Tractor and trailer blind area detection system

Abstract

The utility model discloses a tractor and trailer blind area detection system which comprises a detection module installed on a tractor, a trailer is installed on the tractor, a saddle is installed between the tractor and the trailer, a first signal module containing a first magnetic field angle sensor is installed on the tractor, and a second signal module containing a second magnetic field angle sensor is installed on the first signal module. The trailer is provided with a second signal module containing a second magnetic field angle sensor. Through the cooperation of the first signal module, the second signal module and the detection module, the alarm range can be automatically changed when the yaw angle between the tractor and the trailer changes, so that obstacles can be effectively detected, the risk of missing detection and missing alarm can be effectively reduced, the use safety is improved, and the potential safety hazard is reduced. A rechargeable battery is arranged in a matched mode, after the tractor is connected with the trailer, power can be supplied to an electronic product on the trailer, and personnel can use the trailer conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of blind spot detection, in particular to a blind spot detection system for a tractor and a trailer. Background Art

[0002] Currently, traction trains (tractors and trailers) play an extremely important role in cargo transportation and make great contributions to the economic development of various countries. However, tractors and trailers have large blind spots because the tractors are large and the trailers (trailers are divided into semi-trailers and full trailers) are long. In addition, when turning, the trailer and the tractor will form a certain angle, namely the yaw angle, which further increases the inner wheel difference and blind spots of the vehicles. Therefore, serious traffic accidents often occur when tractors and trailers are driving, especially when turning at intersections. When an accident occurs, it is very easy to cause fatal injuries to nearby cars, motorcycles, cyclists, and pedestrians.

[0003] At present, in order to improve the driving safety of tractors and trailers, millimeter-wave radars, lidars and intelligent recognition cameras are gradually being used. When a car is driving, targets on the road are detected through millimeter-wave radars, lidars or smart cameras installed on the side of the car (mostly on the passenger side). When dangerous targets are detected, the system takes safety measures, such as alarming the driver in the car, braking the car, alarming outsiders, etc.

[0004] However, the blind spot detection systems currently used on tractors and trailers lack the ability to detect the yaw angle between the tractor and trailer. Figure 1 and Figure 2 , we can see that the alarm range QW of the traditional detection system is not adjusted with the change of yaw angle. Therefore, Figure 1 When the yaw angle is zero, the detection system works normally without missed detection or false detection. However, when the vehicle turns and the tractor and trailer form a certain angle, that is, the yaw angle is not zero, the unchanged alarm range QW cannot cover the ZR2 area on the right side of the trailer rear end. This area forms a blind spot. If there is an obstacle in this area, such as obstacle BS2 (such as Figure 2 ), the detection system will not alarm it, so the system has missed detection. At the same time, the alarm range QW covers the ZR1 area of the trailer, so there is a false detection of the trailer in ZR1.

[0005] In summary, the alarm range of traditional tractor and trailer detection systems cannot change with changes in yaw angle, which greatly increases the system's missed detections and false detections. Missed detections lead to missed alarms, and false detections lead to false alarms, posing great safety hazards and troubles to drivers. In addition, when tractors and trailers are connected, the tractor does not provide regular power or ACC power to the trailer, making it difficult for electronic products installed on the trailer to obtain power. Based on the above, we have proposed a tractor and trailer blind spot detection system. Utility Model Content

[0006] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a blind spot detection system for a tractor and trailer.

[0007] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A tractor and trailer blind spot detection system includes a detection module mounted on the tractor, a trailer mounted on the tractor, a saddle mounted between the tractor and the trailer, a first signal module including a first magnetic field angle sensor mounted on the tractor, a second signal module including a second magnetic field angle sensor mounted on the trailer, a cab mounted on the tractor, a display mounted in the cab, and both the detection module and the display being electrically connected to the first signal module;

[0009] The first signal module has a built-in first wireless communication circuit module;

[0010] The second signal module is equipped with a second wireless communication circuit module, a rechargeable battery and a storage circuit module. The first wireless communication circuit module and the second wireless communication circuit module communicate with each other via wireless communication.

[0011] Preferably, the storage circuit module is used to store the length of the trailer and the operating condition information of the rechargeable battery.

[0012] Preferably, the first magnetic field angle sensor is used to sense the azimuth of the tractor, the second magnetic field angle sensor is used to sense the azimuth of the trailer, the second wireless communication circuit module transmits the azimuth of the trailer, the length of the trailer, and the operating condition information of the rechargeable battery to the first wireless communication circuit module; the first signal module derives the yaw angle based on the angle difference between the azimuth of the tractor and the azimuth of the trailer.

[0013] Preferably, the trailer is equipped with a turn signal light and a width indicator light, and the second signal module is electrically connected to the turn signal light and / or the width indicator light to charge the rechargeable battery while the turn signal light and / or the width indicator light are working.

[0014] Preferably, a solar panel is installed on the trailer, and the second signal module is electrically connected to the solar panel, so that the rechargeable battery is charged by the solar panel.

[0015] Preferably, the first signal module and the second signal module are automatically matched to determine whether the tractor is connected to the trailer, and status information of the connected trailer is obtained through the first signal module and the second signal module.

[0016] Preferably, the display is used to display including but not limited to dynamic targets (relative to the ground), static targets (relative to the ground), the appearance of the tractor and trailer, the yaw angle A and the alarm range that changes with the size of the yaw angle A.

[0017] Preferably, the detection module is a combination of one or more of a millimeter wave radar, a laser radar, an ultrasonic radar and a camera, and the number of the detection modules is one or more.

[0018] Compared with the existing technology, the beneficial effects of the utility model are:

[0019] The utility model cooperates with the first signal module, the second signal module and the detection module to automatically change the alarm range when the yaw angle between the tractor and the trailer changes, thereby effectively detecting obstacles, effectively reducing the risks of missed detection and missed reporting, improving safety of use, and reducing potential safety hazards. In addition, the rechargeable battery provided can power electronic products on the trailer after the tractor and the trailer are connected, making it convenient for people to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of a blind spot detection system for a tractor and trailer proposed in the prior art when the yaw angle is zero;

[0021] Figure 2 This is a structural diagram of a blind spot detection system for a tractor and trailer proposed in the prior art when the yaw angle is non-zero;

[0022] Figure 3 This is a schematic diagram of the component installation layout and detection range structure of a blind spot detection system for a tractor and trailer proposed by the utility model;

[0023] Figure 4 This is a structural schematic diagram of a blind spot detection system for a tractor and trailer proposed by the present invention when the yaw angle is zero;

[0024] Figure 5 This is a schematic structural diagram of a blind spot detection system for a tractor and trailer proposed by the present invention, in which the alarm range is Z-W1-1 when the yaw angle is A1;

[0025] Figure 6This is a schematic structural diagram of a blind spot detection system for a tractor and trailer proposed by the present invention, in which the alarm range is Z-W1-2 when the yaw angle is A1;

[0026] Figure 7 This is a structural schematic diagram of a blind spot detection system for a tractor and trailer proposed by the present invention when the yaw angle is A2.

[0027] In the figure: 210, tractor; 220, trailer; 215, saddle; 10, first signal module; 20, second signal module; 24, storage circuit module; 30, detection module; 50, display. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] Reference Figure 3-7 A blind spot detection system for a tractor and trailer includes a detection module 30 installed on a tractor 210, wherein the detection module 30 is a combination of one or more of a millimeter-wave radar, a laser radar, an ultrasonic radar, and a camera. The number of the detection modules 30 is one or more. When the detection module 30 is a camera, the system has intelligent recognition capabilities and can judge the category of obstacles, distinguish whether the obstacles are cars, pedestrians, cyclists, etc., and some can also judge the direction and distance. The detection range of the detection module 30 is ZD. The detection module 30 measures from a few meters to more than ten meters to the side of the vehicle; a few meters or more than ten meters to the front of the vehicle; and a few meters, more than ten meters, or even dozens of meters to the rear of the vehicle. The ZD detection range is large and can cover the alarm range of the system under various working conditions of the tractor 210 and the trailer 220.

[0030] The detection module 30 uses different components, and the functions and performance achieved are different, and the costs incurred are also different. In order to obtain a better detection range and a better warning range, when a single detection module 30 is used on a vehicle, two or more detection modules 30 are often installed. At the same time, in order to improve the detection performance, a combination of different detection modules 30 is often used, such as using both millimeter-wave radar and camera detection modules 30 to detect obstacles simultaneously.

[0031] A trailer 220 is installed on the tractor 210, a saddle 215 is installed between the tractor 210 and the trailer 220, a first signal module 10 containing a first magnetic field angle sensor is installed on the tractor 210, and a cab is provided on the tractor 210, wherein the first signal module 10 can be inside or outside the cab.

[0032] A second signal module 20 containing a second magnetic field angle sensor is installed on the trailer 220. The first signal module 10 communicates with the second signal module 20 through wireless communication. In addition to integrating the first magnetic field angle sensor and the second magnetic field angle sensor, the first signal module 10 and the second signal module 20 can also integrate gyroscopes, acceleration sensors, GPS sensors, etc. to further enhance the detection performance of the module and assist the system in making more optimized judgments. At the same time, external sensors for detecting the steering wheel angle and sensors for detecting the vehicle speed can also be expanded to further optimize the system's detection and judgment.

[0033] A display 50 is installed in the cab, which is used to display, including but not limited to, dynamic targets (relative to the ground), static targets (relative to the ground), the appearance of the tractor 210 and the trailer 220, the yaw angle A, and the alarm range that changes with the size of the yaw angle A.

[0034] The display 50 can be an independent display or an original vehicle computer. The display 50 can also display the status information of the rechargeable battery, whether the detection module 30 is blocked by foreign objects, and fault information of the detection system.

[0035] The detection module 30 and the display 50 are both electrically connected to the first signal module 10. The first signal module 10 has a built-in first wireless communication circuit module, wherein the second signal module 20 communicates wirelessly with the first signal module 10 via the first wireless communication circuit module and the second wireless communication circuit module. The first magnetic field angle sensor is used to sense the azimuth of the tractor 210, and the second magnetic field angle sensor is used to sense the azimuth of the trailer 220. The second wireless communication circuit module transmits the azimuth and length of the trailer 220, as well as the operating condition information of the rechargeable battery, to the first wireless communication circuit module. The first signal module 10 determines the yaw angle A based on the angular difference between the azimuth angles of the tractor 210 and the azimuth angles of the trailer 220. The first signal module 10 and the second signal module 20 automatically match to determine whether the tractor 210 is connected to the trailer 220, and obtain the status information of the connected trailer 220 through the first signal module 10 and the second signal module 20.

[0036] Furthermore, the second signal modules 20 are numbered. Different trailers 220 are equipped with differently numbered second signal modules 20. The first signal module 10 periodically transmits inquiry signals. Second signal modules 20 near the first signal module 10 respond upon receiving the inquiry signals. After a trailer 220 equipped with a certain numbered second signal module 20 is connected to a tractor 210 equipped with the first signal module 10, if the first signal module 10 stably receives response signals from the second signal module 20 while the vehicles are traveling, the first signal module 10 deems the second signal module 20 to be a matching pair. The differently numbered second signal modules 20 store information such as the length of the trailer 220, thus providing the first signal module 10 with information about the trailer 220. Conversely, if the first signal module 10 fails to stably receive response signals from the second signal module 20, the first signal module 10 deems that there is no matching second signal module 20, thereby determining that the tractor 210 is not connected to the trailer 220. When the system deems that the tractor 210 is not connected to the trailer 220, the system's alarm range can be further adjusted.

[0037] The second signal module 20 has a built-in second wireless communication circuit module, a rechargeable battery and a storage circuit module 24. The first wireless communication circuit module and the second wireless communication circuit module communicate via wireless communication. The storage circuit module 24 is used to store the length, width, height and vehicle type of the trailer 220, as well as the operating condition information of the rechargeable battery. The rechargeable battery operating condition signal includes the battery capacity, usage time, remaining service life and current battery voltage value, etc. At the same time, the storage circuit module 24 can also store some other information about the trailer 220 required by the detection system.

[0038] The trailer 220 is equipped with a turn signal lamp and a width indicator lamp. The second signal module 20 is electrically connected to the turn signal lamp and / or the width indicator lamp to charge the rechargeable battery 23 when the turn signal lamp and / or the width indicator lamp are in operation.

[0039] In addition, a solar panel may be installed on the trailer 220 , and the second signal module 20 may be electrically connected to the solar panel, so that the rechargeable battery is charged by the solar panel.

[0040] By connecting the turn signal and / or width indicator light for power supply, or by powering the solar panel, the problem that the second signal module 20 has difficulty obtaining power due to the tractor 210 not providing the trailer 220 with normal power or ACC power after the tractor 210 is connected to the trailer 220 is solved.

[0041] This embodiment cooperates with the first signal module 10, the second signal module 20 and the detection module 30 to automatically change the alarm range when the yaw angle between the tractor 210 and the trailer 220 changes, thereby effectively detecting obstacles, effectively reducing the risk of missed detection and missed reporting, improving usage safety, and reducing safety hazards.

[0042] Working principle: After the tractor 210 and the trailer 220 are connected, the distance from the front of the tractor 210 to the center of the saddle 215 is L-CT0, and the distance from the rear of the trailer 220 to the center of the saddle 215 is L-CS0. Therefore, the overall length of the tractor 210 and the trailer 220 is the sum of L-CT0 and L-CS0. Usually, the width dimension W-CK0 of the tractor 210 and the trailer 220 is 2.3-2.6 meters. Let's take the commonly used flat-head tractor as an example. The L-CT0 from the front of the tractor 210 to the center of the saddle 215 is usually 4 to 6 meters, and the length of the trailer 220 is There are many types, usually between 10-18 meters. Therefore, the distance L-CS0 from the rear end of the trailer 220 to the center of the saddle 215 is between 9-17 meters. When the vehicle turns, the trailer 220 and the tractor 210 will generate a certain angle in the horizontal plane with the center of the saddle 215 as the axis. We call it the yaw angle. The yaw angle A between the tractor 210 and the trailer 220 is determined by the angle difference between the azimuth angle measured by the first magnetic field angle sensor and the azimuth angle measured by the second magnetic field angle sensor. According to the size of the yaw angle A, the system adjusts its own alarm range.

[0043] When the yaw angle is zero, that is, when the angle difference between the azimuth angles of the first magnetic field angle sensor and the second magnetic field angle sensor on the horizontal plane is zero, the alarm range Z-W0 is a rectangle PQMN, where QM is the length and PQ is the width; TP is the distance in front of the vehicle, WN is the distance behind the vehicle, TW is the total length of the tractor 210 and the trailer 220, QM is the sum of TW, TP and WN. At this time, TP is LF0, usually LF0 is 3 meters to 6 meters; WN is LR0, usually LR0 is 0 meters to 3 meters; PQ is WF0, NM is WR0, W F0=WR0, which is usually 2.5 meters to 3 meters. Therefore, when the yaw angle is zero, the alarm range Z-W0 is a relatively regular rectangle PQMN. When there is an obstacle within Z-W0, the system will issue an alarm. When there are obstacles BS1, BS2, and BS3 with fixed positions relative to the tractor 210, BS1 is within the alarm range Z-W0, so the system will issue an alarm for obstacle BS1. BS2 and BS3 are both outside the alarm range Z-W0, so no alarm is issued for obstacles BS2 and BS3.

[0044] When the yaw angle is A1, that is, when the azimuth angle difference between the first magnetic field angle sensor and the second magnetic field angle sensor on the horizontal plane changes from zero to A1, the alarm range changes from Z-W0 to Z-W1-1, Z-W1-1 is a polygon PQMNK, and QM is an arc. At this time, PT and WN are no longer on a straight line PN, and the two are at an angle ∠PKN, ∠PKN=180°-A1; TP changes to LF1, LF1≥LF0; WN changes to LR1, LR1≥LR0; PQ changes to WF1, WF1>WF0; NM changes to WR1, WR1≥WR0. Therefore, when the yaw angle is A1, the system's alarm range changes and is no longer a regular rectangle. When there is an obstacle in Z-W1-1, the system will issue an alarm prompt; there is a fixed position relative to the tractor 210 Obstacles BS1, BS2, and BS3; at this time, BS1, BS3, and the trailer 220 are not within the alarm range Z-W1-1, so the system does not issue an alarm for obstacles BS1, BS3, and the trailer 220. BS2 is within the alarm range Z-W1-1, so the system issues an alarm for obstacle BS2. Therefore, when there is a yaw angle between the tractor 210 and the trailer 220, the new alarm range Z-W1-1 covers the area that the traditional blind spot detection system does not cover, and can issue an alarm for the BS2 obstacle, which can effectively avoid misdetection and false alarm of the trailer 220. In addition, when QM is a straight line, not an arc, when there is a yaw angle between the tractor and the trailer, effective detection and alarm reminders can also be performed. It can be seen that there are multiple options for the changing alarm range polygon, and it is not fixed.

[0045] When the yaw angle A1 continues to increase and becomes A2, when the yaw angle is A2, the alarm range changes from Z-W1-1 to Z-W2, Z-W2 is a polygon PQMNK, and QM is an arc. At this time, the angle ∠PKN is further reduced to 180°-A2; TP becomes LF2, LF2≥LF1; WN becomes LR2, LR2≥LR1; PQ becomes WF2, WF2>WF1; NM becomes WR2, WR2≥WR1. Therefore, when the yaw angle becomes A2, the system's alarm range changes again. When there is an obstacle in Z-W2, the system will issue an alarm prompt. There are obstacles BS1, BS2, and BS3 with fixed positions relative to the tractor 210; this When BS1, BS2 and the trailer 220 are not within the alarm range Z-W2, the system does not issue an alarm for obstacles BS1, BS2 and the trailer 220. BS3 is within the alarm range Z-W2, so the system issues an alarm for obstacle BS3. As a result, when the yaw angle between the tractor 210 and the trailer 220 changes, the alarm range is automatically changed, thereby effectively detecting obstacles. When the yaw angle between the tractor 210 and the trailer 220 further increases, WF2 and other factors are further increased to better cover the dangerous area, thereby providing the driver with an earlier alarm prompt and leaving the driver with more reaction time, thereby improving driving safety.

[0046] In addition to providing an alarm to the driver inside the car, the blind spot detection system of this utility model can also be expanded to have functions such as braking the car and providing an alarm to outsiders, so as to further improve the driving safety of the car.

[0047] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A tractor and trailer blind spot detection system, comprising a detection module (30) mounted on a tractor (210), a trailer (220) mounted on the tractor (210), and a saddle (215) mounted between the tractor (210) and the trailer (220), characterized in that: The tractor (210) is equipped with a first signal module (10) containing a first magnetic field angle sensor, and the trailer (220) is equipped with a second signal module (20) containing a second magnetic field angle sensor. The tractor (210) is provided with a cab, and a display (50) is installed in the cab. The detection module (30) and the display (50) are both electrically connected to the first signal module (10). The first signal module (10) has a built-in first wireless communication circuit module; The second signal module (20) is built with a second wireless communication circuit module, a rechargeable battery and a storage circuit module (24); the first wireless communication circuit module and the second wireless communication circuit module communicate via wireless communication.

2. A blind spot detection system for tractors and trailers according to claim 1, characterized in that: The storage circuit module (24) is used to store the length of the trailer (220) and the operating condition information of the rechargeable battery.

3. A blind spot detection system for tractors and trailers according to claim 1, characterized in that: The first magnetic field angle sensor is used to sense the azimuth of the tractor (210), the second magnetic field angle sensor is used to sense the azimuth of the trailer (220), the second wireless communication circuit module transmits the azimuth of the trailer (220), the length of the trailer (220), and the working condition information of the rechargeable battery to the first wireless communication circuit module; the first signal module (10) obtains the yaw angle A based on the angle difference between the azimuth of the tractor (210) and the azimuth of the trailer (220).

4. A blind spot detection system for tractors and trailers according to claim 1, characterized in that: The trailer (220) is equipped with a turn signal lamp and a width indicator lamp. The second signal module (20) is electrically connected to the turn signal lamp and / or the width indicator lamp to charge the rechargeable battery during the operation of the turn signal lamp and / or the width indicator lamp.

5. The blind spot detection system for a tractor and trailer according to claim 1, characterized in that: The trailer (220) is equipped with a solar panel, and the second signal module (20) is electrically connected to the solar panel, so that the rechargeable battery is charged through the solar panel.

6. A blind spot detection system for tractors and trailers according to claim 1, characterized in that: The first signal module (10) and the second signal module (20) are automatically matched to determine whether the tractor (210) is connected to the trailer (220), and status information of the connected trailer (220) is obtained through the first signal module (10) and the second signal module (20).

7. The blind spot detection system for a tractor and trailer according to claim 1, characterized in that: The display (50) is used to display, including but not limited to, dynamic targets, static targets, the shapes of the tractor (210) and the trailer (220), the yaw angle A, and an alarm range that changes with the size of the yaw angle A.

8. The blind spot detection system for a tractor and trailer according to claim 1, characterized in that: The detection module (30) is a combination of one or more of a millimeter wave radar, a laser radar, an ultrasonic radar, and a camera, and the number of the detection modules (30) is one or more.

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