CN109501535A - Method for positioning and removing trailer shaft coupling, device and computer program product for positioning trailer shaft coupling - Google Patents
Method for positioning and removing trailer shaft coupling, device and computer program product for positioning trailer shaft coupling Download PDFInfo
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- CN109501535A CN109501535A CN201811042397.5A CN201811042397A CN109501535A CN 109501535 A CN109501535 A CN 109501535A CN 201811042397 A CN201811042397 A CN 201811042397A CN 109501535 A CN109501535 A CN 109501535A
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- trailer
- shaft coupling
- towing vehicle
- route
- mating member
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- 230000008878 coupling Effects 0.000 title claims abstract description 135
- 238000010168 coupling process Methods 0.000 title claims abstract description 135
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 95
- 238000004590 computer program Methods 0.000 title claims abstract description 10
- 230000013011 mating Effects 0.000 claims abstract description 72
- 238000012545 processing Methods 0.000 claims description 30
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 18
- 230000004888 barrier function Effects 0.000 description 12
- 230000006870 function Effects 0.000 description 10
- 238000004891 communication Methods 0.000 description 8
- 238000012790 confirmation Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 238000000926 separation method Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/14—Draw-gear or towing devices characterised by their type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
- B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Trailers, e.g. full trailers, caravans
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
Abstract
A method of for the trailer shaft coupling 1 of towing vehicle 2 to be positioned relative to the shaft coupling mating member 4 on the draw bar that trailer 3 is arranged in, it include: detection trailer 3 and shaft coupling mating member 4, the position of the orientation of the trailer 3 confirmly detected to computerization and the shaft coupling mating member 4 detected, the stop position P1 of towing vehicle 2 come computerization is specified according to the position of the orientation of identified trailer 3 and identified shaft coupling mating member 4, towing vehicle 2 is moved to stop position P1, specify to computerization a target position P2 (arrival target position P2 for towing vehicle 2, trailer shaft coupling 1 is positioned in the target area of shaft coupling mating member 4), determine to computerization route F of the towing vehicle 2 from stop position P1 to target position P2, and target is arrived determined by traversing The route F of position P2.In addition, specifically illustrate it is a kind of for by the trailer shaft coupling 1 of towing vehicle 2 from the draw bar that trailer 3 is set shaft coupling mating member remove method, it is a kind of be used for by the trailer shaft coupling 1 of towing vehicle 2 relative on the draw bar that trailer 3 is set shaft coupling mating member position device and a kind of computer program product.
Description
Technical field
The present invention relates to it is a kind of for by the trailer shaft coupling of towing vehicle relative on the draw bar that trailer is arranged in
The method and apparatus of shaft coupling mating member positioning, it is a kind of for by the trailer shaft coupling of towing vehicle from the traction that trailer is arranged in
The method and a kind of computer program product that shaft coupling mating member on bar removes.
Background technique
Vehicle with autonomous performance is currently in the center of many research and development activities.Meanwhile autonomous degree is stablized
Ground increases, and has been developed for first entirely autonomous vehicle.
Entirely autonomous vehicle refers to all safety-critical functions that can execute entire driving procedure itself so that any
When all do not need the automatic driving vehicle of control by the driver of vehicle.Vehicle control stops all of itself from starting to
Function, including all parking functions.
In addition to this it is possible to provide manual mode, human driver's control of vehicle is all or one in a manual mode
A little vehicle functions.Part autonomous vehicle only independently (that is, automatically) executes the function of some selections, these functions may have
Certain prerequisites, such as specified maximum speed.For this purpose, various auxiliary systems can be provided.
Autonomous vehicle should be implemented as much as possible so that all characteristics of conventional truck are integrated.For example, Autonomous Vehicles
It should be implemented as so that stopping for example to be automatically carried out by using suitable parking assistance system.
Other application scenarios are using the trailer shaft coupling and shaft coupling mating member (such as spherical shaft coupling on towing vehicle
Device) trailer is connected to vehicle.However for manipulate with trailer towing vehicle auxiliary system be it is universal, be used for oneself
The known option of main connection and separation trailer is basic.
It can be used for for example, 2014/0309840 A1 of US only discloses automatic stopping and steering system by towing vehicle phase
Draw bar positioning for trailer.2014/0012465 A1 of US is described using processed image data, can determine use
In the mode for being directed at the shaft coupling mating member of trailer shaft coupling and trailer.However, being used for will from any of two documents
Trailer independently couples with towing vehicle and isolated specific method is unknown.
Summary of the invention
The object of the present invention is to provide a kind of method and apparatus to realize towing vehicle and trailer by this method and device
At least partly autonomous positioning relative to each other.
The purpose is realized by subject matter of the independent claims.Advantageous development of the invention in the dependent claims into
Row illustrates.
It is a kind of it is according to the present invention for by the trailer shaft coupling of towing vehicle relative to the draw bar that trailer is arranged in
The method of shaft coupling mating member positioning include following characteristics: pass through sensor and detect trailer and shaft coupling mating member, computer
The position of the orientation of trailer and the shaft coupling mating member detected that confirmly detect with changing, according to the orientation of identified trailer
The stop position of towing vehicle determined with the position of identified shaft coupling mating member with carrying out computerization, move towing vehicle
To stop position, determine that (one reaches the target position, and trailer shaft coupling positioned for the target position of towing vehicle to computerization
In the target area of shaft coupling mating member), computerization determine towing vehicle to target position route and traverse institute
The determining route to target position.
The feature of this method can be executed according to the sequence that they are named, and can according to need in a different order
Or it is performed in parallel.
By method according to the invention it is possible to realize towing vehicle relative to trailer or the trailer shaft coupling of towing vehicle
At least partly autonomous positioning of the device relative to the shaft coupling mating member on the draw bar of trailer.Advantageously, this method can be collected
At in parking assistance method.Therefore, the use of other specific devices (such as sensor) can be saved.For example, this method can
To be integrated into pure software addition.
This method is not limited to the certain type of shaft coupling between towing vehicle and trailer.Trailer shaft coupling and shaft coupling are matched
Bolt coupling, open shaft coupling, the 5th wheel shaft coupling or ball coupling can for example be formed to part, wherein spherical
In the case where axis device, shaft coupling mating member is implemented as spherical coupling head.Trailer shaft coupling is referred to as draw bar.
Target position can be determined so that it is feasible that trailer, which is connected to towing vehicle,.For this purpose, trailer shaft coupling
It can be set to for example Chong Die with shaft coupling mating member in target position or directly opposite.
Target position refers at least to the positioning of towing vehicle and trailer in an x-y plane.Trailer shaft coupling and shaft coupling are matched
To between part height adjustment (z-plane) can for example by the appropriate adjustment (such as spring adjustment) on the chassis of towing vehicle come
It executes.For this purpose, by the input of the driver by vehicle or V2X (vehicle-p- all) communication system for example can be used
To specify the object height value of trailer shaft coupling.Alternatively, the object height value of trailer shaft coupling can be determined by trailer, example
Such as pass through the determining distance away from ground, for example pass through rangefinder or similar device.Then, identified object height value can be by
Trailer is transmitted to towing vehicle or its data processing system.It is also possible for being stored for using in the future in a memory cell.
According to different embodiment versions, this method, which may further include, is connected to shaft coupling pairing for trailer shaft coupling
Part.The connection can be executed for example by people (such as driver of vehicle), or automatically be held by towing vehicle and/or trailer
Row.
According to other embodiments version, determining to computerization route and traversing identified route may include the first He
Second stage, wherein in the first phase, determining and traversing first part's route until middle position, in interposition
It sets, towing vehicle and trailer are set as alignment and orient and be separated from each other, such as are spaced apart the distance of about 1m, and the
In two-stage, determines and traverse the second part route from middle position to target position.It is divided into such two
Stage can be advantageously carried out the more accurate of route and determine and traverse.For example, having different specified target values and difference wait supervise
The different sensors system for surveying parameter can be used for two stages.
According to other embodiment version, towing vehicle is moved to route determined by stop position, traversal and/or is incited somebody to action
Trailer shaft coupling is connected to shaft coupling mating member and can execute automatically or by remotely controlling.From advocating peace, long-range control is implemented
It can be considered as computerization implementation.
Independently refer to corresponding process by towing vehicle and/or trailer to execute.In other words, it is not required to very important person's intervention.
In contrast, long-range control refers to the control signal for executing the process by remote controllers from being transmitted to tractor at a distance
Or trailer.The transmission of control signal can be executed for example by radio signal.It is furthermore possible to also provide Return Channel, leads to
The Return Channel is crossed, signal can be transmitted to remote controllers from towing vehicle or trailer at a distance.
According to other embodiment version, this method for example passes through sensing when can also be included in route determined by traversal
The ambient enviroment of device (such as sensor of towing vehicle) monitoring towing vehicle.According to the surrounding of the towing vehicle detected ring
Border, this method for example can be interrupted or terminate or caution signal can be exported for example with the sense of hearing or optical form.
According to the feature of this method, different sensors is used to monitor ambient enviroment and therefore different signals is for supervising
It surveys.For example, this makes occurring in the case where the variation of the ambient enviroment of towing vehicle after determining stop position or route
Dangerous situation can be avoided by.If such as detecting that there are people between towing vehicle and trailer, can export warning letter
Number and this method can be terminated.
According to other embodiment version, this method can also be determined including computerization for traversing identified road
The steering angle and/or speed of the towing vehicle of line.Then identified steering angle and/or identified speed next time can be used
Go through the route.
For example, identified steering angle and/or speed are for example graphically output to the driver or long-range of vehicle
Controller and to can be used for traversal route be possible.Another possibility is using identified steering angle and/or speed
With for the controller by the way that identified data to be output to towing vehicle come automatically traversal route, and for control lead
Draw vehicle.This make determined by the traversal of route can be simplified and enable the deviation of actual path and identified route
It is reduced or avoided.
According to other embodiment version, can will determine relative to the longitudinal direction of trailer parallel or perpendicular to trailer
To position be appointed as stop position.If trailer is parallel to runway positioning (such as being parked in parallel parking stall),
It for example can advantageously specify the stop position of parallel orientation.If trailer positions perpendicular to runway and (such as is parked in friendship
In fork parking stall) or be arranged in in the garage of garage opening for being parallel to runway, then it for example can advantageously specify
The stop position of vertical orientation.
It is a kind of it is according to the present invention for by the trailer shaft coupling of towing vehicle from the connection on the draw bar that trailer is arranged in
The method that axis device mating member removes determines tractor while target position, the computerization of towing vehicle are determined comprising computerization
To target position route and traverse determined by arrive target position route.Therefore, it can be advantageous to realize trailer with
At least partly autonomous separation of towing vehicle.This method can be implemented in parking assistance system, such as by that will remove trailer
Shaft coupling is considered vehicle process out.
Here it is also possible that specifying middle position in the first phase and determining the route for initially arriving middle position
And the traversal route before being determined in second stage and traversing the route from middle position to target position.In such case
Under, the middle position of removing method can correspond to the relative intermediate position of the method for positioning trailer shaft coupling, such as phase
For the distance between trailer shaft coupling and shaft coupling mating member.
In addition, all embodiments of the method for positioning trailer shaft coupling are also similarly applicable for for removing trailer
The method of shaft coupling.For example, the steering angle and/or speed of the towing vehicle for route determined by traversing can similarly by
Computer determines.Entire method advantageously can be executed automatically also by identified route is automatically traversed.
According to different embodiment versions, this method may include separating trailer shaft coupling with shaft coupling mating member.This
It can be --- just as connection --- by people or to automatically carry out.In the latter cases, entire method can entirely autonomously
It executes.
It is a kind of it is according to the present invention for by the trailer shaft coupling of towing vehicle relative to the draw bar that trailer is arranged in
The device of shaft coupling mating member positioning include sensor and data processing system for detecting trailer and shaft coupling mating member
System.
Data processing system is designed and implements the input data for receiving sensor, for determining according to input data
The position of the orientation of trailer and shaft coupling mating member, for according to the orientation of identified trailer and the pairing of identified shaft coupling
The position of part come specify towing vehicle stop position, for specify towing vehicle target position (once reach the target position
Set, trailer shaft coupling is positioned in the target area of shaft coupling mating member), the road for determining towing vehicle to target position
Line arrives target position for exporting that towing vehicle is moved to the instruction of stop position and is used to export determined by traversal
The instruction of route.
The apparatus according to the invention can be for example adapted for implementing according to the present invention be used for as described above by towing vehicle
Trailer shaft coupling relative on the draw bar that trailer is set shaft coupling mating member positioning method and/or be adapted for carrying out
It is according to the present invention to be used to move the trailer shaft coupling of towing vehicle from the shaft coupling mating member on the draw bar that trailer is arranged in
The method removed.Therefore, the explanation for describing according to the method for the present invention can be used for the description apparatus according to the invention.Root
Correspond to according to the method for the present invention and its advantages of corresponding embodiment version according to the advantages of the device of the invention.
The apparatus according to the invention can be for example partially or even wholly arranged in towing vehicle.Therefore, some or institute
There is sensor to may be implemented as that sensor on the towing vehicle is arranged.Data processing system also can be set in towing vehicle
In or towing vehicle on.Alternatively, data processing system can be remotely arranged for example in central data processor.At this
Kind in the case of, towing vehicle may include transmission and reception means, the transmission and reception means be designed and implement for number
It is communicated according to processing system.
The people that instruction is output to and for example and then takes necessary operation, such as the driver of vehicle can be executed.It is selective
Instruction in the form of controlling signal can be output to the actuator of towing vehicle by ground, so that towing vehicle is to stop position
Movement and/or the traversal of the identified route to target position can automatically execute.
The sensor of the apparatus according to the invention and sensors of other descriptions can be implemented as ultrasonic wave, infrared
Line, laser, radar or camera sensor.Sensor may be implemented as the ranges of sensors of therefrom distance (i.e. away from sensor
The range of several meters of distances) or from short-range ranges of sensors (i.e. region of the distance away from sensor less than 1m) reception
Measuring signal.Sensor can be implemented for data processing system short haul connection, or be implemented for for example passing through
Bluetooth wireless radio transmission between sensor and data processing system.
Data processing system may include multiple functional units for implementing different function.For example, may include trailer
Identification module, the trailer identification module is for example by the processing of the sensor information of image procossing and/or range sensor come really
Determine the orientation of trailer and the position of shaft coupling mating member.For this purpose, the algorithm of modification can be used, according to the calculation of the modification
First barrier of method, the particular minimum length with such as 1m is considered as trailer.Such as parking assistance system has been deposited
Algorithm can be used for signal processing.
To put it more simply, can other people position of defined position based on the driver of vehicle or positioned at trailer execute
It determines.Alternatively, for example, remote control unit can be positioned in left front corner or in the top of shaft coupling mating member.
In addition, data processing system may include the module of horizontal and vertical movement for controlling a traction vehicle, such as
It is present in vehicle for autonomous driving or for independently being stopped by parking assistance system and vehicle out.
Other module can be used for route determination.The module can correspond to for determining stopping for parking assistance system
Vehicle and the out module of bus or train route line, wherein specific limitation can be applied.
Coordination module can coordinate other modules and realize data exchange.
According to different embodiment versions, data processing system can be designed and be embodied as determination and arrive for towing vehicle
First and second stages of the route of target position, wherein in the first phase, determine the first part's route for arriving middle position,
In the middle position, towing vehicle and trailer are set as alignment and orient and be separated from each other, and in second stage, determine
Second part route from middle position to target position.
According to other embodiment version, for towing vehicle to be moved to the instruction of stop position and/or is used to complete
The instruction of the identified route to target position is output to the device of towing vehicle for towing vehicle as control signal
Autokinetic movement.
According to other embodiment version, which may include the sensing of the ambient enviroment for monitoring towing vehicle
Device.
According to other embodiment version, data processing system further can be carried out and be designed as to determine and export use
In the steering angle and/or speed of the towing vehicle of traversal route.
According to other embodiment version, data processing system further can be carried out and be designed as output for that will drag
Vehicle shaft coupling is connected to the instruction of shaft coupling mating member.The instruction can for example be output to towing vehicle in the form of controlling signal
And/or trailer.Alternatively or in addition, instruction for example in the form of optics or acoustics can be exported to people's (such as vehicle
Driver).
According to other embodiment version, which can also be comprising for receiving the signal from data processing system
And/or pass the signal to the remote control unit of data processing system.In other words, the driver of vehicle can remotely to
Data processing system, which is sent, orders and receives the order from data processing system.The output and input of order can for example exist
Acoustically, it visually and/or in tactile executes.
For remote control unit, any wireless communication technique, such as wireless radio transmission can be used.Remote control unit
It can be implemented as the mobile device (such as smart phone or tablet computer) of communication, or communication can be integrated in
In mobile device (such as smart phone or tablet computer).For example, remote control unit also may be implemented as key chain.
The output and input of order can for example acoustically, execute visually and/or in tactile.For remotely controlling list
Any wireless communication technique, such as wireless radio transmission can be used in member.
A kind of computer program product according to the present invention includes in the execution preceding method made in aforementioned device
The order of one computerization feature.In this case, computer program product refer to storage on appropriate media and/
Or the program code that can be called by suitable medium.Be suitable for store software any medium (such as DVD (digitlization view
Frequency CD), USB (universal serial bus) memory stick, flash card etc.) can be used for storing program code.Caller code can
For example by internet or Intranet or suitably wirelessly or non-wirelessly network executes by other.
According to different embodiment versions, computer program product can also be comprising causing have one in aforementioned device
Towing vehicle be moved to stop position and/or by towing vehicle traversal determined by target position route order.
Optionally, computer program product, which may include, makes one in described device or with one in described device
Towing vehicle completely or partially execute one other order in the method.
Detailed description of the invention
From specific embodiment and diagram, other advantages of the invention are obvious.The present invention using diagram and with
Lower specification is described in detail.In the accompanying drawings:
Fig. 1 shows the schematic diagram of process according to the method for the present invention；And
Fig. 2 shows the other schematic diagrames of process according to the method for the present invention.
Specific embodiment
The present invention enables the vehicle as towing vehicle to be partially or completely automatically connected to trailer (that is, can incite somebody to action
Trailer is connected to the trailer shaft coupling of towing vehicle), and trailer can be removed again.During the manipulation, vehicle is driven
The person of sailing can observe manipulation outside towing vehicle (such as in trailer adjacent) and possibly so as in towing vehicle and trailer
Positioning after couple trailer (if this without independently execute if).
In various embodiments, towing vehicle and/or trailer can by remotely control (such as by unmanned plane or in
Centre control system executes control) it operates.For this purpose, trailer can also include automatic function, such as automatic locking system.
The method proposed can be for example integrated in parking assistance system as extension.For this purpose, the method for execution
It can advantageously only be realized by software package, without changing into hardware.
Implementation is important that according to the method for the present invention with lower component and device
Towing vehicle 2, the towing vehicle 2 are carried out with the apparatus according to the invention, i.e. sensor and data processing system
System；
Trailer 3, the trailer 3 are used to couple and separate with towing vehicle 2；
The driver of the driver of vehicle, the vehicle can be outside towing vehicles 2；Alternatively, instead of the driving of vehicle
Member, can be used external automatic system, such as unmanned plane, central server or the p- infrastructure-based communication device of automobile-；
Sensor as described above；
Data processing system as described above；
Optionally, remote control unit as described above.
Referring to Fig.1, described below for by the trailer shaft coupling 1 of towing vehicle 2 relative to the draw bar that trailer 3 is arranged in
On the method that positions of shaft coupling mating member 4, wherein trailer 3 is parallel to the orientation of towing vehicle 2, that is, is for example parked in parallel
In parking stall.
Firstly, the device of implementation method passes through user interface or suitable device to dress for example, by the person of sailing driven from vehicle
It sets and sends signal to initialize.Then, it activates the device and can be activated to the driver notification of vehicle.The activation stage
It can for example be executed by parking assistance system.Following measures can be executed with for activating: starting towing vehicle 2, vehicle are driven
The person of sailing leaves towing vehicle 2, has completed alternately through the driver notification device activation stage of vehicle.
In addition, it is possible thereby to assuming that towing vehicle 2 is arranged near trailer 3, such as towing vehicle 2 is look for stopping
Parking stall.Towing vehicle should be preferably positioned as the rear of trailer 3 and be parallel to trailer 3.In one embodiment, Ke Yiti
What is supplied is, it is first determined the position of trailer 3 and its orientation, and based on this by instruction output driving to vehicle or towing vehicle 2
The person of sailing is with positioning towed vehicle 2 as described above.
According to method according to the present invention, trailer 3 and shaft coupling mating member 4 are detected.For this purpose, towing vehicle 2 can be with
Low speed is mobile, and the sensor activated can be moved for detecting the barrier being laterally arranged.The detection process can also
With by the driver of vehicle or other people executed by remote control unit.The phase of parking assistance system can be preferably used
Answer function.For example, it is possible thereby to assuming that shaft coupling mating member 4 is centrally arranged on trailer 3.
In order to detect trailer 3, it can be assumed that first close to the space (such as parking stall) for positioning towed vehicle 2 is horizontal
It is trailer 3 to barrier.In order to avoid detecting the error of trailer 3, particular minimum length can be specified for barrier, for example, at least
1m.The position of shaft coupling mating member 4 is assumed on the edge of the barrier of space-oriented.It is alternatively possible to mention
Supply, certain form of trailer 3 and its orientation are selected in advance, such as in parallel, inclination or perpendicular to runway, in garage
It is medium.If necessary, in addition arrangement and/or other orientation can be limited by user interface and can specify cloth
It sets.Storage can be possible for use in the future.
In one embodiment, the information about the barrier (it is detected as trailer 3) detected can be exported.It is described
Information can for example be exported to the driver of such as vehicle by remote control unit.It may be provided that, executing this method
Following steps before, will confirm the correct detection of trailer 3.In one embodiment, it may be provided that, information is as ground
Figure indicates (such as with two dimension or three dimensional representation) output.For example, using the two dimension or 3-d reproduction of ambient enviroment, Ke Yixiang
The barrier that detects of driver's confirmation of vehicle is that the driver of trailer 3 or vehicle can specify different objects as dragging
Vehicle 3.It is alternatively possible to the process of detection trailer 3 and shaft coupling mating member 4 be repeated, until testing result is satisfactory.Sensor
(such as towing vehicle 2 sensor or towing vehicle 2 ambient enviroment in sensor) for detecting trailer 3 and shaft coupling is matched
To part.
In detection trailer 3 and after can confirm that and being correctly detecting trailer 3, shaft coupling mating member 4 is detected.In addition,
The position of the orientation of the trailer 3 detected and the shaft coupling mating member 4 detected is determined by computer.In one embodiment
In, can provide thus, the driver of vehicle or other people be positioned in relative to trailer 3 defined position (such as
It is left front corner, first-class on the right side of shaft coupling mating member 4) or remote control unit for example joining relative to the positioning of trailer 3
The top of axis device mating member 4.Therefore, it can be advantageous to simplify the determination of the orientation of trailer 3 and the position of shaft coupling mating member 4,
Because the people of positioning or the remote control unit of positioning can be used as a reference for.It is alternatively possible to provide the orientation and connection to trailer 3
The confirmation of the successful determination of the position of axis device mating member 4, such as by the driver of vehicle by making by Gesture Recognition Algorithm
The certain gestures of identification input remote control unit to execute confirmation, or by the driver of vehicle to be used for really
Recognize, such as by pressing some button.
Optionally, additional information can be used for detecting trailer 3 and shaft coupling mating member 4 and for determining determining for trailer 3
To the position with shaft coupling mating member 4.For example, may be provided that, consider that the coordinate of trailer 3, the coordinate pass through suitable base
Infrastructure (such as remote control unit, voice output or display) output.The radio fix of trailer 3 also may be embodied in
It is interior.
According to the orientation of identified trailer 3 and the position of identified shaft coupling mating member 4, for towing vehicle 2
Stop position P1 is determined by computer.For example, identical position can be selected as stop position P1, stop position P1
It is selected when in the parking stall for being parked in 3 front of trailer.Therefore, parking assistance system may be advantageously used with determining stop position
Set P1.
For example, position can be selected as stop position P1, wherein between specified towing vehicle 2 and shaft coupling mating member 4
Distance, such as in the distance of 5m or the distance of the length corresponding to towing vehicle 2.
Then towing vehicle 2 is moved to stop position P1 and for example by the driver of vehicle or using towing vehicle
2 autonomous performance is automatically parked in there.For example, towing vehicle 2 can be moved across the trailer 2 detected, such as no longer
Detect the distance of the 5m after trailer 3, or the distance of the length corresponding to towing vehicle.Reaching stop position P1 can be by
Notify the data processing system of the driver to vehicle, remote control unit or towing vehicle 2.
Then, the target position P2 for towing vehicle 2 is specified so that one reaches target position P2, and towing vehicle 2 drags
Vehicle shaft coupling 1 is positioned in the target area of shaft coupling mating member 4.This enables trailer shaft coupling 1 to be connected to shaft coupling to match
Position to part 4, without changing towing vehicle 2 or trailer 3.
Then route F of the towing vehicle 2 from stop position P1 to target position P2 is determined.Target position P2 is traversed now
The route F.In conjunction with the preprocessed data for example from first front control such as passes through remote control unit or pass through inspection
It is possible that the gesture of the driver of measuring car corrects route F during traversal.
Together with route, the steering angle and/or speed of the towing vehicle 2 for traversing identified route F can be determined.
Route F can by towing vehicle 2 itself or by the driver of vehicle or other people for example pass through remote control unit
Automatically traverse.If reaching target position P2, can be transmitted to the data processing system of the driver of vehicle or the device
Number.
Before beginning stepping through route F, it can provide by the confirmation of the driver of vehicle.It is furthermore possible to also provide
During entire driving procedure, it is necessary to for example by the driver of vehicle on remote control unit operation acknowledgement button.If no
Operation acknowledgement button again then terminates driving procedure immediately.Therefore, safety can increase, because for example, if on determining road
There is barrier in line F suddenly, then driving procedure can be terminated promptly.
In one embodiment, it may be provided that, (want improved target in the case where P2 in non-optimal target position
In the case where the P2 of position), the driver of vehicle or the external device (ED) request of towing vehicle 2 execute the process again, i.e., first will
Towing vehicle 2 be moved back into stop position P1 and then again determine and traversal route F.Target position can also be specified again
P2。
It determines to computerization route F and traverses identified route F and preferably executed with two stage (not shown).?
In this case, in the first phase, it is first determined and the first part route F from stop position P1 to middle position is traversed,
In the middle position, towing vehicle 2 and trailer 3 are set as alignment and orient and be separated from each other, and in second stage, really
Second part route F fixed and that traversal is from middle position to target position P2.
For this purpose, for example, it is also possible to the sensor by using parking assistance system comes using parking assistance system.The
One stage can correspond to the single-phase parking in parallel parking stall, and wherein towing vehicle 2 is parked in away from shaft coupling mating member 4
It limits at distance (such as 1m).Compared to the common docking process for passing through parking assistance system, two additional strips can be provided
Part.On the one hand, counter motion can be only provided without further correction of movement, and on the other hand can specify bigger
Safety margin, so that towing vehicle 2 is parked at the restriction distance away from shaft coupling mating member 4.
When second stage starts, towing vehicle 2 is aligned relative to trailer 3 and orients and be arranged in away from shaft coupling mating member
At 4 restriction distance (such as 1m).Second part route F is now determined that so as to only allow small handling maneuver.Second part can also
With speed more lower than first part traversal.For example, for second part, speed can be limited to less than 1km/h and/or
Steering angle no more than ± 1 ° can be allowed to.It is furthermore possible to also provide towing vehicle 2 can be moved backward only.For
One and second stage, different sensors, specified target value and error deviation can be used.
After reaching a standstill position, trailer shaft coupling 1 can be connected to shaft coupling mating member 4.This can be for example by vehicle
Driver or other people may be executed by remote control unit or by towing vehicle 2 and/or trailer 3.Complete
After connection process, confirmation message can be exported.
Then, it such as after exporting confirmation message, terminates this method and towing vehicle 2 can be closed.For this purpose, can be with
By gear lever setting to parking position, can using parking brake, engine and closed door can be closed.It is led for confirming to close
The other confirmation message for drawing vehicle 2 can be output to driver or the external monitoring devices of such as vehicle.
It is alternatively possible to monitor vehicle-periphery by sensor in traversal route F.If detecting unexpected barrier
Hinder object, then can interrupt or terminate the process.
Fig. 2 shows for by the trailer shaft coupling 1 of towing vehicle 2 relative to the connection on the draw bar that trailer 3 is arranged in
The schematic diagram for the method that axis device mating member 4 positions, wherein trailer 3 is oriented perpendicular to towing vehicle 2, that is, is for example parked in friendship
Pitch parking stall.
Difference with the method (parallel orientation of towing vehicle and trailer) about Fig. 1 description is described below.
Because the setting of trailer 3 is in intersecting parking stall, the presence close to the space of trailer 3 is (such as such as the void in Fig. 2
Shown in line position) it is indispensable for executing this method not.In order to detect trailer 3, such as identification step can be provided,
That is, detecting barrier first, and being associated with for trailer 3 and specific obstacle then can be executed, such as by using trailer 3
The trailer recognizer of particular characteristic or by the input of the driver by vehicle or by Audio user interface or video user
Interface or external automatic system using V2X (vehicle-p- all) communication system.
In one embodiment, however, if there is close to the parking stall of trailer 3, then it can also pass through parking auxiliary system
System detects trailer 3 and shaft coupling mating member 4 to execute.In such a case, it is possible to assume that the first barrier (wherein lean on by parking stall
The front (not shown) of nearly its (see Fig. 2, shown in dotted line) or in which parking stall at it) it is trailer 3.
After the position of the orientation of the trailer 3 in computerization confirmly detected and the shaft coupling mating member 4 detected,
Specified stop position P1.For example, identical position can be selected as stop position P1, stop position P1 is being parked in trailer
It is selected when in 3 space.Therefore, parking assistance system may be advantageously used with determining stop position P1.
Compared to the method according to Fig. 1, in order to reach stop position P1, it may be necessary to the position of cross-level towing vehicle 2
It sets (see compared to the initial position on right side, lateral displacement of the towing vehicle 2 in stop position P1).
In the case where method according to fig. 2, target position P2 is designated as in the position in 3 front of trailer.In addition, I
Refer to the description as described in Fig. 1.
The modification of the method can be executed to the trailer parked with angle or the trailer being parked in garage.
In order to separate trailer 3 with towing vehicle 2, according to the present invention be used for the trailer of towing vehicle 2 can be executed
The method that shaft coupling 1 is removed from the shaft coupling mating member 4 on the draw bar that trailer 3 is arranged in.
For this purpose, prerequisite needed for can determining in initial phase first and meet separation trailer shaft coupling 1.Example
Such as, can check whether trailer 3 is attached to towing vehicle 2, whether towing vehicle 2 is opened and/or whether towing vehicle 2 is static.
Trailer shaft coupling 1 then can for example by the driver of vehicle or other people or by towing vehicle 2 and/or
Trailer 3 is automatically separated with shaft coupling mating member 4.It after releasing, can be by the driver of vehicle or external system for example
Confirmation message is exported by radio signal.
In addition, the target position of towing vehicle 2 is specified by computer.The target position of separation process can be for example right
It should be in the stop position P1 of corresponding connection process.
Then, the route for towing vehicle 2 to target position is determined by computer and traverses identified route.
The route of separation process can correspond to the route of connection process.
The determination of route is executed with two stages and traversal is also possible herein.In the first phase, it can execute
To the short movement in middle position, wherein identical parameter (such as target value and error margin) can be used, and can be used
The sensor of second stage corresponding to corresponding connection process.For example, in the first phase, towing vehicle can go ahead
A mobile short distance, such as 1m.In second stage, vehicle process can be correspondingly executed out, wherein such as towing vehicle 2 can be with
Only move forward.The separation process of second stage can correspond to the connection process of first stage.For example, vehicle can be passed through
The order of driver or other people (such as passing through remote controllers or gesture) or by external system (such as central monitoring dress
Set) order start the traversal of route.
By this method and device, positioning of the towing vehicle 2 relative to trailer 3 can be automatically carried out, may include reality
The connection or separation process on border.The coordination in each stage of this method can carry out by the device itself, and vehicle is driven
The person of sailing or the external automatic system for replacing driver are guided by the device.The device can carry out the transverse direction of towing vehicle 2 and indulge
To control, and towing vehicle 2 can be moved in the case where the driver of vehicle need not be in towing vehicle 2.In other words,
Movement can automatically be executed.It can be advantageous to provide user interface for example to realize the dress by the mobile device of communication
The remote operation set.This method monitoring can the driver by vehicle, the external system with appropriate software, unmanned plane, its
His vehicle or other suitable infrastructure execute.
Advantageously, this method and device can be integrated in parking assistance system, such as in the form of software package.Example
Such as, the docking process being considered in parallel parking stall for being connected to the positioning of the towing vehicle 2 of trailer 3, this is parallel
Parking stall is defined by rear obstacle (i.e. trailer 3), wherein the distance away from barrier or trailer 3 is suitable for connection process.
Although being described in detail and illustrating the present invention by preferred exemplary embodiment, the present invention is not limited to
Disclosed example, and those skilled in the art can therefrom obtain it in the case without departing from the scope of protection of the present invention
His version.
These attached drawings be not necessarily it is true in detail and it is true in proportion, and can zoom in or out display so as to
Give better general introduction.Therefore, function detail disclosed herein is not considered as restrictive, but is only led as in this technology
It is provided in various ways for those skilled in the art using the descriptive basis of guidance of the invention in domain.
Expression "and/or" (if using in two or more a series of elements) used herein refers to mentioned
Each element can be used alone, or any combination of two or more mentioned elements can be used.If example
As described the combination comprising component A, B and/or C, then the combination may include individual A, individual B, individual C, A and B
Combination, combination, the combination of B and C or the combination of A, B and C of A and C.
Reference signs list
1 trailer shaft coupling
2 towing vehicles
3 trailers
4 shaft coupling mating members
P1 stop position
The target position P2
F route
Claims (18)
1. one kind is for the shaft coupling by the trailer shaft coupling (1) of towing vehicle (2) relative to setting on the draw bar of trailer (3)
The method of device mating member (4) positioning, comprising:
A) trailer (3) and the shaft coupling mating member (4) are detected,
B) position of the orientation of the trailer (3) confirmly detected to computerization and the shaft coupling mating member (4) detected,
C) it is calculated according to the position of the orientation of the identified trailer (3) and the identified shaft coupling mating member (4)
The stop position (P1) of the towing vehicle (2) is specified to machine,
D) towing vehicle (2) is moved to the stop position (P1),
E) target position (P2) of the towing vehicle (2) is specified to computerization, one reaches the target position (P2), described
Trailer shaft coupling (1) is positioned in the target area of the shaft coupling mating member (4),
F) route of the towing vehicle (2) from the stop position (P1) to the target position (P2) is determined to computerization
(F), and
G) route (F) of the target position (P2) is arrived determined by traversal.
2. the method as described in claim 1 also includes:
The trailer shaft coupling (1) is connected to the shaft coupling mating member (4).
3. method as described in any one of the preceding claims wherein determines to computerization the route (F) and traversal institute
Determining route (F) includes first stage and second stage, wherein determining and traversing from the stopping in the first stage
First part's route (F) in middle position is arrived in position (P1), and in the middle position, the towing vehicle (2) and trailer (3) are set
It is set to alignment to orient and be separated from each other, and in the second stage, determine and traverses from the middle position to institute
State the second part route (F) of target position (P2).
4. method as described in any one of the preceding claims, wherein the towing vehicle (2) is moved to the stop position
(P1) is set, identified route (F) is traversed and/or the trailer shaft coupling (1) is connected to the shaft coupling mating member (4) certainly
Main ground is executed by remotely control.
5. method as described in any one of the preceding claims, also includes:
The ambient enviroment of the towing vehicle (2) is monitored during the route (F) determined by traversing.
6. method as described in any one of the preceding claims, also includes:
Determine to computerization the steering angle and/or speed for traversing the towing vehicle (2) of identified route (F).
7. method as described in any one of the preceding claims, wherein parallel or perpendicular to the position of the trailer (3) orientation
It sets and is designated as the stop position (P1).
8. one kind is for matching the trailer shaft coupling (1) of towing vehicle (2) from the shaft coupling being arranged on the draw bar of trailer (3)
To the method that part (4) remove, include:
A) target position of the towing vehicle (2) is specified to computerization,
B) determine to computerization that the towing vehicle (2) arrives the route of the target position, and
C) route of the target position is arrived determined by traversal.
9. method according to claim 8 also includes:
The trailer shaft coupling (1) is separated with the shaft coupling mating member (4).
10. one kind is for the connection by the trailer shaft coupling (1) of towing vehicle (2) relative to setting on the draw bar of trailer (3)
The device of axis device mating member (4) positioning includes:
Sensor, the sensor are used to detect the trailer (3) and the shaft coupling mating member (4), and
Data processing system, the data processing system are designed and implement:
I. for receiving the input data from the sensor,
Ii. for determining the orientation of the trailer (3) and the position of the shaft coupling mating member (4) according to the input data,
Iii. for according to the orientation of the identified trailer (3) and the position of the identified shaft coupling mating member (4)
Specify the stop position (P1) of the towing vehicle (2),
Iv. described to drag once the arrival target position (P2) for specifying the target position (P2) of the towing vehicle (2)
Vehicle shaft coupling (1) is positioned in the target area of the shaft coupling mating member (4),
V. for determining route (F) of the towing vehicle (2) from the stop position (P1) to the target position (P2),
Vi. it is used to export the instruction that the towing vehicle (2) is moved to the stop position (P1), and
Vii. for exporting the instruction for arriving the route (F) of the target position (P2) determined by traversal.
11. device as claimed in claim 10, wherein the data processing system is designed and is embodied as determining the traction
The first stage of the route (F) of the vehicle (2) from the stop position (P1) to the target position (P2) and second stage,
Wherein in the first stage, first part's route (F) from the stop position (P1) to middle position is determined, described
Middle position, the towing vehicle and the trailer are set as alignment and orient and be separated from each other, and in the second-order
Duan Zhong determines the second part route (F) from the middle position to the target position (P2).
12. device as described in claim 10 or 11, wherein the towing vehicle (2) is moved to the stop position (P1)
Described instruction and/or traversal determined by route (F) from the stop position (P1) to the target position (P2) institute
Instruction is stated as control signal and is output to the device of the towing vehicle (2) for automatically moving the towing vehicle (2).
13. the device as described in any one of claim 10 to 12, also includes:
Sensor, the sensor are used to monitor the ambient enviroment of the towing vehicle (2).
14. the device as described in any one of claim 10 to 13, wherein the data processing system is also carried out and designs
For the steering angle and/or speed for determining and exporting the towing vehicle (2) for traversing the route (F).
15. the device as described in any one of claim 10 to 14, wherein the data processing system is also carried out and designs
To export the instruction that the trailer shaft coupling (1) is connected to the shaft coupling mating member (4).
16. the device as described in any one of claim 10 to 15, also includes:
Remote control unit, the remote control unit is for receiving the signal from the data processing system and will believe
Number it is transmitted to the data processing system.
17. a kind of computer program product, comprising making the device as described in any one of claim 10 to 16 implement such as right
It is required that the feature a) of method described in 1, b), c), e) and f) and/or the feature a) of method according to claim 8 and b)
Order.
18. computer program product as claimed in claim 17, also comprising making to have such as any one of claim 10 to 16
The towing vehicle (2) of the device is moved to the stop position (P1) and/or traverses institute really by the towing vehicle (2)
The order of the fixed route (F) to the target position (P2).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017216352.6A DE102017216352B4 (en) | 2017-09-14 | 2017-09-14 | Method for positioning a trailer hitch, arrangement for positioning a trailer hitch and computer program product |
| DE102017216352.6 | 2017-09-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109501535A true CN109501535A (en) | 2019-03-22 |
Family
ID=65441654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811042397.5A Pending CN109501535A (en) | 2017-09-14 | 2018-09-07 | Method for positioning and removing trailer shaft coupling, device and computer program product for positioning trailer shaft coupling |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109501535A (en) |
| DE (1) | DE102017216352B4 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771561A (en) * | 2021-09-23 | 2021-12-10 | 广州小鹏汽车科技有限公司 | Vehicle towing method, electronic device, towing vehicle and storage medium |
| CN115003590A (en) * | 2019-12-20 | 2022-09-02 | 约斯特-威克德国有限公司 | Fifth wheel coupling comprising a coupling plate and a camera |
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|---|---|---|---|---|
| US8308182B2 (en) * | 2008-07-16 | 2012-11-13 | Ford Global Technologies, Llc | Trailer connection assist system |
| US8798842B2 (en) | 2011-01-25 | 2014-08-05 | Teleswivel, Llc | Trailer hitch alignment systems and methods |
| DE102012001380A1 (en) * | 2012-01-24 | 2012-08-02 | Daimler Ag | Assistance method for coupling maneuver of motor car with trailer coupling at trailer hitch pan using driver assistance system, involves overlying screen display of image with trajectory between trailer coupling and clutch pan |
| DE102012005707A1 (en) * | 2012-03-20 | 2012-10-18 | Daimler Ag | Method for coupling trailer of motor vehicle by automatic cross-guiding of motor vehicle with rear camera during maneuvering, involves defining target sector by spherical head of coupling device of motor vehicle |
| US9914333B2 (en) | 2012-07-05 | 2018-03-13 | Uusi, Llc | Vehicle trailer connect system |
| DE102013015738A1 (en) * | 2013-09-20 | 2014-04-10 | Daimler Ag | System for coupling vehicle to trailer, has input unit and output unit with mobile unit that are adapted to perform given interactive program for controlling control unit for remote-controlled coupling of vehicle to trailer |
| DE102015213404A1 (en) * | 2015-07-16 | 2017-01-19 | Continental Teves Ag & Co. Ohg | Method and device for coupling a motor vehicle to a trailer |
| DE102016003847A1 (en) * | 2016-03-30 | 2016-10-06 | Daimler Ag | Method for supporting a parking operation of a vehicle |
| DE102016215248B4 (en) * | 2016-08-16 | 2022-10-13 | Volkswagen Aktiengesellschaft | Method for supporting the process of coupling a vehicle to a towing vehicle and supporting system |
-
2017
- 2017-09-14 DE DE102017216352.6A patent/DE102017216352B4/en active Active
-
2018
- 2018-09-07 CN CN201811042397.5A patent/CN109501535A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115003590A (en) * | 2019-12-20 | 2022-09-02 | 约斯特-威克德国有限公司 | Fifth wheel coupling comprising a coupling plate and a camera |
| CN113771561A (en) * | 2021-09-23 | 2021-12-10 | 广州小鹏汽车科技有限公司 | Vehicle towing method, electronic device, towing vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102017216352B4 (en) | 2024-03-28 |
| DE102017216352A1 (en) | 2019-03-14 |
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