status recognition unit. The system automatically initializes upon power-up, collects data in real time, and calculates status parameters. The recognition results can be displayed and controlled via an in-vehicle display screen, a mobile app, or the vehicle control system.

[0047] The trailer motion state recognition system provided in this application constitutes a complete engineering design closed loop: 1. Calculation of interaction forces at extreme positions (theoretical modeling): The system will theoretically calculate the maximum tension and maximum pressure that may occur at the trailer connection point based on parameters such as the vehicle's maximum mass, possible extreme slopes, and acceleration, using a vehicle dynamics model.

[0048] Objective: To provide a scientific basis for subsequent hardware selection and software threshold setting.

[0049] 2. Sensor selection (hardware adaptation): Based on the theoretical maximum force calculated in the previous step, the appropriate range and accuracy of pressure sensors 1 and 2 are selected. Simultaneously, the stiffness coefficients of springs 1 and 2 are designed according to the force value and the desired deformation.

[0050] Objective: To ensure that the hardware can safely withstand extreme forces while maintaining high sensitivity within normal driving ranges.

[0051] 3. Design of optimal drive / excitation control strategy (software algorithm): The algorithm processes the signals from the two pressure sensors in real time. It can not only calculate the magnitude and direction of the force in real time, but also determine the vehicle status by analyzing the trend and frequency of force changes (for example, a sharp fluctuation in force may indicate that the trailer has started to sway) and combining it with signals from other sensors (such as IMU).

[0052] Ultimately, the system can make decisions and output control commands based on this information, such as sending requests to the ESP (Electronic Stability Program) of the towing vehicle or the engine ECU to perform adaptive cruise control, suppress trailer sway, or perform emergency braking.

[0053] Compared with the technical solutions in related technologies, the trailer motion state recognition system provided in this application has the following advantages: 1. Direct and high-precision measurement of key mechanical quantities: This solution integrates two pressure sensors and corresponding springs inside the connector, positioned at both ends, enabling direct and independent measurement of the axial tension and compression between the tractor and trailer. This measurement method obtains signals from the source of mechanical transmission, avoiding the cumulative errors of indirect estimation. The data is accurate and real-time, providing a reliable data foundation for subsequent advanced control.

[0054] 2. Compact structure, high integration, and convenient installation: The entire detection device is an independent, replaceable modular component that directly replaces or connects to the traditional trailer ball joint. It integrates sensors, mechanical buffers (springs), and signal preprocessing units, eliminating the need for large-scale modifications or complex wiring to the tractor or trailer, significantly reducing installation barriers and operating costs, and facilitating future maintenance and promotion.

[0055] 3. Achieved fusion recognition of multi-dimensional state parameters: Based on the high-precision interaction force obtained through direct measurement, combined with selectable wheel speed, attitude, and other information, the relevant methods in this scheme can accurately estimate key parameters such as trailer mass and driving gradient, which are difficult for traditional systems to measure in real time. This provides crucial input for vehicle load management, power distribution, and gradient adaptation control.

[0056] 4. Significantly improves the safety and stability of trailer driving: By monitoring the amplitude, frequency of change, and direction of interaction forces in real time, the system can identify early and sensitive instability trends such as trailer swaying and folding. This allows the system to issue timely warnings to the driver or send intervention commands to the tractor's power and braking systems via the vehicle bus, achieving proactive stability assistance control and effectively preventing accidents.

[0057] 5. Provides key sensor support for intelligent driving systems: The standardized force signals and status information output by this solution can be seamlessly integrated into the vehicle's electronic control system via CAN and other vehicle networks. This enables it to serve as one of the core perception units of advanced driver assistance systems (ADAS) or future trailer-mounted autonomous driving systems, supporting intelligent functions such as adaptive cruise control, automatic emergency braking, and anti-sway cruise control, with extremely high scalability.

[0058] The trailer motion state recognition system provided in this application includes: a trailer connection force detection device, a data acquisition unit, and a state recognition unit. The data acquisition unit acquires the vehicle's wheel speed signal, inertial measurement signal, and pressure sensor signal from the trailer connection force detection device. The state recognition unit identifies the vehicle's motion state based on the acquired wheel speed signal, inertial measurement signal, and pressure sensor signal, obtaining a motion state recognition result. Thus, it not only directly measures the connection force between the vehicle and the tractor through the trailer connection force detection device, but also achieves a technological leap from passive connection to active perception and early warning through highly integrated design and advanced information fusion methods, demonstrating outstanding practicality, reliability, and broad application prospects.

[0059] Figure 4An example is provided: a schematic diagram of the physical structure of an electronic device, which includes the aforementioned data acquisition unit and state recognition unit, used to execute the method steps performed by the two units. Figure 4 As shown, the electronic device may include a processor 410, a communication interface 420, a memory 430, and a communication bus 440. The processor 410, communication interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute the method steps that the trailer motion state recognition system can perform. This method includes: acquiring the vehicle's wheel speed signal, inertial measurement signal, and pressure sensor signal from the trailer connection force detection device; and performing vehicle motion state recognition based on the acquired wheel speed signal, inertial measurement signal, and pressure sensor signal to obtain the motion state recognition result. Thus, not only can the connection force between the vehicle and the tractor be directly measured through the trailer connection force detection device, but also, through highly integrated design and advanced information fusion methods, a technological leap from passive connection to active perception and early warning is achieved, demonstrating outstanding practicality, reliability, and broad application prospects.

[0060] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0061] On the other hand, this application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute the method steps that the trailer motion state recognition system provided by the above methods can execute. The method includes: acquiring the vehicle's wheel speed signal, inertial measurement signal, and pressure sensor signal of the trailer connection force detection device; and performing vehicle motion state recognition based on the acquired wheel speed signal, inertial measurement signal, and pressure sensor signal to obtain a motion state recognition result. Thus, not only can the connection force between the vehicle and the tractor be directly measured through the trailer connection force detection device, but also, through highly integrated design and advanced information fusion methods, a technological leap from passive connection to active perception and early warning is achieved, demonstrating outstanding practicality, reliability, and broad application prospects.

[0062] Furthermore, this application also provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, this computer program performs the method steps that the aforementioned trailer motion state recognition systems can execute. The method includes: acquiring wheel speed signals, inertial measurement signals, and pressure sensor signals from the trailer connection force detection device; and performing vehicle motion state recognition based on the acquired wheel speed signals, inertial measurement signals, and pressure sensor signals to obtain a motion state recognition result. Thus, not only can the connection force between the vehicle and the tractor be directly measured through the trailer connection force detection device, but also, through highly integrated design and advanced information fusion methods, a technological leap from passive connection to active perception and early warning is achieved, demonstrating outstanding practicality, reliability, and broad application prospects.

[0063] 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. Those skilled in the art can understand and implement this without any creative effort.

[0064] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, 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 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.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A device for detecting the connection force of a trailer, characterized in that, include: Trailer connection components are used to achieve mechanical connection and force transmission with the tractor; A connecting shaft is fixedly connected to the trailer connecting component; a connecting seat fixed to the vehicle body is provided with a through hole for the connecting shaft to pass through; The first spring, the first pressure sensor, the second spring, and the second pressure sensor are respectively sleeved on the connecting shaft and housed within the axial space of the connecting seat; The first pressure sensor and the second pressure sensor are located at opposite axial ends of the connecting seat, and are used to detect axial forces in opposite directions.

2. The apparatus according to claim 1, characterized in that, The first pressure sensor is configured to detect the pressure generated by the compressed first spring when the device is subjected to an axial compressive force; The second pressure sensor is configured to detect the pressure generated by the compressed second spring when the device is subjected to an axial traction force.

3. The apparatus according to claim 1 or 2, characterized in that, The device further includes: A fixing nut is threaded to the other end of the connecting shaft and is used to axially press the components housed in the axial space of the connecting seat.

4. The apparatus according to claim 3, characterized in that, The second pressure sensor is fixedly mounted on the fixing nut; the second spring is constrained between the connecting seat and the second pressure sensor.

5. The apparatus according to claim 3, characterized in that, The second pressure sensor is fixedly installed at the end of the connector; the second spring is constrained between the second pressure sensor and the fixing nut.

6. The apparatus according to claim 4 or 5, characterized in that, The connector has a fixing groove at one end near the first pressure sensor for fixing the first pressure sensor.

7. A trailer motion state recognition system, characterized in that, Includes the trailer connection force detection device as described in any one of claims 1 to 7, a data acquisition unit, and a status identification unit; The data acquisition unit is used to acquire the vehicle's wheel speed signal, inertial measurement signal, and pressure sensor signal of the trailer connection force detection device; The state recognition unit is used to identify the vehicle's motion state based on the collected wheel speed signal, inertial measurement signal, and pressure sensor signal, and obtain the motion state recognition result.

8. The system according to claim 7, characterized in that, The motion state recognition results include at least one of the following: vehicle load, vehicle driving slope, and vehicle stability.

9. The system according to claim 8, characterized in that, The state recognition unit is specifically used to calculate the interaction force between the vehicle and the tractor based on the pressure sensor signal, and to calculate the vehicle load based on the interaction force and the inertial measurement signal. The state recognition unit is further configured to identify the vehicle's driving slope based on the vehicle attitude information represented by the inertial measurement signal, the vehicle speed change represented by the speed signal, and the interaction force. The state recognition unit is further configured to determine the vehicle's stability based on the vehicle attitude information represented by the inertial measurement signal, the current vehicle speed represented by the speed signal, and the interaction force.

10. A vehicle, characterized in that, It is equipped with a trailer motion status recognition system as described in any one of claims 7 to 9.

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