CN116981578A - Vehicle, trailer connection detection method thereof and computer storage medium - Google Patents
Vehicle, trailer connection detection method thereof and computer storage medium Download PDFInfo
- Publication number
- CN116981578A CN116981578A CN202180095684.6A CN202180095684A CN116981578A CN 116981578 A CN116981578 A CN 116981578A CN 202180095684 A CN202180095684 A CN 202180095684A CN 116981578 A CN116981578 A CN 116981578A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- trailer
- state
- connection detection
- detection method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 230000001133 acceleration Effects 0.000 claims description 43
- 230000008859 change Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 description 24
- 238000004891 communication Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000001965 increasing effect Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 206010033670 Panic reaction Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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
- B60D1/28—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for preventing unwanted disengagement, e.g. safety appliances
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a trailer connection detection method of a vehicle, which comprises the following steps: acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer and is configured to tow the trailer through the vehicle; and when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer. The invention also discloses a vehicle and a computer storage medium.
Description
The application relates to the technical field of trailer connection, in particular to a vehicle, a trailer connection detection method thereof and a computer storage medium.
When the vehicle is connected with the trailer, the vehicle can be controlled in a stable auxiliary mode, so that the phenomenon that the vehicle is unstable due to overlarge swing amplitude of the trailer is avoided, and an accident is caused by the fact that a pulling structure between the vehicle and the trailer is easy to break and fall off when the vehicle is unstable, and therefore the accident of the trailer can be reduced by the aid of the vehicle stable auxiliary control.
When detecting whether a trailer is connected to a vehicle, it is generally determined whether or not a brake light circuit of the vehicle is connected, and when the brake light circuit is connected, it is indicated that the vehicle is connected to the trailer, and it is necessary to perform a stability assist control. However, in the actual vehicle use process of the user, the trailer is not always a standard trailer in the original factory, even if the vehicle is connected with the trailer, the brake lamp circuit may not be communicated, for example, when the vehicle is in rescue of getting rid of poverty, the vehicle is mistakenly considered to be not connected with the trailer, so that the stable auxiliary control of the vehicle cannot be activated, the safety of trailer connection is reduced, and therefore, the mode of judging whether the trailer is connected according to whether the brake lamp circuit of the vehicle is communicated is inaccurate.
The application mainly aims to provide a vehicle, a trailer connection detection method thereof and a computer storage medium, and aims to improve the accuracy of trailer connection detection.
In order to achieve the above object, the present application provides a trailer connection detection method of a vehicle, the trailer connection detection method of a vehicle comprising the steps of:
acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer and is configured to tow the trailer through the vehicle; and
and when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer. Optionally, after the step of acquiring the state of the trailer tow bar of the vehicle, the method further includes:
acquiring the motion characteristics of the vehicle when the state of the trailer traction rod is an unoxtended state and/or an unstressed state, wherein the motion characteristics comprise the current acceleration of the speed of the vehicle; and
confirming that the vehicle is connected with the trailer or the vehicle is not connected with the trailer according to the movement characteristics
Optionally, the step of confirming that the vehicle is connected to the trailer or that the vehicle is not connected to the trailer according to the movement characteristics includes:
determining an expected acceleration of the vehicle based on at least one of an engine torque, an engine speed, a motor torque, and a motor speed of the vehicle, and gear information of the vehicle;
determining that the vehicle is connected to the trailer when the current acceleration does not match the expected acceleration; and determining that the trailer is not connected to the vehicle when the current acceleration matches the expected acceleration.
Optionally, after the step of determining that the vehicle is connected to the trailer, the method further includes:
acquiring a current yaw rate of the vehicle;
determining a swing amplitude of the trailer according to the current yaw rate; and
and when the swing amplitude is larger than a first preset threshold, performing deceleration control and/or steering control on the vehicle, wherein the steering control corresponds to the deflection direction opposite to the swing direction of the trailer.
Optionally, the step of performing deceleration control and/or steering control on the vehicle when the swing amplitude is greater than a first preset threshold includes:
acquiring the change rate of the swing amplitude;
determining a target speed and/or steering amplitude according to the change rate; and
and performing deceleration control on the vehicle according to the target speed and/or performing steering control on the vehicle according to the steering amplitude.
Optionally, the step of performing deceleration control and/or steering control on the vehicle when the swing amplitude is greater than a first preset threshold includes:
and when the swing amplitude is larger than a first preset threshold, confirming that the swing amplitude is smaller than a second preset threshold, and performing deceleration control and/or steering control on the vehicle.
Optionally, the step of performing deceleration control and/or steering control on the vehicle when the swing amplitude is greater than a first preset threshold includes:
and when the swing amplitude is larger than a first preset threshold, confirming that the swing amplitude is larger than a second preset threshold, and not performing deceleration control and/or steering control on the vehicle.
Optionally, after the step of determining that the vehicle is connected to the trailer, the method further includes:
detecting a vehicle speed of the vehicle; and
and executing the step of acquiring the current yaw rate of the vehicle when the speed of the vehicle is greater than or equal to a first preset speed and less than or equal to a second preset speed.
Optionally, before the step of acquiring the state of the trailer hitch of the vehicle, the trailer connection detection method of the vehicle further includes:
and confirming that the brake light circuit is not communicated, and executing the step of acquiring the state of a trailer hauling rod of the vehicle.
In addition, to achieve the above object, the present application also provides a vehicle including: the system comprises a memory, a processor and a trailer connection detection program of a vehicle, wherein the trailer connection detection program of the vehicle is stored in the memory and can run on the processor, and the trailer connection detection program of the vehicle realizes the following steps when being executed by the processor:
acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer and is configured to tow the trailer through the vehicle; and
and when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer.
In addition, in order to achieve the above object, the present application also provides a computer storage medium having stored thereon a trailer connection detection program of a vehicle, which when executed by a processor, implements the steps of: acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer and is configured to tow the trailer through the vehicle; and
and when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer.
The vehicle, the trailer connection detection method and the computer storage medium provided by the embodiment of the application acquire the state of a trailer traction rod of the vehicle, wherein the trailer traction rod is connected with a trailer and is configured to pull the trailer through the vehicle; and when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer. The application detects whether the trailer traction rod of the vehicle is connected with the trailer by detecting whether the trailer traction rod of the vehicle extends out and/or is stressed, and the detection is more accurate when facing various trailers than detecting whether the trailer is connected according to whether the brake light circuit is communicated.
FIG. 1 is a schematic diagram of a terminal structure of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a flow chart of an embodiment of a trailer hitch detection method for a vehicle according to the present application;
FIG. 3 is a flow chart of another embodiment of a trailer hitch detection method for a vehicle according to the present application;
FIG. 4 is a flow chart of a trailer hitch detection method for a vehicle according to another embodiment of the present application;
FIG. 5 is a schematic diagram of a TSA architecture design of a vehicle according to the present application;
FIG. 6 is a schematic diagram of the TSA control logic of the vehicle of the present application.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The embodiment of the application provides a solution, and by detecting whether the trailer traction rod of the vehicle stretches out and/or is stressed, whether the trailer traction rod of the vehicle is connected with the trailer or not is detected, and when facing various trailers, compared with detecting whether the trailer is connected or not according to whether a brake lamp circuit is communicated or not, the detection is more accurate.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present application.
The terminal in the embodiment of the application is a control device of a vehicle, such as a general control unit of the vehicle, a controller in the vehicle and the like.
As shown in fig. 1, the terminal may include: a processor 1001, e.g. CPU, DSP, MCU, etc., a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display screen (Display) or Display lights, input elements such as buttons, keys, etc., and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, a memory 1005 as a computer storage medium may include a network communication module, a user interface module, and a trailer connection detection program of a vehicle.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting other control modules of the vehicle, and performing data communication with the other control modules of the vehicle; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a trailer connection detection program for the vehicle stored in the memory 1005 and perform the following operations:
acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer and is configured to tow the trailer through the vehicle; and
and when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer. Further, the processor 1001 may call the trailer connection detection program of the vehicle stored in the memory 1005, and further perform the following operations:
acquiring the motion characteristics of the vehicle when the state of the trailer traction rod is an unoxtended state and/or an unstressed state, wherein the motion characteristics comprise the current acceleration of the speed of the vehicle; and
and detecting whether the trailer is connected with the vehicle according to the motion characteristics.
Further, the processor 1001 may call the trailer connection detection program of the vehicle stored in the memory 1005, and further perform the following operations:
determining an expected acceleration of the vehicle based on at least one of an engine torque, an engine speed, a motor torque, and a motor speed of the vehicle, and gear information of the vehicle;
determining that the vehicle is connected to the trailer when the current acceleration does not match the expected acceleration; and determining that the trailer is not connected to the vehicle when the current acceleration matches the expected acceleration.
Further, the processor 1001 may call the trailer connection detection program of the vehicle stored in the memory 1005, and further perform the following operations:
acquiring a current yaw rate of the vehicle;
determining a swing amplitude of the trailer according to the current yaw rate; and
and when the swing amplitude is larger than a first preset threshold, performing deceleration control and/or steering control on the vehicle, wherein the steering control corresponds to the deflection direction opposite to the swing direction of the trailer.
Further, the processor 1001 may call the trailer connection detection program of the vehicle stored in the memory 1005, and further perform the following operations:
acquiring the change rate of the swing amplitude;
determining a target speed and/or steering amplitude according to the change rate; and
and performing deceleration control on the vehicle according to the target speed and/or performing steering control on the vehicle according to the steering amplitude.
Further, the processor 1001 may call the trailer connection detection program of the vehicle stored in the memory 1005, and further perform the following operations:
detecting whether the swing amplitude is smaller than a second preset threshold or not when the swing amplitude is larger than the first preset threshold; and when the swing amplitude is smaller than a second preset threshold, performing deceleration control and/or steering control on the vehicle.
Further, the processor 1001 may call the trailer connection detection program of the vehicle stored in the memory 1005, and further perform the following operations:
and when the swing amplitude is larger than a second preset threshold, not performing deceleration control and/or steering control on the vehicle.
Further, the processor 1001 may call the trailer connection detection program of the vehicle stored in the memory 1005, and further perform the following operations:
detecting a vehicle speed of the vehicle; and
and executing the step of acquiring the current yaw rate of the vehicle when the speed of the vehicle is greater than or equal to a first preset speed and less than or equal to a second preset speed.
Further, the processor 1001 may call the trailer connection detection program of the vehicle stored in the memory 1005, and further perform the following operations:
detecting whether a brake lamp circuit of the vehicle is communicated; and
and when the brake light circuit is not communicated, executing the step of acquiring the state of a trailer hauling rod of the vehicle.
Referring to fig. 2, in an embodiment, a trailer connection detection method of a vehicle includes the steps of:
step S10, acquiring the state of a trailer hauling bar of the vehicle, wherein the trailer hauling bar is connected with a trailer and is configured to pull the trailer through the vehicle; and
in this embodiment, the vehicle is of a vehicle type having a trailer function, the vehicle being provided with a trailer tow bar arranged to connect the vehicle with the trailer so as to tow the trailer to follow movement by movement of the vehicle.
Optionally, the vehicle is provided with a sensor arranged to detect the condition of the trailer tow bar, for example, a sensor may be provided on the trailer tow bar to detect whether the trailer tow bar is being towed by an external force, it being understood that when the trailer tow bar is being towed by an external force, it is indicative that the trailer tow bar is being used to perform a trailer function and therefore is in a stressed condition. Alternatively, the sensor may be a tension sensor.
Optionally, the vehicle is provided with a detector arranged to detect the condition of the trailer tow bar, the detector being connected to a controller controlling the extension and retraction of the trailer tow bar to determine whether the trailer tow bar has been extended by obtaining control data of the controller for the trailer tow bar, it being understood that when the trailer tow bar has been extended, it is indicative that a user is using the trailer tow bar to perform a trailer function, and therefore the trailer tow bar is in the extended condition.
Alternatively, before the state of the trailer tow bar of the vehicle is obtained, whether the brake light circuit of the vehicle is communicated or not can be detected first, if the brake light circuit is communicated, the vehicle is judged to be connected with the trailer, and if the brake light circuit is not communicated, the state of the trailer tow bar can be obtained, so that whether the vehicle is really not connected with the trailer or not can be further judged, and the accuracy of trailer connection detection is improved.
And step S20, when the state of the trailer traction rod is in an extended state and/or a stressed state, judging that the trailer is connected with the vehicle.
In this embodiment, when the state of the trailer tow bar is detected to be the extended state and/or the stressed state, it indicates that the user's vehicle is being connected to the trailer through the trailer tow bar, and therefore, it can be determined that the vehicle is connected to the trailer, and when the state of the trailer tow bar is detected to be the un-extended state and/or the un-stressed state, it is determined that the vehicle is not connected to the trailer, it can be understood that the state of the trailer tow bar of the vehicle is necessarily extended and/or stressed when the vehicle is connected to the trailer, and therefore, compared with the manner of detecting whether the trailer is connected according to whether the brake light circuit is connected, the trailer connection detection result of this embodiment is more accurate and applicable to different types of trailers.
In the technical scheme disclosed in the embodiment, whether the trailer traction rod of the vehicle is connected with the trailer is detected by detecting whether the trailer traction rod of the vehicle extends out and/or is stressed, and when facing various trailers, the detection is more accurate than detecting whether the trailer is connected according to whether the brake lamp circuit is communicated.
In another embodiment, as shown in fig. 3, after step S10, on the basis of the embodiment shown in fig. 2, the method further includes: step S30, when the state of the trailer traction rod is an unoxtended state and/or an unstressed state, acquiring the motion characteristics of the vehicle, wherein the motion characteristics comprise the current acceleration of the speed of the vehicle; and
in this embodiment, when the state of the trailer drawbar is an unextended state and/or an unstressed state, it indicates that the vehicle is not connected to the trailer, so as to avoid misjudgment of whether the vehicle is connected to the trailer in an abnormal working state, the running characteristics of the vehicle may be further obtained, so as to further confirm whether the vehicle is actually not connected to the trailer according to the movement condition of the vehicle.
Alternatively, the motion characteristics may include at least one of a current vehicle speed of the vehicle, a current acceleration corresponding to the current vehicle speed, a current torque of the vehicle engine, and a current rotational speed of the vehicle engine.
And step S40, detecting whether the trailer is connected with the vehicle according to the motion characteristics.
In this embodiment, since the load of the vehicle also changes after the trailer is connected, and thus the motion characteristics of the vehicle are affected, whether the trailer is connected to the vehicle can be detected according to whether there is a change in the motion characteristics of the vehicle relative to the motion characteristics when the trailer is not connected, for example, when the vehicle is a hybrid vehicle or an electric vehicle, the vehicle is driven by an engine or an electric motor, and when the vehicle is connected to the trailer, the same engine speed, and/or the same motor speed, and/or the same engine torque, and/or the vehicle acceleration at the same motor torque may decrease.
Alternatively, when determining whether the vehicle is connected with the trailer according to the current acceleration of the vehicle speed in the motion characteristic, the expected acceleration when the vehicle is not connected with the trailer may be determined according to at least one of the engine torque, the engine speed, the motor torque, and the motor speed of the vehicle, and the gear information of the vehicle, and then compared with the current acceleration and the expected acceleration, if the current acceleration does not match with the expected acceleration, for example, the current acceleration is smaller than the expected acceleration, it is determined that the vehicle is connected with the trailer, and if the current acceleration matches with the expected acceleration, for example, the current acceleration is equal to the expected acceleration, it is determined that the vehicle is not actually connected with the trailer.
Alternatively, when the expected acceleration when the vehicle is not connected to the trailer is determined from at least one of the engine torque, the engine speed, the motor torque, and the motor speed of the vehicle, and the gear information of the vehicle, it may be obtained from the historic vehicle running data, or may be obtained from a pre-stored correspondence between at least one of the engine torque, the engine speed, the motor torque, and the motor speed, and the gear information of the vehicle, and the expected acceleration when the vehicle is not connected to the trailer.
In the technical scheme disclosed in the embodiment, when the state of the trailer traction rod is in an unoxtended state and/or an unstressed state and the vehicle is possibly in an abnormal working state, whether the vehicle is connected with the trailer or not is further confirmed according to the motion characteristics of the vehicle, so that the trailer connection detection of the vehicle is more accurate.
In still another embodiment, as shown in fig. 4, after the step of determining that the vehicle is connected to the trailer on the basis of the embodiment shown in any one of fig. 2 to 3, the method further includes:
step S50, acquiring the current yaw rate of the vehicle;
step S60, determining swing amplitude of the trailer according to the current yaw rate; and
in this embodiment, when the vehicle is connected with the trailer, the trailer may swing left and right perpendicular to the driving direction, and when the swing degree is large, the trailer may fall off, resulting in traffic accidents, so when it is determined that the vehicle is connected with the trailer, the current yaw rate of the vehicle may be further obtained, and the swing amplitude of the vehicle may be determined according to the current yaw rate, so as to detect whether there is a potential safety hazard of falling off the trailer. Yaw rate refers to the degree to which the trailer deviates from its normal direction of travel.
And step S70, when the swing amplitude is larger than a first preset threshold, performing deceleration control and/or steering control on the vehicle, wherein the steering control corresponds to a deflection direction opposite to the swing direction of the trailer.
In this embodiment, when the swing amplitude of the trailer is greater than the first preset threshold, it indicates that the swing amplitude of the trailer is greater, and it is necessary to perform deceleration control and/or steering control on the vehicle, so as to reduce the swing amplitude of the trailer, and avoid an accident. For example, when the swing amplitude of the vehicle is large, the speed of the trailer is correspondingly reduced by decelerating the vehicle, so that the power when the trailer swings is reduced, or the vehicle is subjected to steering control, for example, when the trailer swings leftwards, the vehicle is steered leftwards, so that the vehicle applies a rightwards swing force to the trailer, the leftwards swing force of the trailer is counteracted, and the swing amplitude of the trailer is gradually reduced until the swing is stopped.
Optionally, when the swing amplitude of the trailer is greater than the first preset threshold and the swing amplitude of the trailer needs to be reduced, the change rate of the swing amplitude can be obtained, the target speed and/or the steering amplitude can be determined according to the change rate of the swing amplitude, the vehicle is subjected to deceleration control according to the target speed, and/or the vehicle is subjected to steering control according to the steering amplitude, so that the deceleration control and/or the steering control can exactly offset the swing of the trailer, and the vehicle and the trailer can run more stably.
Optionally, when determining the target speed and/or the steering amplitude according to the change rate of the swing amplitude, if the change trend of the swing amplitude is gradually increasing and the increase rate is also increasing, this indicates that the swing of the trailer will be more serious, and therefore, the target speed may take a smaller value, and/or the steering amplitude may take a larger value, so as to quickly and effectively reduce the swing of the trailer, and if the change trend of the swing amplitude is gradually increasing and the increase rate is smaller, this indicates that the swing of the trailer will gradually tend to peak, and therefore, the target speed may take a larger value, and/or the steering amplitude may take a smaller value, so as to reduce the swing of the trailer more smoothly, and avoid the deterioration of the swing of the trailer.
Optionally, when the swing amplitude of the trailer is greater than the first preset threshold, it may also be detected whether the swing amplitude is less than the second preset threshold, and only when the swing amplitude is less than the second preset threshold, the vehicle is subjected to deceleration control and/or steering control to cancel the swing of the trailer. When the swing amplitude is larger than the second preset threshold, the driver may be in emergency, and the trailer swings violently due to the fact that the driver bumps the steering wheel, so that the vehicle can not be subjected to deceleration control and/or steering control, and the emergency risk avoiding action affecting the driver is avoided.
Optionally, after it is determined that the vehicle is connected to the trailer, the vehicle speed of the vehicle may be further obtained, and since the swing of the trailer may be well self-attenuated without causing instability of the vehicle when the vehicle speed is less than a critical speed (typically, the value is between 90kph and 130 kph), the steps of obtaining the current yaw rate of the vehicle may be performed only when the vehicle speed is greater than or equal to a first preset speed and less than or equal to a second preset speed, and then performing deceleration control and/or steering control on the vehicle when the swing amplitude is greater than a first preset threshold.
In the technical scheme disclosed in the embodiment, after the vehicle is determined to be connected with the trailer, if the swing amplitude of the trailer is larger, the vehicle can be subjected to deceleration control and/or steering control so as to offset the swing action of the trailer, and the running safety of the vehicle is ensured. In an exemplary illustration, referring to fig. 5 and 6, on the basis of any one of the embodiments shown in fig. 2 to 4, examples are as follows:
the present example proposes a new trailer connection judging method and a trailer stability control method (hereinafter referred to as TSA, trailer Stability Assist), as shown in fig. 5, fig. 5 is a schematic diagram of a TSA architecture design, where the TSA architecture design includes:
(1) Control Vehicle Stability, a vehicle stability master control unit.
(2) Actuate wheel brakes, independent braking of wheels, and realizing a main way of controlling the stability of the vehicle.
(3) Control Adaptive Cruise, adaptive cruise, on start-up, does not allow for selection of Sport mode.
(4) Control damping Control, suspension damping Control, the vehicle equipped with active suspension can further improve TSA performance by altering damping.
(5) Control differentials differential control, a four-wheel drive vehicle equipped with a differential may achieve/enhance TSA performance by dynamically distributing rear axle drive torque.
(6) Control propulsion, drive torque control, control of powertrain output torque implementation/enhancement of TSA performance.
(7) Control scheduling (controller), steering input, provides real-time steering torque of the steering system to the TSA, which determines when to intervene in Control.
(8) Control steering output, when detecting that the driver is turning violently, providing a proper reverse steering assistance to remind the driver; when trailer sway is detected, a reverse steering assist is provided to inhibit sway.
(9) Control vehicle speed, vehicle speed control, to achieve vehicle acceleration/deceleration.
(10) Detect connected trailer, trailer connection status monitoring, detects whether a trailer is connected.
(11) Determine accelerator pedal status an accelerator pedal status input providing whether the accelerator pedal is depressed, the depth/speed of depression, etc.
(12) Determine desired driving direction, driving direction information, providing vehicle driving direction, forward/reverse/stationary, etc.
(13) Determine if driver is braking, whether the driver is braking, whether the brake pedal is depressed, the depth/speed of depression, etc.
(14) The determineds & matters status provides vehicle operator status for estimating vehicle load, optimizing TSA performance.
(15) ESC Sport mode soft button ESC Sport mode soft switch, indicating whether the driver wants to enter Sport mode, wherein ESC is off and TSA is off after entering Sport mode.
(16) Measure steering wheel angle steering wheel angle inputs, which provide real-time steering wheel angles of the steering system to the TSA, which determines when to intervene in the control.
(17) Measure vehicle speed & wavelet speeds, monitor vehicle speed/wheel speed, provide real-time vehicle speed/wheel speed of the vehicle to the TSA, and determine when to intervene in control by the TSA.
(18) Measure wheel height, the wheel height input, provides the real-time wheel height of the suspension system to the TSA, further enhancing TSA performance.
(19) Provide gear status, inputting gear information, providing the real-time gear state P/R/N/D of the power system to the TSA, and further improving the performance of the TSA.
(20) Provide inertia data vehicle inertial inputs provide real-time lateral acceleration, longitudinal acceleration, yaw rate of the vehicle to the TSA, which determines when to intervene in the control.
(21) Provide propulsion status powertrain state inputs provide real-time powertrain drive torque, engine/motor speed to the TSA, which determines when to intervene in the control.
(22) Show telltales and notifications, man-machine interaction, through modes such as warning light, warning sound, text prompt, etc., inform the driver of information such as Sport mode activation, TSA function limitation, etc.
As shown in fig. 6, fig. 6 is a flow chart of the TSA control logic, and the logic design of the TSA can be summarized into the following 6 parts:
(1) Basic signal processing:
the bus signal of the trm indicates that the trailer is connected. At this point the TSA directly initiates operation.
The bus signal of the trm indicates that the trailer is not connected. At this time, the TSA comprehensively detects whether the trailer is connected according to vehicle parameters such as engine speed, engine torque, motor speed, motor torque, acceleration and the like, and deduces the actual yaw rate of the current vehicle according to the target yaw rate of the ackerman function so as to acquire swing information of the trailer.
i. The design is based on:
in the absence of a driver steering operation, the yaw rate is related to the magnitude of the undesirable yaw caused by the trailer, and therefore information on trailer sway may be obtained based on the yaw rate, wherein the magnitude of the trailer sway is set to be compared to an intervention threshold to determine whether the TSA is intervening.
After the trailer is connected, the original kinematic characteristics of the vehicle are changed, such as acceleration reduction under the same engine and/or motor rotation speed/torque, and the like, and whether the trailer is connected or not can be detected by monitoring the characteristic changes.
The purpose of this design is: the problem that the TSA cannot be activated due to misjudgment of whether the vehicle is connected with the trailer in an abnormal working state is avoided.
The TRM has been disabled or lost, the TRM has not been functioning properly, the vehicle body structure may be damaged (e.g., a rear-end collision) and the TSA function is turned off, wherein the vehicle model with the Trailer function itself has a dedicated ECU (i.e., TRM, trailer Module) for controlling the Trailer brake lights and the telescopic traction bar.
(2) Swing analysis:
wobble information is proposed by PID (proportional-integral-derivative) analysis. The proportional part evaluates the absolute value of the wobble amplitude, the integral part weighs the duration of the wobble, and the differential part measures the increment or decrement of the wobble. The three parts together give rise to a variation in the amplitude of the swing of the vehicle, including a trend in the variation and a rate of the variation.
(3) And (3) calculating an intervention threshold:
the intervention threshold is based on a characteristic parameter output value which can be changed according to different driving conditions and vehicle reference speeds: for example, if the trailer swing is not large, its boundaries are insensitive by the build-up compensation and steering operations. The intervention threshold comprises a first preset threshold and a second preset threshold.
(4) Exit condition and uniform braking intensity:
the exit condition for the TSA depends on the swing amplitude and the driver steering operation.
A. After a reasonable steering operation, the TSA does not exit for a certain period of time, and then swings gradually into the normal range because of some special factors, and eventually the swing range slowly goes toward the base value.
B. To prevent panic reaction (driver turning largely) caused by a significant increase in the fluctuation of the swing amplitude, this process is interrupted and the TSA immediately exits.
C. If all exit conditions have been met and the lateral acceleration is within a certain interval, the TSA performs a braking intervention, whether or not the trailer sway amplitude reaches the de-threshold.
D. Typically, the target deceleration is selected depending on the swing amplitude and processing of the module, and by reducing the engine torque and/or motor torque until the trailer is free of swing.
(5) Safety restrictions:
TSA operates at a vehicle speed in the range of 65kph to 180kph (threshold calibratable).
B. To ensure robustness, the following tolerances need to be considered in the development process:
i. different trailers (weight and distribution, single/double axle, gauge, length of towing hook)
Trailer and towing vehicle load variation
Tyre pressure (slightly lower tyre pressure, normal tyre pressure, slightly higher tyre pressure)
No trailer, but trailer connection is similar to the sporty driving of a bicycle carrier
(6) Human-machine interface:
during TSA operation, the ESC indicator lights are activated according to the following strategy:
in this example, a new trailer stability control method (TSA, trailer Stability Assist) is provided. Whether the vehicle is connected with the trailer is detected through bus signals, longitudinal acceleration, engine speed, engine torque, motor speed, motor torque and the like, and whether the trailer swings is comprehensively detected through wheel speed, steering angle, yaw rate input and the like. If it is detected that a trailer is connected and that a sway of the trailer has occurred and the amplitude of the sway exceeds a set threshold, the longitudinal speed at the critical value is obtained by applying (uniform) brake pressure and drive torque control and intervention is performed accordingly to eliminate the serpentine motion. In the process, the swing amplitude of the trailer determines the intervention strength.
Because of the current trailer connection detection, a signal is added to the vehicle bus to indicate whether the trailer is connected, and then an electronic stability control system (ESC) monitors the vehicle motion and intervenes in the vehicle if necessary. This method relies on only a single bus signal to detect whether the trailer is connected, which in turn typically only considers a single element of whether the trailer brake light circuit is in communication. However, in the actual vehicle use, the user cannot always connect the standard trailer with the brake lamp circuit in a good state, for example, when the vehicle is a fault other vehicle during road rescue, the brake lamp circuit of the vehicle cannot be connected with the standard trailer. At this time, the bus signal in the exemplary method will show that the trailer is not connected, so that the auxiliary function of the trailer stability cannot be activated at all, so that the overall reliability of the existing trailer connection detection is poor, the system redundancy is insufficient, only two driving modes including Economic/Normal, which are good in urban Road conditions and have no severe movement, cannot be covered, and special driving modes including Sport/Snow/Mud/Off Road cannot be covered. However, in the special driving mode, the driver's operation is often more intense because the road condition is worse. For excessive intervention of the driver operation, the intervention threshold of the active safety system (mainly ESC) is adjusted higher and the control effort is limited lower. Therefore, the probability of trailer swing, the amplitude after swing and the severity of accidents are obviously increased in the special driving mode, the safety performance of the whole vehicle is reduced, and the safety of a driver is endangered.
In this example, therefore, the current trailer connection status is determined based on the factors of whether the trailer tow bar is extended, whether the trailer tow bar is stressed, etc., and this status is sent to the whole vehicle communication network, eliminating the limitation of detecting whether the trailer is connected based only on the trailer brake light circuit, and greatly improving the accuracy of the detection. When the vehicle is in a normal working state, the method can rapidly and accurately detect whether the trailer is connected in any driving mode, so that the TSA can cover special driving modes. In an abnormal working state, the TRM may misjudge, consider that the trailer is not connected (note that the TRM still works normally at this time, but misjudge occurs due to external reasons), or one or more of inputs such as whether the trailer brake lamp circuit is connected, whether the trailer traction rod is extended, whether the trailer traction rod is stressed, etc. cannot be obtained, at this time, after the vehicle is connected to the trailer, the original movement characteristics of the vehicle may be changed, such as acceleration reduction under the same engine speed/torque, etc. By monitoring the characteristic changes, whether the trailer is connected or not can still be detected, so that the working range of the TSA is further expanded, and the redundancy of the system is improved.
In addition, the embodiment of the application also provides a vehicle, which comprises: the system comprises a memory, a processor and a trailer connection detection program of a vehicle, wherein the trailer connection detection program of the vehicle is stored in the memory and can run on the processor, and the trailer connection detection program of the vehicle realizes the following steps when being executed by the processor:
acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer to tow the trailer by the vehicle;
and when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer. In addition, the embodiment of the application also provides a computer storage medium, wherein the computer storage medium stores a trailer connection detection program of a vehicle, and the trailer connection detection program of the vehicle realizes the following steps when being executed by a processor:
acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer to tow the trailer by the vehicle;
and when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (11)
- A trailer connection detection method of a vehicle, wherein the trailer connection detection method of a vehicle comprises the steps of: acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer and is configured to tow the trailer through the vehicle; andand when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer.
- The trailer connection detection method of a vehicle as recited in claim 1, wherein after the step of acquiring the state of a trailer tow bar of the vehicle, further comprising:acquiring the motion characteristics of the vehicle when the state of the trailer traction rod is an unoxtended state and/or an unstressed state, wherein the motion characteristics comprise the current acceleration of the speed of the vehicle; andand confirming that the vehicle is connected with the trailer or the vehicle is not connected with the trailer according to the movement characteristics.
- The trailer connection detection method of a vehicle as recited in claim 2, wherein the step of confirming whether the vehicle is connected to the trailer or the vehicle is not connected to the trailer according to the motion characteristics includes:determining an expected acceleration of the vehicle based on at least one of an engine torque, an engine speed, a motor torque, and a motor speed of the vehicle, and gear information of the vehicle;determining that the vehicle is connected to the trailer when the current acceleration does not match the expected acceleration; and determining that the trailer is not connected to the vehicle when the current acceleration matches the expected acceleration.
- A trailer connection detection method of a vehicle according to any one of claims 1 to 3, wherein after the step of determining that the vehicle is connected to the trailer, further comprising:acquiring a current yaw rate of the vehicle;determining a swing amplitude of the trailer according to the current yaw rate; andand when the swing amplitude is larger than a first preset threshold, performing deceleration control and/or steering control on the vehicle, wherein the steering control corresponds to the deflection direction opposite to the swing direction of the trailer.
- The trailer hitch detection method of a vehicle as claimed in claim 4, wherein the step of performing deceleration control and/or steering control of the vehicle when the swing amplitude is greater than a first preset threshold comprises:acquiring the change rate of the swing amplitude;determining a target speed and/or steering amplitude according to the change rate; andand performing deceleration control on the vehicle according to the target speed and/or performing steering control on the vehicle according to the steering amplitude.
- The trailer hitch detection method of a vehicle as claimed in claim 4, wherein the step of performing deceleration control and/or steering control of the vehicle when the swing amplitude is greater than a first preset threshold comprises:and when the swing amplitude is larger than a first preset threshold, confirming that the swing amplitude is smaller than a second preset threshold, and performing deceleration control and/or steering control on the vehicle.
- The trailer hitch detection method of a vehicle of claim 6, wherein the step of performing deceleration control and/or steering control of the vehicle when the swing amplitude is greater than a first preset threshold comprises:and when the swing amplitude is larger than a first preset threshold, confirming that the swing amplitude is larger than a second preset threshold, and not performing deceleration control and/or steering control on the vehicle.
- The trailer connection detection method of a vehicle as recited in claim 4, wherein after the step of determining that the vehicle is connected to the trailer, further comprising:detecting a vehicle speed of the vehicle; andand executing the step of acquiring the current yaw rate of the vehicle when the speed of the vehicle is greater than or equal to a first preset speed and less than or equal to a second preset speed.
- The trailer connection detection method of a vehicle according to claim 1, wherein prior to the step of acquiring the state of a trailer tow bar of the vehicle, the trailer connection detection method of a vehicle further comprises:and confirming that the brake light circuit is not communicated, and executing the step of acquiring the state of a trailer hauling rod of the vehicle.
- A vehicle, wherein the vehicle comprises: the system comprises a memory, a processor and a trailer connection detection program of a vehicle, wherein the trailer connection detection program of the vehicle is stored in the memory and can run on the processor, and the trailer connection detection program of the vehicle realizes the following steps when being executed by the processor:acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer and is configured to tow the trailer through the vehicle; andand when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer.
- A computer storage medium, wherein the computer storage medium has stored thereon a trailer connection detection program for a vehicle, which when executed by a processor, performs the steps of:acquiring a state of a trailer tow bar of the vehicle, wherein the trailer tow bar is arranged to be connected with a trailer and is configured to tow the trailer through the vehicle; andand when the state of the trailer traction rod is in an extending state and/or a stressed state, judging that the vehicle is connected with the trailer.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2021/104827 WO2023279263A1 (en) | 2021-07-06 | 2021-07-06 | Vehicle and tailer connection detection method therefor, and a computer storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116981578A true CN116981578A (en) | 2023-10-31 |
Family
ID=84801144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202180095684.6A Pending CN116981578A (en) | 2021-07-06 | 2021-07-06 | Vehicle, trailer connection detection method thereof and computer storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116981578A (en) |
| WO (1) | WO2023279263A1 (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017144084A1 (en) * | 2016-02-23 | 2017-08-31 | Brink Towing Systems B.V. | Method for measuring a load on a towing hook and a towing hook arrangement |
| GB2566493B (en) * | 2017-09-15 | 2020-02-26 | Jaguar Land Rover Ltd | System and method for a trailer towable by a vehicle |
| JP2019171971A (en) * | 2018-03-27 | 2019-10-10 | 株式会社デンソー | Vehicle control device |
| US11285768B2 (en) * | 2019-08-07 | 2022-03-29 | Ford Global Technologies, Llc | Vehicle system and method for detecting trailer connection |
-
2021
- 2021-07-06 WO PCT/CN2021/104827 patent/WO2023279263A1/en active Application Filing
- 2021-07-06 CN CN202180095684.6A patent/CN116981578A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023279263A1 (en) | 2023-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1904351B1 (en) | A system and a method for stabilising a vehicle combination | |
| US8532870B2 (en) | Driver assistance system for motor vehicle/trailer combinations | |
| US7496436B2 (en) | Method and device for assisting an operator of a vehicle in the vehicle stabilization | |
| US7826953B2 (en) | Method for assisting the driver of a motor vehicle with a fishtailing trailer | |
| US6147600A (en) | System for generating a signal for activating the brake lights of a motor vehicle | |
| US20040088097A1 (en) | Vehicle braking control device | |
| US8494747B2 (en) | Method and device for stabilizing a single-track motor vehicle | |
| JP2009096349A (en) | Vehicle driving support device | |
| US20140095027A1 (en) | Driving assistance apparatus and driving assistance method | |
| EP2112042B1 (en) | Yaw stability control system capable of returning the vehicle to a pre body-force-disturbance heading | |
| US6626257B2 (en) | Method and device for automatic speed adjustment in a vehicle | |
| CN111846045B (en) | Method for warning a motorcycle driver, and riding assistance controller and motorcycle for implementing such a method | |
| US8239111B2 (en) | Vehicle driving assist system | |
| CN111907492B (en) | Control method and device for AEB (automatic control bus) system of vehicle | |
| US20070255475A1 (en) | Method and arrangement for controlling brakes in a vehicle or a vehicle combination | |
| JP2012505119A (en) | Method for adjusting vehicle brake device | |
| CN112026918A (en) | Vehicle control method and device and computer readable storage medium | |
| CN116981578A (en) | Vehicle, trailer connection detection method thereof and computer storage medium | |
| JP3992936B2 (en) | Vehicle rollover prevention device | |
| JP2006298315A (en) | Operation supporting system | |
| CN113085821A (en) | Short braking control method of front collision early warning system | |
| EP1532028B1 (en) | Motor vehicle drive assistance method and system | |
| JP4636286B2 (en) | Vehicle steering device | |
| CN117429398A (en) | Vehicle brake control method, device, terminal equipment and storage medium | |
| JP3163742B2 (en) | Vehicle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |