Trailer hitch control method, system, and vehicle

Abstract

The application provides a trailer hook control method, system and vehicle. The trailer hook control method comprises the following steps: obtaining a trailer hook control instruction; controlling a camera module to take a picture to obtain an initial image; detecting whether an obstacle exists in a to-be-tested area of the initial image; and controlling the trailer hook to move if it is detected that no obstacle exists in the to-be-tested area of the initial image. In the embodiment of the application, collision or extrusion of the trailer hook with an obstacle during movement of the trailer hook can be avoided, so that the risk of injury is reduced, and the motor of the trailer hook is prevented from being damaged.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a trailer hitch control method, system and vehicle. Background Technology

[0002] Vehicles are typically equipped with trailer hitches for towing between vehicles. Existing trailer hitches usually have a split design, meaning that the threaded hole or mounting interface for connecting the trailer hitch is located at the rear of the vehicle, while the trailer hitch itself is stored in the toolbox as a vehicle tool.

[0003] To improve intelligence and convenience, related technologies have provided an electric trailer hitch that can be retracted and hidden when not in use and deployed when needed. However, the driving force of an electric trailer hitch during operation is relatively large, which may cause crushing or pinching of obstacles if it encounters them, and may also damage the trailer hitch motor. Summary of the Invention

[0004] In view of this, this application aims to provide a trailer hitch control method, system and vehicle to avoid collision or squeezing with obstacles during the movement of the trailer hitch, thereby reducing the risk of pinching injury and avoiding damage to the trailer hitch motor.

[0005] According to a first aspect of this application, a trailer hitch control method is provided for controlling an deployable and retractable trailer hitch, the trailer hitch control method comprising: Obtain a trailer hitch control command, wherein the trailer hitch control command is used to instruct the trailer hitch to move from its current position to a target position; Control the camera module to take pictures to obtain the initial image; The system detects whether there are obstacles in the test area of ​​the initial image, wherein the test area includes at least a visible motion area, which is the motion area that can be captured by the camera module during the entire deployment and / or retraction process of the trailer hitch. If no obstacle is detected in the test area of ​​the initial image, the trailer hook is controlled to move.

[0006] In this embodiment, the trailer hook is only allowed to move when no obstacle is detected in the test area of ​​the initial image. This ensures the normal movement of the trailer hook, avoids collisions or squeezing with obstacles during movement, thereby reducing the risk of pinching injuries and preventing damage to the trailer hook motor. Furthermore, by performing obstacle detection on the test area of ​​the captured image—that is, by detecting obstacles in a specific area—the targeting and accuracy of obstacle detection can be improved. This avoids erroneously failing to control the trailer hook's movement due to the detection of obstacles that are far away and do not affect its movement.

[0007] Optionally, if there are no obstacles in the test area of ​​the initial image, after controlling the movement of the trailer hook, the method further includes: During the movement of the trailer hook, the camera module is controlled to take pictures at a set cycle to obtain multiple process images. For each process image, the camera module detects whether there are obstacles in the area to be tested in the process image until the trailer hook moves to the target position and stops taking pictures and stopping the detection of process images. If no obstacle is detected in the area to be tested in the process image, the trailer hook is kept in motion; If an obstacle is detected in the area to be tested in the process image, the trailer hook is controlled to stop moving and a first prompt message is output.

[0008] Optionally, the steps of obtaining trailer hook control commands; controlling the camera module to capture images to obtain an initial image; detecting whether there are obstacles in the test area of ​​the initial image; and controlling the trailer hook to move if no obstacles are detected in the test area of ​​the initial image, include: Obtain a trailer hitch deployment command, wherein the trailer hitch deployment command is used to instruct the trailer hitch to move from the current position to the deployment position, the current position being the retracted position, or the current position being between the retracted position and the deployment position; Control the camera module to take pictures to obtain the first initial image; Detect whether there are obstacles in the test area of ​​the first initial image; If no obstacle is detected in the test area of ​​the first initial image, the trailer hitch is deployed.

[0009] Optionally, the steps of obtaining trailer hook control commands; controlling the camera module to capture images to obtain an initial image; detecting whether there are obstacles in the test area of ​​the initial image; and controlling the trailer hook to move if no obstacles are detected in the test area of ​​the initial image, include: Obtain a trailer hitch retraction command, wherein the trailer hitch retraction command is used to instruct the trailer hitch to move from the current position to the retracted position, the current position being the deployed position, or the current position being between the retracted position and the deployed position; Control the camera module to take pictures to obtain a second initial image; Detect whether there are obstacles in the test area of ​​the second initial image; If no obstacle is detected in the test area of ​​the second initial image, the trailer hook is retracted.

[0010] Optionally, the area to be measured may further include an extended area located outside the visible motion area; The detection of whether there are obstacles in the test area of ​​the initial image includes: If the test area of ​​the initial image does not have a trailer hook, the test area of ​​the initial image is compared with the corresponding area of ​​the preset reference image to detect whether there is an obstacle in the test area of ​​the initial image, wherein the preset reference image does not contain a trailer hook or an obstacle. If a trailer hitch is present in the test area of ​​the initial image, the area in the test area of ​​the initial image other than the trailer hitch is compared with the corresponding area of ​​the preset reference image to detect whether there is an obstacle in the test area of ​​the initial image. And / or, detecting whether there are obstacles in the test area of ​​the process image, including: If the test area of ​​the process image does not have a trailer hook, the test area of ​​the process image is compared with the corresponding area of ​​a preset reference image to detect whether there is an obstacle in the test area of ​​the process image. If a trailer hitch is present in the test area of ​​the process image, the area in the test area of ​​the process image other than the trailer hitch is compared with the corresponding area of ​​a preset reference image to detect whether there is an obstacle in the test area of ​​the process image.

[0011] Optionally, detecting whether there are obstacles in the test area of ​​the initial image includes: performing denoising and enhancement processing on the initial image, and detecting whether there are obstacles in the test area of ​​the denoised and enhanced initial image; And / or, for each process image, detecting whether there are obstacles in the test area of ​​the process image, including: for each process image, performing denoising and enhancement processing on the process image, and detecting whether there are obstacles in the test area of ​​the denoised and enhanced process image.

[0012] Optionally, detecting whether there are obstacles in the test area of ​​the initial image includes: determining the test area of ​​the initial image based on the pre-stored location information of the test area, and detecting whether there are obstacles in the test area of ​​the initial image; And / or, for each process image, detecting whether there is an obstacle in the test area of ​​the process image, including: for each process image, determining the test area of ​​the process image based on the pre-stored location information of the test area, and detecting whether there is an obstacle in the test area of ​​the process image; And / or, the area to be tested also includes an extended area located outside the visible motion area; the process of determining the position information of the area to be tested includes: taking continuous pictures of the entire deployment and / or retraction process of the trailer hook in advance using a camera module to obtain multiple continuous images; determining multiple continuous motion positions of the trailer hook that can be captured based on the multiple continuous images taken by the camera module; determining the visible motion area based on the multiple continuous motion positions; expanding the boundary of the visible motion area by a set width to obtain the area to be tested, and recording and storing the position information of the area to be tested.

[0013] Optionally, after detecting whether there is an obstacle in the test area of ​​the initial image, the method further includes: If an obstacle is detected in the test area of ​​the initial image, the trailer hook movement is not controlled, and a second prompt message is output.

[0014] According to a second aspect of this application, a trailer hitch control system is also provided, including a domain controller, a trailer hitch controller, a trailer hitch drive, a trailer hitch, and a camera module; The domain controller is communicatively connected to the trailer hook controller and electrically connected to the camera module. The trailer hook controller is electrically connected to the trailer hook drive unit, and the trailer hook drive unit is connected to the trailer hook. The domain controller is used to execute the above-described trailer hook control method.

[0015] According to a third aspect of this application, a vehicle is also provided, including the aforementioned trailer hitch control system.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of a trailer hitch in the deployed position provided in an embodiment of this application; Figure 2 This is a flowchart illustrating the steps of a trailer hitch control method provided in an embodiment of this application; Figure 3 This is a flowchart of another trailer hitch control method provided in an embodiment of this application; Figure 4This is a flowchart of the steps involved in the trailer hitch deployment control process in practical applications. Figure 5 This is a flowchart of the steps involved in the trailer hitch retraction control process in a practical application. Figure 6 This is a structural block diagram of a trailer hitch control system provided in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of this application to enable readers to better understand this application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can be implemented. The division of the various embodiments below is for the convenience of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.

[0019] Reference Figure 1 The vehicle includes a trailer hitch, which is movably connected to the vehicle body and can be deployed and retracted. The trailer hitch has an deployed position and a retracted position. Figure 1 The trailer hitch is in the extended position. In the retracted position, the trailer hitch is hidden and not visible.

[0020] The vehicle also includes a trailer hitch drive unit, which is used to drive the trailer hitch to move, that is, to extend or retract the trailer hitch. The trailer hitch can move by rotation. During the extension process, the trailer hitch moves towards the outside of the vehicle, for example, by rotating towards the outside of the vehicle. During the retraction process, the trailer hitch moves towards the inside of the vehicle, for example, by rotating towards the inside of the vehicle.

[0021] The trailer hook drive unit can be a trailer hook motor. When the trailer hook motor rotates forward, it drives the trailer hook to extend. When the trailer hook motor rotates in reverse, it drives the trailer hook to retract. The trailer hook motor includes a motor shaft and has a built-in angle sensor that detects the angle of rotation of the motor shaft. When the trailer hook is in the retracted position, the angle of rotation of the motor shaft is the first angle; when the trailer hook is in the extended position, the angle of rotation of the motor shaft is the second angle. The second angle is different from the first angle. Therefore, based on the angle of rotation of the motor shaft, it can be determined whether the trailer hook is in the extended or retracted position.

[0022] The vehicle also includes a domain controller and a trailer hitch controller that communicates with the domain controller. The trailer hitch controller directly controls the operation of the trailer hitch drive components, while the domain controller sends commands related to trailer hitch control to the trailer hitch controller. The trailer hitch controller is electrically connected to an angle sensor to receive feedback from the angle sensor regarding the rotation angle of the motor shaft. The trailer hitch controller also determines whether the trailer hitch is in the deployed or retracted position based on the rotation angle of the motor shaft.

[0023] This application provides a trailer hitch control method for controlling an deployable and retractable trailer hitch. The trailer hitch control method can be executed by a domain controller.

[0024] Reference Figure 2 Trailer hook control methods include: S101, Obtain trailer hitch control command.

[0025] Users can touch the relevant virtual buttons on the central control screen to trigger the trailer hitch to extend or retract. Correspondingly, the system receives trailer hitch control commands in response to user touch operations on the central control screen. Trailer hitch control commands include trailer hitch extension commands and trailer hitch retraction commands.

[0026] Trailer hook control commands instruct the trailer hook to move from its current position to a target position. The target position is either the deployed or retracted position. The current position is the current location of the trailer hook, which can be either the retracted or deployed position, or a position between the retracted and deployed positions.

[0027] Under normal circumstances, after the trailer hitch completes its deployment or retraction, its current position is either the deployed or retracted position. If the trailer hitch stops abnormally during deployment or retraction, it will stop at a position between the retracted and deployed positions. Subsequently, if the trailer hitch is triggered to deploy or retract again, it will start deploying or retracting from the intermediate position between the retracted and deployed positions.

[0028] S102 controls the camera module to take pictures in order to obtain an initial image.

[0029] The camera module is a camera capable of capturing images of the tow hook in its deployed position. Specifically, the camera module is a rear-view camera located at the rear of the vehicle, such as on the trunk lid. The initial image can be understood as the image captured by the camera module before the tow hook moves.

[0030] The camera module's position can be fixed. Understandably, if the trailer hitch is in the extended position, the camera module can capture the entire trailer hitch; if the trailer hitch is in the retracted position, it is hidden and invisible, therefore the camera module cannot capture the retracted trailer hitch. Furthermore, during the movement of the trailer hitch from the retracted position to the extended position, the trailer hitch needs to rotate a certain angle before it is exposed, meaning the camera module cannot capture the complete range of motion of the trailer hitch.

[0031] In other embodiments, the camera module can be rotatable. Before the camera module is controlled to take a picture, it can be rotated to the optimal shooting position that can capture as much of the trailer hook's movement range as possible.

[0032] S103, detect whether there are obstacles in the test area of ​​the initial image.

[0033] The location information of the region to be tested is predetermined and stored, specifically including the coordinates of the boundary of the region to be tested in the image coordinate system. Detecting whether there are obstacles in the region to be tested in the initial image may include: determining the region to be tested in the initial image based on the pre-stored location information of the region to be tested, and detecting whether there are obstacles in the region to be tested in the initial image.

[0034] The area to be tested includes at least the visible motion area, which is the area of ​​movement that the trailer hitch can be captured by the camera module throughout the entire deployment and / or retraction process. Specifically, the visible motion area is determined in advance based on multiple consecutive movement positions of the trailer hitch that can be captured by the camera module throughout the entire deployment and / or retraction process. The entire deployment process refers to the entire process of the trailer hitch moving from the retracted position to the deployed position, and the entire retraction process refers to the entire process of the trailer hitch moving from the deployed position to the retracted position.

[0035] The movement area corresponds to the movement range of the trailer hitch. As mentioned above, the camera module cannot capture the complete movement range of the trailer hitch. Therefore, the visible movement area here corresponds to the movement range that the camera module can capture.

[0036] Obstacles can be people, animals, other vehicles, walls, etc., or other foreign objects.

[0037] S104, if no obstacle is detected in the test area of ​​the initial image, control the movement of the trailer hook.

[0038] The presence of obstacles in the test area of ​​the initial image means that at least part of the obstacles are located in the test area of ​​the initial image.

[0039] Controlling the movement of the trailer hook may include: sending a permission command to the trailer hook controller; the trailer hook controller controlling the trailer hook drive to operate according to the permission command; and the trailer hook drive driving the trailer hook to move. The trailer hook stops moving after reaching a target position, which is either the deployed or retracted position.

[0040] The trailer hook drive unit can be a trailer hook motor. When the trailer hook motor rotates forward, it drives the trailer hook to extend. When the trailer hook motor rotates in reverse, it drives the trailer hook to retract. The trailer hook motor includes a motor shaft and has a built-in angle sensor that detects the angle of rotation of the motor shaft. When the trailer hook is in the retracted position, the angle of rotation of the motor shaft is the first angle; when the trailer hook is in the extended position, the angle of rotation of the motor shaft is the second angle. The second angle is different from the first angle. Therefore, based on the angle of rotation of the motor shaft, it can be determined whether the trailer hook is in the extended or retracted position.

[0041] The trailer hitch controller is electrically connected to an angle sensor to receive the rotation angle of the motor shaft from the sensor. Based on the rotation angle of the motor shaft, the trailer hitch controller determines whether the trailer hitch is in the deployed or retracted position. In other words, the trailer hitch controller determines whether the trailer hitch has moved to the target position based on the rotation angle of the motor shaft, and when the trailer hitch reaches the target position, it controls the trailer hitch drive to stop, thereby halting the trailer hitch's movement.

[0042] In some embodiments, after detecting whether an obstacle exists in the test area of ​​the initial image, the method further includes: If an obstacle is detected in the test area of ​​the initial image, the trailer hook movement is not controlled, and a second prompt message is output.

[0043] Not controlling the trailer hitch movement can include not sending commands to the trailer hitch controller. Correspondingly, the trailer hitch controller no longer controls the trailer hitch drive mechanism, and the trailer hitch remains in its current position. A second prompt message is used to alert the user that there are obstacles nearby and the trailer hitch is not moving; please check. The second prompt message can be text or displayed on the central control screen. By outputting the second prompt message, the user can be informed of the trailer hitch movement status and any abnormalities, allowing the user to promptly check and resolve the issues. It is understood that after the user checks and confirms that there are no longer any obstacles nearby, the trailer hitch will be triggered to extend or retract again, at which point the process restarts from step 101.

[0044] If an obstacle exists within the tow hook's range of motion, it will impede the hook's movement. During the tow hook's movement, it may squeeze or pinch the obstacle, and could also damage the tow hook motor. In this embodiment, the tow hook is only allowed to move when no obstacle is detected in the test area of ​​the initial image. This ensures the normal movement of the tow hook, avoids collisions or squeezing with obstacles during movement, thereby reducing the risk of pinching and preventing damage to the tow hook motor. Furthermore, by performing obstacle detection on the test area of ​​the captured image, i.e., performing obstacle detection on a specific area, the targeting and accuracy of obstacle detection can be improved. This avoids erroneously failing to control the tow hook's movement due to detecting obstacles that are far away and do not affect its movement.

[0045] In some embodiments, refer to Figure 3 If there are no obstacles in the area to be tested in the initial image, then after controlling the movement of the trailer hook, the following steps are also included: S105, during the movement of the trailer hook, the camera module is controlled to take pictures according to a set cycle to obtain multiple process images, and for each process image, the presence of obstacles in the area to be tested is detected until the trailer hook moves to the target position and the shooting and detection of the process images are stopped. S106, If no obstacle is detected in the area to be tested in the process image, the trailer hook is kept moving; S107, if an obstacle is detected in the area to be tested in the process image, the trailer hook is controlled to stop moving and the first prompt message is output.

[0046] The set cycle can be set according to actual needs, and this application does not impose specific limitations. The process image can be understood as an image captured by the camera module during the movement of the trailer hook. Keeping the trailer hook in motion can include: not sending a command to the trailer hook controller. Correspondingly, the trailer hook controller still controls the trailer hook drive component to operate according to the previous command, so as to keep the trailer hook in motion. Controlling the trailer hook to stop moving can include: sending a stop command to the trailer hook controller, and the trailer hook controller controls the trailer hook drive component to stop operating according to the stop command, thereby stopping the trailer hook's movement.

[0047] The first notification message is used to alert the user that there is an obstacle nearby, causing the tow hook to stop moving; please check. The first notification message can be text or displayed on the central control screen. By outputting the first notification message, the user is informed of the tow hook's movement and any abnormalities, allowing for timely inspection and resolution. Understandably, after the user checks and confirms there are no more obstacles, the tow hook will be retracted or extended again. At this point, the process restarts from step 101, and the tow hook's current position is between the retracted and extended positions.

[0048] Although obstacle detection is performed before the trailer hitch moves, obstacles may still suddenly appear around the trailer hitch during its movement. For example, animal obstacles may not be present in the test area of ​​the captured image before the trailer hitch moves, but may move into the test area during the movement. In this embodiment, obstacle detection is continuously performed on the test area of ​​the captured image during the trailer hitch's movement to promptly detect newly appearing obstacles and prevent them from affecting the trailer hitch's movement, thereby avoiding collisions or compression between the trailer hitch and obstacles during its movement.

[0049] In some embodiments, the process includes: acquiring a trailer hitch control command; controlling a camera module to capture an image to obtain an initial image; detecting whether an obstacle exists in the test area of ​​the initial image; and controlling the trailer hitch to move if no obstacle is detected in the test area of ​​the initial image.

[0050] In this embodiment, the trailer hitch deployment command instructs the trailer hitch to move from its current position to the deployment position, where the current position is either the retracted position or a position between the retracted and deployment positions. When the current position is the retracted position, the first initial image does not include the trailer hitch. Controlling the trailer hitch deployment includes: sending a deployment permission command to the trailer hitch controller; the trailer hitch controller controlling the trailer hitch drive unit to operate according to the deployment permission command; and after the trailer hitch drive unit operates, it drives the trailer hitch to deploy. The trailer hitch stops moving after reaching the deployment position.

[0051] During the movement of the trailer hook, the camera module is controlled to capture images at a set interval to obtain multiple process images. For each process image, the camera detects whether there are obstacles in the area to be tested until the trailer hook reaches the target position, at which point the capturing and detection of the process images ceases. If no obstacles are detected in the area to be tested in the process image, the trailer hook continues to move. If an obstacle is detected in the area to be tested in the process image, the trailer hook is controlled to stop moving, and a first prompt message is output. This includes: During the deployment of the trailer hook, the camera module is controlled to capture images at a set interval to obtain multiple first process images. For each first process image, the camera detects whether there are obstacles in the area to be tested in the first process image until the trailer hook reaches the deployed position, at which point the capturing and detection of the first process images ceases. If no obstacles are detected in the area to be tested in the first process image, the trailer hook continues to deploy. If an obstacle is detected in the area to be tested in the first process image, the trailer hook is controlled to stop deploying, and a first prompt message is output.

[0052] In some embodiments, the process includes: acquiring a trailer hitch control command; controlling a camera module to capture an image to obtain an initial image; detecting whether an obstacle exists in the test area of ​​the initial image; and controlling the trailer hitch to move if no obstacle is detected in the test area of ​​the initial image. This includes: acquiring a trailer hitch retraction command; controlling a camera module to capture an image to obtain a second initial image; detecting whether an obstacle exists in the test area of ​​the second initial image; and controlling the trailer hitch to retract if no obstacle is detected in the test area of ​​the second initial image.

[0053] In this embodiment, the trailer hook retraction command instructs the trailer hook to move from its current position to a retracted position, where the current position is either the deployed position or a position between the retracted and deployed positions. When the current position is the deployed position, the second initial image includes the trailer hook in the deployed position. Controlling the trailer hook retraction includes: sending a retraction permission command to the trailer hook controller; the trailer hook controller controlling the trailer hook drive to operate according to the retraction permission command; and after the trailer hook drive operates, driving the trailer hook to retract. The trailer hook stops moving after reaching the retracted position.

[0054] During the movement of the trailer hook, the camera module is controlled to capture multiple process images at a set interval. For each process image, the camera detects whether there are obstacles in the area to be tested until the trailer hook reaches the target position, at which point the camera stops capturing images and the detection of the process images stops. If no obstacles are detected in the area to be tested in the process image, the trailer hook continues to move. If an obstacle is detected in the area to be tested in the process image, the camera stops moving and outputs a first prompt message. During the retraction of the trailer hook, the camera module is controlled to capture multiple second process images at a set interval. For each second process image, the camera detects whether there are obstacles in the area to be tested in the second process image until the trailer hook reaches the retraction position, at which point the camera stops capturing images and the detection of the second process images stops. If no obstacles are detected in the area to be tested in the second process image, the camera keeps retracting. If an obstacle is detected in the area to be tested in the second process image, the camera stops retracting and outputs a first prompt message.

[0055] In this embodiment, obstacle detection is performed before the trailer hook is extended or retracted. This avoids collisions or squeezing with obstacles during the extension or retraction process, thereby reducing the risk of pinching injuries and preventing damage to the trailer hook motor. Since the trailer hook moves in opposite directions and its movement paths largely overlap during extension and retraction, obstacle detection before extending or retracting allows for the detection of a fixed area to be tested.

[0056] In some embodiments, detecting whether an obstacle exists in a test region of the initial image includes: determining the test region of the initial image based on pre-stored location information of the test region, and detecting whether an obstacle exists in the test region of the initial image. For each process image, detecting whether an obstacle exists in a test region of the process image includes: determining the test region of the process image based on pre-stored location information of the test region, and detecting whether an obstacle exists in the test region of the process image. The location information specifically includes the coordinate information of the boundary of the test region in the image coordinate system.

[0057] In some embodiments, the area to be measured further includes an extended region located outside the visible motion area. The extended region is a region formed by expanding outward by a predetermined width based on the boundary of the visible motion area. Specifically, the boundary of the visible motion area is expanded outward by a predetermined width to form an extended boundary, and the area between the extended boundary and the boundary of the visible motion area is the extended region. The predetermined width can be set according to actual needs, for example, it can be 0.5cm-1.5cm.

[0058] The process of determining the location information of the area to be measured includes: taking continuous pictures of the entire deployment and / or retraction process of the trailer hook using a camera module to obtain multiple consecutive images; determining multiple consecutive movement positions of the trailer hook that can be captured based on the multiple consecutive images taken by the camera module; determining the visible movement area based on the multiple consecutive movement positions; expanding the boundary of the visible movement area by a set width to obtain the area to be measured; and recording and storing the location information of the area to be measured.

[0059] Specifically, multiple consecutive motion positions can be merged into a visible motion region covering these positions. The visible motion region includes the extended position (one endpoint) but excludes the retracted position (another endpoint). The boundaries of the visible motion region are typically irregular. An extended boundary is formed by expanding the boundary of the visible motion region by a set width; the area within this extended boundary is the region to be measured.

[0060] When the trailer hitch extends and retracts, the two movements occur in opposite directions, and their paths largely overlap. Therefore, the test area can be determined based on the entire extension process of the trailer hitch, or the entire retraction process, or both. The determined test area can cover the detection requirements for obstacle detection before, during, and before the trailer hitch retraction.

[0061] During the movement of the trailer hook, obstacles within its range of motion can impede its normal movement. Obstacles surrounding the trailer hook's range of motion may also affect its movement or cause it to scrape against the trailer hook. In this embodiment, the area to be tested also includes an extended area outside the visible movement area. By detecting obstacles in both the visible movement area and the extended area, obstacles within and around the trailer hook's range of motion can be detected in a timely manner. This helps prevent the trailer hook from colliding with or being squeezed by obstacles within its range of motion during movement, and also avoids scraping against obstacles surrounding the trailer hook's range of motion.

[0062] In some embodiments, detecting whether there is an obstacle in the test area of ​​the initial image includes: if there is no trailer hook in the test area of ​​the initial image, comparing the test area of ​​the initial image with the corresponding area of ​​a preset reference image to detect whether there is an obstacle in the test area of ​​the initial image; if there is a trailer hook in the test area of ​​the initial image, comparing the area of ​​the test area of ​​the initial image other than the trailer hook with the corresponding area of ​​the preset reference image to detect whether there is an obstacle in the test area of ​​the initial image.

[0063] In some embodiments, detecting whether there is an obstacle in the test area of ​​the process image includes: if there is no trailer hook in the test area of ​​the process image, then comparing the test area of ​​the process image with the corresponding area of ​​a preset reference image to detect whether there is an obstacle in the test area of ​​the process image; if there is a trailer hook in the test area of ​​the process image, then comparing the area of ​​the test area of ​​the process image other than the trailer hook with the corresponding area of ​​the preset reference image to detect whether there is an obstacle in the test area of ​​the process image.

[0064] The preset reference image does not contain a trailer hitch or any obstacles. The process of obtaining the preset reference image can be as follows: when there are no obstacles and the trailer hitch is in the retracted position, a camera module is used to capture the image, thus obtaining the preset reference image.

[0065] The initial image and the process image have the same size and shooting angle, and the preset reference image has the same size and shooting angle as the initial image and the process image. When comparing images, the area to be tested in the initial image or process image and the corresponding area in the preset reference image can be marked.

[0066] With the vehicle and shooting angle unchanged, the difference between the area to be tested in the initial image or process image and the corresponding area in the preset reference image is that the corresponding area in the preset reference image has no obstacles. Therefore, by comparing the area to be tested in the initial image or process image with the corresponding area in the preset reference image, it is possible to detect whether there are obstacles in the area to be tested. The comparison between the area of ​​the area to be tested in the initial image or process image, excluding the tow hook, and the corresponding area in the preset reference image is similar and will not be described again here.

[0067] Specifically, when the difference between two compared regions exceeds a preset threshold, it can be determined that an obstacle exists in the area to be tested; when the difference between the two compared regions does not exceed the preset threshold, it can be determined that no obstacle exists in the area to be tested. Compared to directly identifying obstacles through image recognition models, comparing corresponding regions on the image ensures the accuracy of obstacle detection.

[0068] Understandably, if the trailer hook does not enter the camera module's field of view when capturing the initial and process images, then the test area in the initial and process images will not contain the trailer hook. If the trailer hook is at least partially exposed and enters the camera module's field of view when capturing the initial and process images, then the test area in the initial and process images will contain the trailer hook, and the trailer hook's location will only occupy a portion of the visible motion area. When the trailer hook is present in the test area of ​​the initial image, it can be in the deployed position; when the trailer hook is present in the test area of ​​the process image, it is exposed and located between the deployed and retracted positions. Since the trailer hook itself will create image differences relative to the preset reference image, to reduce the interference of the trailer hook itself on the obstacle detection results, the area in the test area of ​​the initial or process image, excluding the trailer hook, can be compared with the corresponding area of ​​the preset reference image.

[0069] Obstacles include people, animals, other vehicles, walls, etc. The area in the image other than the area to be measured is considered the non-measured area. An obstacle may not be located in the entire image, or it may only be located in the non-measured area, or it may be partially located in the non-measured area and partially in the outer region, or it may be partially located in the non-measured area, partially in the outer region, and partially in the visible motion area.

[0070] As described above, if there is an obstacle in the area to be tested, the obstacle will at least be located in the outer region of the area to be tested. Therefore, when comparing the area of ​​the area to be tested in the initial image or the process image, excluding the trailer hook, with the corresponding area in the preset reference image, the presence of an obstacle in the area to be tested can still be accurately detected by detecting the outer region and the remaining visible motion area. In other words, when detecting whether there is an obstacle in the area to be tested, even if the location of the trailer hook in the initial image or the process image is excluded, it will not affect the detection result.

[0071] In other embodiments, detecting whether an obstacle exists in the test area of ​​the initial image includes: identifying the test area of ​​the initial image using an image recognition model to detect whether an obstacle exists. Detecting whether an obstacle exists in the test area of ​​the process image includes: identifying the test area of ​​the process image using an image recognition model to detect whether an obstacle exists.

[0072] In some embodiments, detecting whether there are obstacles in the test area of ​​the initial image includes: performing denoising and enhancement processing on the initial image, and detecting whether there are obstacles in the test area of ​​the denoised and enhanced initial image.

[0073] In some embodiments, for each process image, detecting whether there are obstacles in the test area of ​​the process image includes: for each process image, performing denoising and enhancement processing on the process image, and detecting whether there are obstacles in the test area of ​​the denoised and enhanced process image.

[0074] Denoising and enhancement processing of the initial image can improve image quality, thereby ensuring the detection accuracy of subsequent obstacle detection. Denoising processing can preserve the outline and edge features of the trailer hook, while enhancement processing can make the outline and edge features of the trailer hook more prominent in the image, making it easier to determine and exclude the location of the trailer hook in the initial or process image.

[0075] Reference Figure 4 In practical applications, the trailer hitch deployment control process includes the following steps: obtaining a trailer hitch deployment command; controlling the camera module to capture a first initial image; detecting whether there are obstacles in the test area of ​​the first initial image; if obstacles are detected in the test area of ​​the first initial image, the trailer hitch deployment is not controlled, and a second prompt message is output; if no obstacles are detected in the test area of ​​the first initial image, the trailer hitch deployment is controlled; during the trailer hitch deployment process, the camera module captures a first process image at a set cycle; detecting whether there are obstacles in the test area of ​​the first process image; if no obstacles are detected in the test area of ​​the first process image, the trailer hitch is controlled to remain deployed; if obstacles are detected in the test area of ​​the first process image, the trailer hitch deployment is stopped, and a first prompt message is output. When the trailer hitch moves to the deployed position, deployment is complete, and the capture and detection of the first process image cease.

[0076] Reference Figure 5In practical applications, the trailer hitch retraction control process includes the following steps: obtaining a trailer hitch retraction command; controlling the camera module to capture a second initial image; detecting whether there are obstacles in the test area of ​​the second initial image; if obstacles are detected in the test area of ​​the second initial image, the trailer hitch retraction is not controlled, and a second prompt message is output; if no obstacles are detected in the test area of ​​the second initial image, the trailer hitch is controlled to retract; during the trailer hitch retraction process, the camera module captures a second process image at a set cycle; detecting whether there are obstacles in the test area of ​​the second process image; if no obstacles are detected in the test area of ​​the second process image, the trailer hitch is controlled to continue retraction; if obstacles are detected in the test area of ​​the second process image, the trailer hitch retraction is stopped, and a first prompt message is output. When the trailer hitch moves to the retraction position, the retraction is complete, and the capture and detection of the second process image cease.

[0077] Reference Figure 6 In another embodiment provided in this application, a trailer hitch control system is also provided, including a domain controller, a trailer hitch controller, a trailer hitch drive, a trailer hitch, and a camera module; the domain controller is communicatively connected to the trailer hitch controller and electrically connected to the camera module, the trailer hitch controller is electrically connected to the trailer hitch drive, the trailer hitch drive is connected to the trailer hitch, and the domain controller is used to execute a trailer hitch control method.

[0078] In another embodiment provided in this application, a vehicle is also provided, including the aforementioned trailer hitch control system. This vehicle can be a sedan, commercial vehicle, SUV, SUV, heavy truck, etc. The vehicle can be a new energy vehicle, such as a pure electric vehicle or a hybrid vehicle. The vehicle can also be a gasoline-powered vehicle.

[0079] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of this application are implemented, in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage system such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0080] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0081] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0082] The above are merely preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A trailer hitch control method, characterized in that, A method for controlling an deployable and retractable trailer hitch includes: Obtain a trailer hitch control command, wherein the trailer hitch control command is used to instruct the trailer hitch to move from its current position to a target position; Control the camera module to take pictures to obtain the initial image; The system detects whether there are obstacles in the test area of ​​the initial image, wherein the test area includes at least a visible motion area, which is the motion area that can be captured by the camera module during the entire deployment and / or retraction process of the trailer hitch. If no obstacle is detected in the test area of ​​the initial image, the trailer hook is controlled to move.

2. The trailer hitch control method according to claim 1, characterized in that, If there are no obstacles in the area to be tested in the initial image, then after controlling the movement of the trailer hook, the method further includes: During the movement of the trailer hook, the camera module is controlled to take pictures at a set cycle to obtain multiple process images. For each process image, the camera module detects whether there are obstacles in the area to be tested in the process image until the trailer hook moves to the target position and stops taking pictures and stopping the detection of process images. If no obstacle is detected in the area to be tested in the process image, the trailer hook is kept in motion; If an obstacle is detected in the area to be tested in the process image, the trailer hook is controlled to stop moving and a first prompt message is output.

3. The trailer hitch control method according to claim 1 or 2, characterized in that, The process involves obtaining control commands for the trailer hook and controlling the camera module to capture images to obtain initial images. Detect whether there are obstacles in the test area of ​​the initial image; If no obstacle is detected in the test area of ​​the initial image, the trailer hook is controlled to move, including: Obtain a trailer hitch deployment command, wherein the trailer hitch deployment command is used to instruct the trailer hitch to move from the current position to the deployment position, the current position being the retracted position, or the current position being between the retracted position and the deployment position; Control the camera module to take pictures to obtain the first initial image; Detect whether there are obstacles in the test area of ​​the first initial image; If no obstacle is detected in the test area of ​​the first initial image, the trailer hitch is deployed.

4. The trailer hitch control method according to claim 1 or 2, characterized in that, The process involves obtaining control commands for the trailer hook and controlling the camera module to capture images to obtain initial images. Detect whether there are obstacles in the test area of ​​the initial image; If no obstacle is detected in the test area of ​​the initial image, the trailer hook is controlled to move, including: Obtain a trailer hitch retraction command, wherein the trailer hitch retraction command is used to instruct the trailer hitch to move from the current position to the retracted position, the current position being the deployed position, or the current position being between the retracted position and the deployed position; Control the camera module to take pictures to obtain a second initial image; Detect whether there are obstacles in the test area of ​​the second initial image; If no obstacle is detected in the test area of ​​the second initial image, the trailer hook is retracted.

5. The trailer hitch control method according to claim 2, characterized in that, The area to be tested also includes an extended area located outside the visible motion area; The detection of whether there are obstacles in the test area of ​​the initial image includes: If the test area of ​​the initial image does not have a trailer hook, the test area of ​​the initial image is compared with the corresponding area of ​​the preset reference image to detect whether there is an obstacle in the test area of ​​the initial image, wherein the preset reference image does not contain a trailer hook or an obstacle. If a trailer hitch is present in the test area of ​​the initial image, the area in the test area of ​​the initial image other than the trailer hitch is compared with the corresponding area of ​​the preset reference image to detect whether there is an obstacle in the test area of ​​the initial image. And / or, detecting whether there are obstacles in the test area of ​​the process image, including: If the test area of ​​the process image does not have a trailer hook, the test area of ​​the process image is compared with the corresponding area of ​​a preset reference image to detect whether there is an obstacle in the test area of ​​the process image. If a trailer hitch is present in the test area of ​​the process image, the area in the test area of ​​the process image other than the trailer hitch is compared with the corresponding area of ​​a preset reference image to detect whether there is an obstacle in the test area of ​​the process image.

6. The trailer hitch control method according to claim 2, characterized in that, The step of detecting whether there are obstacles in the test area of ​​the initial image includes: performing denoising and enhancement processing on the initial image, and detecting whether there are obstacles in the test area of ​​the denoised and enhanced initial image; And / or, for each process image, detecting whether there are obstacles in the test area of ​​the process image, including: for each process image, performing denoising and enhancement processing on the process image, and detecting whether there are obstacles in the test area of ​​the denoised and enhanced process image.

7. The trailer hitch control method according to claim 2, characterized in that, The step of detecting whether there are obstacles in the test area of ​​the initial image includes: determining the test area of ​​the initial image based on the pre-stored location information of the test area, and detecting whether there are obstacles in the test area of ​​the initial image. And / or, for each process image, detecting whether there is an obstacle in the test area of ​​the process image, including: for each process image, determining the test area of ​​the process image based on the pre-stored location information of the test area, and detecting whether there is an obstacle in the test area of ​​the process image; And / or, the area to be tested also includes an extended area located outside the visible motion area; the process of determining the position information of the area to be tested includes: taking continuous pictures of the entire deployment and / or retraction process of the trailer hook in advance using a camera module to obtain multiple continuous images; determining multiple continuous motion positions of the trailer hook that can be captured based on the multiple continuous images taken by the camera module; determining the visible motion area based on the multiple continuous motion positions; expanding the boundary of the visible motion area by a set width to obtain the area to be tested, and recording and storing the position information of the area to be tested.

8. The trailer hitch control method according to claim 1 or 2, characterized in that, After detecting whether there are obstacles in the test area of ​​the initial image, the method further includes: If an obstacle is detected in the test area of ​​the initial image, the trailer hook movement is not controlled, and a second prompt message is output.

9. A trailer hitch control system, characterized in that, This includes a domain controller, trailer hitch controller, trailer hitch drive unit, trailer hitch, and camera module; The domain controller is communicatively connected to the trailer hook controller and electrically connected to the camera module. The trailer hook controller is electrically connected to the trailer hook drive unit, and the trailer hook drive unit is connected to the trailer hook. The domain controller is used to execute the trailer hook control method according to any one of claims 1 to 8.

10. A vehicle, characterized in that, Includes the trailer hitch control system as described in claim 9.

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