WO2023279263A1

WO2023279263A1 - Vehicle and tailer connection detection method therefor, and a computer storage medium

Info

Publication number: WO2023279263A1
Application number: PCT/CN2021/104827
Authority: WO
Inventors: 贺广生; 王晓芸; 张久龄
Original assignee: 浙江吉利控股集团有限公司; 宁波吉利汽车研究开发有限公司
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2023-01-12
Also published as: CN116981578A

Abstract

The present application discloses a trailer connection detection method for a vehicle. The trailer connection detection method for a vehicle comprises the following steps: obtaining the state of a trailer drawbar of a vehicle, wherein the trailer drawbar is arranged to be connected to a trailer, and is configured to tow the trailer by means of the vehicle; and determining, when the state of the trailer drawbar is an extended state and/or a stressed state, that the trailer is connected to the vehicle. The present application further discloses a vehicle and a computer storage medium.

Description

Vehicle and its trailer connection detection method, computer storage medium

technical field

The present application relates to the technical field of trailer connection, in particular to a detection method for a vehicle and its trailer connection, and a computer storage medium.

Background technique

When the vehicle is connected to the trailer, the vehicle can be stabilized and assisted to control the vehicle to avoid the trailer swinging too much and causing the vehicle to be unstable. When the vehicle is unstable, the trailer structure between the vehicle and the trailer is easy to break off and cause an accident. Therefore, The vehicle's stability assist control reduces towing accidents.

technical problem

When detecting whether the vehicle is connected to a trailer, it is usually judged according to whether the brake light circuit of the vehicle is connected. When the brake light circuit is connected, it indicates that the vehicle is connected to a trailer, and stability assistance control is required. However, in the actual use of the vehicle by the user, the trailer is not always the original standard trailer. Even if the vehicle is connected to the trailer, the brake light circuit may not be connected. The vehicle's stability assist control cannot be activated because the trailer is not connected, which reduces the safety of the trailer connection. Therefore, the method of judging whether a trailer is connected based on whether the brake light circuit of the vehicle is connected is not accurate.

technical solution

The main purpose of this application is to provide a vehicle and its trailer connection detection method and a computer storage medium, aiming at improving the accuracy of trailer connection detection.

In order to achieve the above purpose, the present application provides a trailer connection detection method of a vehicle, which includes the following steps:

obtaining the status of a trailer hitch of the vehicle, wherein the trailer hitch is configured to connect with a trailer and is configured to tow the trailer by the vehicle; and

When the state of the tow bar of the trailer is an extended state and/or a stressed state, it is determined that the vehicle is connected to the trailer. Optionally, after the step of obtaining the state of the trailer tow bar of the vehicle, it may further include:

When the state of the tow bar of the trailer is a non-extended state and/or a non-stressed state, obtaining the motion characteristics of the vehicle, wherein the motion characteristics include the current acceleration of the vehicle speed; and

Confirming that the vehicle is attached to the trailer or that the vehicle is not attached to the trailer based on the motion 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 expected acceleration of the vehicle based on at least one of engine torque, engine speed, electric motor torque, and electric motor speed of the vehicle, and gear information of the vehicle;

When the current acceleration does not match the expected acceleration, it is determined that the trailer is attached to the vehicle; and when the current acceleration matches the expected acceleration, it is determined that the trailer is not attached to the vehicle.

Optionally, after the step of determining that the trailer is connected to the vehicle, it may further include:

obtaining the current yaw rate of the vehicle;

determining an amplitude of swing of the trailer based on the current yaw rate; and

When the swing amplitude is greater than a first preset threshold, deceleration control and/or steering control is performed on the vehicle, wherein the deflection direction corresponding to the steering control is opposite to the swing direction of the trailer.

Optionally, when the swing amplitude is greater than a first preset threshold, the step of performing deceleration control and/or steering control on the vehicle includes:

Acquiring the rate of change of the swing amplitude;

determining a target speed and/or steering magnitude based on said rate of change; and

Perform deceleration control on the vehicle according to the target speed, and/or perform steering control on the vehicle according to the steering magnitude.

When the swing amplitude is greater than the first preset threshold, it is confirmed that the swing amplitude is smaller than the second preset threshold, and deceleration control and/or steering control is performed on the vehicle.

When the swing amplitude is greater than the first preset threshold, it is confirmed that the swing amplitude is greater than the second preset threshold, and no deceleration control and/or steering control is performed on the vehicle.

detecting the speed of the vehicle; and

When the vehicle 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 step of obtaining the current yaw rate of the vehicle is performed.

Optionally, before the step of acquiring the state of the trailer tow bar of the vehicle, the trailer connection detection method of the vehicle further includes:

It is confirmed that the brake light circuit is not connected, and the step of obtaining the state of the trailer tow bar of the vehicle is performed.

In addition, in order to achieve the above object, the present application also provides a vehicle, the vehicle includes: a memory, a processor, and a vehicle trailer connection detection program stored in the memory and operable on the processor, the When the trailer connection detection program of the vehicle is executed by the processor, the following steps are realized:

When the state of the tow bar of the trailer is an extended state and/or a stressed state, it is determined that the vehicle is connected to the trailer.

In addition, in order to achieve the above object, the present application also provides a computer storage medium, the computer storage medium stores a vehicle trailer connection detection program, and when the vehicle trailer connection detection program is executed by a processor, the following steps are implemented: obtaining the state of a trailer hitch of the vehicle, wherein the trailer hitch is configured to connect with a trailer and is configured to tow the trailer by the vehicle; and

Beneficial effect

The vehicle and its trailer connection detection method and computer storage medium proposed in the embodiments of the present application acquire the state of the trailer tow bar of the vehicle, wherein the trailer tow bar is set to be connected to the trailer and is configured to be towed by the vehicle. the trailer; when the state of the tow bar of the trailer is extended and/or stressed, it is determined that the trailer is connected to the vehicle. This application detects whether the vehicle's trailer drawbar is connected to the trailer by detecting whether the vehicle's trailer drawbar is stretched out and/or under force. When facing various trailers, it is compared to detecting whether the brake light circuit is connected Whether the trailer is connected or not, the detection is more accurate.

Description of drawings

Fig. 1 is a schematic diagram of the terminal structure of the hardware operating environment involved in the solution of the embodiment of the present application;

FIG. 2 is a schematic flow diagram of an embodiment of a trailer connection detection method for a vehicle of the present application;

Fig. 3 is a schematic flow chart of another embodiment of the trailer connection detection method of the vehicle of the present application;

Fig. 4 is a schematic flow chart of another embodiment of the trailer connection detection method of the vehicle of the present application;

FIG. 5 is a schematic diagram of the TSA architecture design of the vehicle of the present application;

FIG. 6 is a schematic diagram of the TSA control logic of the vehicle of the present application.

Embodiments of the present invention

It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

The embodiment of the present application provides a solution, by detecting whether the trailer drawbar of the vehicle is stretched out and/or stressed, to detect whether the trailer drawbar of the vehicle is connected to the trailer, when facing various trailers, compared with the Whether the brake light circuit is connected is used to detect whether the trailer is connected, and the detection is more accurate.

As shown in FIG. 1 , FIG. 1 is a schematic diagram of a terminal structure of a hardware operating environment involved in the solution of the embodiment of the present application.

The terminal in this embodiment of the present application is a control device of a vehicle, for example, a master 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 , such as CPU, DSP, MCU, etc., a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display) or a display lamp, an input unit such as a button, a key, etc., and the optional user interface 1003 may also include a standard wired interface or a wireless interface. Optionally, the network interface 1004 may include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the terminal structure shown in FIG. 1 does not constitute a limitation on the terminal, and may include more or less components than those shown in the figure, or combine some components, or arrange different components.

As shown in FIG. 1 , the memory 1005 as a computer storage medium may include a network communication module, a user interface module, and a vehicle trailer connection detection program.

In the terminal shown in Figure 1, the network interface 1004 is mainly used to connect to other control modules of the vehicle, and perform data communication with other control modules of the vehicle; the user interface 1003 is mainly used to connect to the client (client), and communicate with the client data communication; and the processor 1001 can be used to call the trailer connection detection program of the vehicle stored in the memory 1005, and perform the following operations:

When the state of the tow bar of the trailer is an extended state and/or a stressed state, it is determined that the vehicle is connected to the trailer. Further, the processor 1001 can call the trailer connection detection program of the vehicle stored in the memory 1005, and also perform the following operations:

Detecting whether the vehicle is connected to the trailer according to the movement characteristics.

Further, the processor 1001 can call the trailer connection detection program of the vehicle stored in the memory 1005, and also perform the following operations:

obtaining the current yaw rate of the vehicle;

Acquiring the rate of change of the swing amplitude;

When the swing amplitude is greater than a first preset threshold, detecting whether the swing amplitude is smaller than a second preset threshold; and when the swing amplitude is smaller than a second preset threshold, performing deceleration control and/or on the vehicle steering control.

When the swing amplitude is greater than the second preset threshold, no deceleration control and/or steering control is performed on the vehicle.

detecting the speed of the vehicle; and

detecting continuity of the brake light circuit of the vehicle; and

The step of obtaining the state of the trailer tow bar of the vehicle is performed when the brake light circuit is not connected.

Referring to Fig. 2, in one embodiment, the trailer connection detection method of the vehicle comprises the following steps:

Step S10, acquiring the state of the trailer tow bar of the vehicle, wherein the trailer tow bar is configured to be connected to a trailer and configured to be towed by the vehicle; and

In this embodiment, the vehicle is a model with a trailer function, and the vehicle is provided with a trailer tow bar. The trailer tow bar is configured to connect the vehicle and the trailer, so that the trailer can be pulled by the movement of the vehicle and follow the movement.

Optionally, the vehicle is provided with a sensor configured to detect the state 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 pulled by an external force. It can be understood that when the trailer tow bar is pulled by an external force , it indicates that the trailer towing bar is being used to realize the towing function, so the trailer towing bar is in a stressed state. Alternatively, the sensor may be a tension sensor.

Optionally, the vehicle is provided with a detector configured to detect the state of the tow bar of the trailer, and the detector is connected to the controller that controls the extension and retraction of the tow bar of the trailer, so as to determine the Whether the trailer tow bar has been extended, understandably, when the trailer tow bar has been extended, it indicates that the user is using the trailer tow bar to realize the trailer function, so the trailer tow bar is in the extended state.

Optionally, before obtaining the state of the trailer tow bar of the vehicle, it is first possible to detect whether the brake light circuit of the vehicle is connected. If the brake light circuit is connected, it is determined that the vehicle is connected to the trailer. If the brake light circuit is not connected, It indicates that the vehicle may not be connected to the trailer, so the status of the tow bar of the trailer can be obtained to further determine whether the vehicle is indeed not connected to the trailer, and improve the accuracy of trailer connection detection.

Step S20, when the state of the tow bar of the trailer is extended and/or stressed, it is determined that the trailer is connected to the vehicle.

In this embodiment, when it is detected that the state of the trailer tow bar is extended and/or stressed, it indicates that the user's vehicle is being connected to the trailer through the trailer tow bar. Therefore, it can be determined that the vehicle is connected to a trailer. If the state of the tow bar of the trailer is not extended and/or under no force, it is determined that the vehicle is not connected to the trailer. It can be understood that when the vehicle is connected to a trailer, the state of the tow bar of the vehicle must be extended and Therefore, compared with the method of detecting whether the trailer is connected according to whether the brake light circuit is connected, the detection result of the trailer connection in this embodiment is more accurate, and is applicable to different types of trailers.

In the technical solution disclosed in this embodiment, by detecting whether the trailer drawbar of the vehicle is stretched out and/or stressed, to detect whether the trailer drawbar of the vehicle is connected to the trailer, when facing various trailers, compared with the Whether the brake light circuit is connected is used to detect whether the trailer is connected, and the detection is more accurate.

In another embodiment, as shown in FIG. 3 , on the basis of the above embodiment shown in FIG. 2 , after step S10 , further includes: step S30 , when the state of the tow bar of the trailer is not extended and/or or when the force is not applied, acquiring the motion characteristics of the vehicle, wherein the motion characteristics include the current acceleration of the vehicle speed; and

In this embodiment, when the state of the tow bar of the trailer is not extended and/or under no force, it indicates that the vehicle is not connected to the trailer. In order to avoid misjudgment of whether the trailer is connected when the vehicle is not working normally, The running characteristics of the vehicle can also be obtained to further confirm whether the vehicle is indeed not connected to the trailer based on the movement of the vehicle.

Optionally, the motion characteristic may include at least one of the current vehicle speed of the vehicle, the current acceleration corresponding to the current vehicle speed, the current torque of the vehicle engine, and the current rotational speed of the vehicle engine.

Step S40 , detecting whether the trailer is connected to the vehicle according to the motion characteristics.

In this embodiment, after the vehicle is connected to the trailer, the load of the vehicle will also change, which will affect the movement characteristics of the vehicle. Therefore, it can be detected according to whether there is a change in the movement characteristics of the vehicle relative to the movement characteristics when the trailer is not connected. Whether the vehicle is connected to a trailer, for example, when the vehicle is a hybrid or electric vehicle, the vehicle is driven by an engine or an electric motor, and when the vehicle is connected to a trailer, the vehicle has the same engine speed, and/or, the same motor speed, and/or the same Engine torque, and/or vehicle acceleration is reduced for the same electric motor torque.

Optionally, when determining whether the vehicle is connected to a trailer according to the current acceleration of the vehicle speed in the motion feature, at least one of the vehicle's engine torque, engine speed, motor torque and motor speed, and the gear position of the vehicle information to determine the expected acceleration when the vehicle is not connected to a trailer, and then compare the current acceleration with the expected acceleration. If the current acceleration does not match the expected acceleration, for example, the current acceleration is less than the expected acceleration, it is determined that the vehicle is connected to a trailer. If the expected acceleration matches, for example, the current acceleration is equal to the expected acceleration, it is determined that the vehicle is indeed not connected to the trailer.

Optionally, when determining the expected acceleration when the vehicle is not connected to a trailer according to at least one of the vehicle's engine torque, engine speed, motor torque, and motor speed, as well as the vehicle's gear information, it may be based on historically recorded vehicle travel or, at least one of engine torque, engine speed, motor torque, and motor speed, as well as vehicle gear information, and a pre-stored correspondence between the vehicle's expected acceleration when the vehicle is not connected to a trailer.

In the technical solution disclosed in this embodiment, when the state of the tow bar of the trailer is not extended and/or not stressed, and the vehicle may not be working normally, it is further confirmed whether the vehicle is connected to the trailer according to the movement characteristics of the vehicle, Make the trailer connection detection of the vehicle more accurate.

In yet another embodiment, as shown in FIG. 4 , on the basis of any embodiment shown in FIGS. 2 to 3 , after the step of determining that the vehicle is connected to a trailer, it also includes:

Step S50, acquiring the current yaw rate of the vehicle;

Step S60, determining the swing amplitude of the trailer according to the current yaw rate; and

In this embodiment, when the trailer is connected to the vehicle, the trailer may swing left and right perpendicular to the driving direction. When the swing is relatively large, the trailer may fall off, causing traffic accidents. The current yaw rate of the vehicle can also be obtained, and the swing range of the vehicle can be determined according to the current yaw rate, so as to detect whether there is a potential safety hazard of the trailer falling off. Yaw rate is the degree to which the trailer deviates from its normal direction of travel.

Step S70, when the swing amplitude is greater than a first preset threshold, perform 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 relatively large, and it is necessary to perform deceleration control and/or steering control on the vehicle to reduce the swing amplitude of the trailer and avoid accidents . For example, when the swing of the car is relatively large, by decelerating the vehicle, the speed of the trailer is correspondingly reduced, thereby reducing the power of the trailer when it swings, or controlling the steering of the vehicle, for example, when the trailer swings to the left , the vehicle turns to the left, so that the vehicle exerts a rightward swinging force on the trailer, offsetting the leftward swinging force of the trailer, so that the swinging range of the trailer gradually decreases until it stops swinging.

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 rate of change of the swing amplitude can also be obtained, and the target speed and/or steering amplitude can be determined according to the rate of change of the swing amplitude, Perform deceleration control on the vehicle according to the target speed, and/or perform steering control on the vehicle according to the steering range, so that the deceleration control and/or steering control can suppress the swing of the trailer just to offset the swing of the trailer itself, and the vehicle and the trailer can be more stable. Smooth ride.

Optionally, when determining the target speed and/or steering amplitude according to the rate of change of the swing amplitude, if the change trend of the swing amplitude is gradually increasing, and the rate of increase is also increasing, it indicates that the swing of the trailer will become more and more Seriously, therefore, the target speed can be set to a smaller value, and/or the steering amplitude can be set to a larger value to quickly and effectively reduce the swing of the trailer. Smaller values indicate that the swing of the trailer will gradually tend to the peak value. Therefore, the target speed can be set to a larger value, and/or the steering range can be set to 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 can also be detected whether the swing amplitude is smaller than the second preset threshold, and only when the swing amplitude is smaller than the second preset threshold, the vehicle is decelerated and/or controlled Or steering control to counteract trailer sway. And when the swing range is greater than the second preset threshold, it may be that the trailer swings violently due to the driver’s slamming the steering wheel in an emergency situation, so the deceleration control and/or steering control of the vehicle may not be performed to avoid affecting the vehicle. The driver's emergency avoidance action.

Optionally, after it is determined that the vehicle is connected to a trailer, the vehicle speed can also be obtained. Since the vehicle speed is lower than the critical speed (generally between 90kph and 130kph), the swing of the trailer can be well self-attenuated, without will cause the vehicle to become unstable, therefore, only when the speed of the vehicle is greater than or equal to the first preset speed and less than or equal to the second preset speed, the current yaw rate of the vehicle can be obtained, and subsequently, when the swing amplitude is greater than the first preset speed A step of performing deceleration control and/or steering control on the vehicle when a preset threshold is reached.

In the technical solution disclosed in this embodiment, after it is determined that the trailer is connected to the vehicle, if the swing of the trailer is relatively large, the vehicle can be decelerated and/or steered to counteract the swing of the trailer and ensure that the vehicle can run smoothly. security. In an exemplary description, referring to FIG. 5 and FIG. 6 , on the basis of any embodiment shown in FIG. 2 to FIG. 4 , an example is as follows:

This example proposes a new trailer connection judgment method and trailer stability control method (hereinafter referred to as TSA, Trailer Stability Assist), as shown in Figure 5. Figure 5 is a schematic diagram of the TSA architecture design. The TSA architecture design includes:

(1) Control Vehicle Stability, control vehicle stability, vehicle stability master control unit.

(2) Actuate wheel brakes, independent braking of wheels, the main way to realize vehicle stability control.

(3) Control Adaptive Cruise, adaptive cruise, the Sport mode is not allowed to be selected when it is turned on.

(4) Control damping, suspension damping control, vehicles equipped with active suspension can further improve TSA performance by changing the damping.

(5) Control differentials, differential control, four-wheel drive vehicles equipped with differentials can achieve/improve TSA performance by dynamically distributing rear axle drive torque.

(6) Control propulsion, driving torque control, controlling the output torque of the power system to realize/improve TSA performance.

(7) Control steering (contributor), steering input, provides the real-time steering torque of the steering system to TSA, and TSA decides when to intervene in the control.

(8) Control steering (actuator), steering output, when it detects that the driver is steering violently, it provides an appropriate reverse steering assist to remind the driver; when it detects that the trailer is swinging, it provides a reverse steering assist to suppress the swing.

(9) Control vehicle speed, vehicle speed control, to achieve vehicle acceleration/deceleration.

(10) Detect connected trailer, monitor the connection status of the trailer, and detect whether the trailer is connected.

(11) Determine accelerator pedal status, accelerator pedal status input, providing whether the accelerator pedal is depressed, depressing depth/speed, etc.

(12) Determine desired driving direction, driving direction information, providing vehicle driving direction, forward/backward/stationary, etc.

(13) Determine if driver is braking, whether the driver is braking, provide whether the brake pedal is depressed, the depth of depression/speed, etc.

(14) Determine lids&doors status, which provides vehicle occupant status to estimate vehicle load and optimize TSA performance.

(15) ESC sport mode soft button, ESC Sport mode soft switch, indicates whether the driver wants to enter the Sport mode, wherein, after entering the Sport mode, ESC is turned off and TSA is turned off.

(16) Measure steering wheel angle, steering wheel angle input, provides the real-time steering wheel angle of the steering system to TSA, and TSA decides when to intervene in the control.

(17) Measure vehicle speed&wheel speeds, monitor the vehicle speed/wheel speed, provide the real-time vehicle speed/wheel speed of the vehicle to TSA, and TSA decides when to intervene in the control.

(18) Measure wheel height, the wheel height input, provides the real-time wheel height of the suspension system to TSA, further improving the performance of TSA.

(19) Provide gear status, gear information input, provide the real-time gear status P/R/N/D of the power system to TSA, and further improve the performance of TSA.

(20) Provide inertia data, vehicle inertia input, provides the real-time lateral acceleration, longitudinal acceleration, and yaw rate of the vehicle to TSA, and TSA decides when to intervene in the control.

(21) Provide propulsion status, the state input of the power system, provides the real-time driving torque of the power system and the speed of the engine/motor to TSA, and TSA decides when to intervene in the control.

(22) Show telltales and notifications, human-computer interaction, through warning lights, warning sounds, text prompts, etc., to notify the driver of Sport mode activation, TSA function activation, TSA function limitation and other information.

As shown in Figure 6, Figure 6 is a flow chart of TSA control logic, and the logic design of TSA can be summarized into the following six parts:

(1) Basic signal processing:

A. A bus signal from the TRM indicates that the trailer is connected. At this point TSA starts working directly.

B. The TRM's bus signal indicates that the trailer is not connected. At this time, TSA comprehensively detects whether the trailer is connected according to vehicle parameters such as engine speed, engine torque, motor speed, motor torque, and acceleration, and infers the actual yaw rate of the current vehicle according to the target yaw rate of the Ackerman function to obtain the trailer’s yaw rate. swing information.

i. This design is based on:

In the absence of the driver's steering operation, the yaw rate is related to the bad yaw amplitude caused by the trailer, so the trailer swing information can be obtained based on the yaw rate, where the trailer swing amplitude is set to compare with the intervention threshold to determine TSA whether to intervene.

After the trailer is connected, the original kinematic characteristics of the vehicle change, such as acceleration reduction under the same engine and/or motor speed/torque, etc. Monitoring these characteristic changes can detect whether the trailer is connected.

ii. The purpose of this design is to avoid the problem that TSA cannot be activated due to misjudgment of whether the vehicle is connected to the trailer under abnormal working conditions.

C. The bus signal of TRM is invalid or lost, TRM can no longer work normally, and the body structure may be damaged (such as being rear-ended). At this time, the TSA function is turned off. Among them, the models with trailer function have special ECUs (that is, TRM, Trailer Module) to control the trailer brake lights and telescoping tow bar.

(2) Swing analysis:

Swing information is derived through PID (Proportional-Integral-Derivative) analysis. The proportional part evaluates the absolute value of the amplitude of the swing, the integral part weighs how long the swing lasts, and the derivative part measures the increment or decrement of the swing. The three parts work together to obtain the change of the swing amplitude of the vehicle, and the change includes the change trend and the change rate.

(3) Intervention threshold calculation:

The intervention threshold is based on an output value of a characteristic curve parameter that can be changed according to different driving situations and vehicle reference speeds: eg if the trailer swings slightly, through pressure build-up compensation, steering maneuvers, its limits are insensitive. The intervention threshold includes a first preset threshold and a second preset threshold.

(4) Exit conditions and constant speed braking strength:

For the exit condition of TSA, it depends on the swing amplitude and the driver's steering operation.

A. After a reasonable steering operation, TSA does not exit within a certain time interval, and then, due to some special factors, the swing gradually enters the normal range, and finally, the swing range slowly tends to the basic value.

B. To prevent a panic reaction (driver swerving sharply) due to a noticeable increase in swing amplitude fluctuations, the process is interrupted and TSA exits immediately.

C. If all exit conditions are met and the lateral acceleration is within a certain range, TSA performs braking intervention, no matter whether the trailer swing reaches the release threshold or not.

D. Typically, the selected target deceleration depends on the sway magnitude and processing of the module, and is achieved by reducing engine torque and/or electric motor torque until the trailer is free of sway.

(5) Security restrictions:

A. TSA works within the speed range of 65kph to 180kph (threshold can be calibrated).

B. To ensure robustness, the following tolerances need to be considered during development:

i. Different trailers (weight and its distribution, single/double axle, specification, length of towing hook)

ii. Load changes of trailers and towing vehicles

iii. Tire pressure (slightly low tire pressure, normal tire pressure, slightly high tire pressure)

iv. Not loaded with a trailer, but the trailer is attached for sporty driving like a bicycle carrier

(6) Man-machine interface:

During TSA operation, the ESC indicator is activated according to the following strategies:

In this example, a new trailer stability control method (TSA, Trailer Stability Assist) is provided. Detect whether the vehicle is connected to the trailer through bus signal, longitudinal acceleration, engine speed, engine torque, motor speed, motor torque, etc., and comprehensively detect whether the trailer swings through wheel speed, steering angle, yaw rate input, etc. If it is detected that a trailer is connected, and the trailer swings, and the swing amplitude exceeds the set threshold, the longitudinal speed under the critical value is obtained by applying (constant speed) brake pressure and driving torque control, and the intervention is implemented accordingly. Eliminates serpentine motion. During this process, the degree of swing of the trailer determines the strength of the intervention.

Due to the current trailer connection detection, a signal is added to the vehicle bus to indicate whether the trailer is connected, and then the electronic stability control system (ESC) monitors the vehicle's motion status and intervenes on the vehicle when necessary. This method relies on only a single bus signal to detect whether a trailer is attached, which in turn typically only considers a single element of whether the trailer brake light circuit is connected. However, in the actual use of the vehicle, it is impossible for the user to always connect an original standard tow truck with a brake light circuit in good condition. The moving light circuit is connected with it. At this time, the bus signal in the exemplary method will show that the trailer is not connected, so that the trailer stability assist function cannot be activated at all. Therefore, the overall reliability of the current trailer connection detection is poor, and the system redundancy is insufficient. It can only cover road conditions in the city. The Economic/Normal two driving modes that are good and do not have strenuous exercise cannot cover special driving modes such as Sport/Snow/Mud/Off Road. However, in the above-mentioned special driving mode, because the road conditions are more severe, the driver's operation is often more intense. In order not to intervene too much in the driver's operation, the intervention threshold of the active safety system (mainly ESC) is adjusted higher and the control intensity is limited lower. This leads to a significant increase in the probability of the trailer swinging in the special driving mode, the magnitude of the swing, and the severity of the accident, reducing the safety performance of the vehicle and endangering the safety of the driver.

Therefore, in this example, the current trailer connection status is determined based on factors such as whether the trailer drawbar is extended, whether the trailer drawbar is under force, and the status is sent to the vehicle communication network, eliminating the need to detect the trailer only based on the trailer brake light circuit. The limitation of whether to connect or not greatly improves the accuracy of detection. This method quickly and accurately detects whether a trailer is attached in any driving mode while the vehicle is in normal operating condition, allowing TSA to override special driving modes. In the abnormal working state, TRM may make a misjudgment that the trailer is not connected (note that the TRM is still working normally at this time, but misjudgment occurs due to external reasons), or whether the brake light circuit of the trailer is connected, and whether the tow bar of the trailer is extended 1. One or several of the inputs such as whether the trailer tow bar is under force cannot be obtained. At this time, after the vehicle is connected to the trailer, the original motion characteristics of the vehicle will change, such as the acceleration decreases under the same engine speed/torque. By monitoring these characteristic changes, it is still possible to detect whether the trailer is connected, thereby further expanding the TSA working range and improving system redundancy.

In addition, the embodiment of the present application also proposes a vehicle, the vehicle includes: a memory, a processor, and a trailer connection detection program of the vehicle stored on the memory and operable on the processor, the trailer of the vehicle When the connection detection program is executed by the processor, the following steps are implemented:

obtaining the status of a trailer hitch of the vehicle, wherein the trailer hitch is configured to be connected to a trailer for towing the trailer by the vehicle;

When the state of the tow bar of the trailer is an extended state and/or a stressed state, it is determined that the vehicle is connected to the trailer. In addition, the embodiment of the present application also proposes a computer storage medium, on which a vehicle trailer connection detection program is stored, and the vehicle trailer connection detection program is executed by a processor to implement the following steps:

When the state of the tow bar of the trailer is an extended state and/or a stressed state, it is determined that the vehicle is connected to the trailer. It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present application are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium as described above (such as ROM/RAM , magnetic disk, optical disk), including several instructions to make a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the methods described in various embodiments of the present application.

The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structures or equivalent process transformations made by using the description of the application and the accompanying drawings are directly or indirectly used in other related technical fields. , are all included in the patent protection scope of the present application in the same way.

Claims

A method for detecting a trailer connection of a vehicle, wherein the method for detecting a trailer connection of a vehicle includes the following steps: acquiring the state of a trailer tow bar of the vehicle, wherein the trailer tow bar is set to be connected to a trailer and is configured to pass the vehicle tows the trailer; and

When the state of the tow bar of the trailer is an extended state and/or a stressed state, it is determined that the vehicle is connected to the trailer.
The trailer connection detection method of a vehicle according to claim 1, wherein, after the step of acquiring the state of the trailer tow bar of the vehicle, further comprising:

When the state of the tow bar of the trailer is a non-extended state and/or a non-stressed state, obtaining the motion characteristics of the vehicle, wherein the motion characteristics include the current acceleration of the vehicle speed; and

Confirming that the vehicle is connected to the trailer or that the vehicle is not connected to the trailer according to the movement characteristics.
The trailer connection detection method for a vehicle according to claim 2, wherein the step of confirming that the vehicle is connected with the trailer or that the vehicle is not connected with the trailer according to the motion characteristics comprises:

determining expected acceleration of the vehicle based on at least one of engine torque, engine speed, electric motor torque, and electric motor speed of the vehicle, and gear information of the vehicle;

When the current acceleration does not match the expected acceleration, it is determined that the trailer is attached to the vehicle; and when the current acceleration matches the expected acceleration, it is determined that the trailer is not attached to the vehicle.
The vehicle trailer connection detection method according to any one of claims 1 to 3, wherein, after the step of determining that the vehicle is connected with the trailer, further comprising:

obtaining the current yaw rate of the vehicle;

determining an amplitude of swing of the trailer based on the current yaw rate; and

When the swing amplitude is greater than a first preset threshold, deceleration control and/or steering control is performed on the vehicle, wherein the deflection direction corresponding to the steering control is opposite to the swing direction of the trailer.
The trailer connection detection method of a vehicle according to claim 4, wherein, when the swing amplitude is greater than a first preset threshold, the step of performing deceleration control and/or steering control on the vehicle comprises:

Acquiring the rate of change of the swing amplitude;

determining a target speed and/or steering magnitude based on said rate of change; and

Perform deceleration control on the vehicle according to the target speed, and/or perform steering control on the vehicle according to the steering magnitude.
The trailer connection detection method of a vehicle according to claim 4, wherein, when the swing amplitude is greater than a first preset threshold, the step of performing deceleration control and/or steering control on the vehicle comprises:

When the swing amplitude is greater than the first preset threshold, it is confirmed that the swing amplitude is smaller than the second preset threshold, and deceleration control and/or steering control is performed on the vehicle.
The trailer connection detection method of a vehicle according to claim 6, wherein, when the swing amplitude is greater than a first preset threshold, the step of performing deceleration control and/or steering control on the vehicle comprises:

When the swing amplitude is greater than the first preset threshold, it is confirmed that the swing amplitude is greater than the second preset threshold, and no deceleration control and/or steering control is performed on the vehicle.
The trailer connection detection method of a vehicle according to claim 4, wherein, after the step of determining that the trailer is connected to the vehicle, further comprising:

detecting the speed of the vehicle; and

When the vehicle 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 step of obtaining the current yaw rate of the vehicle is performed.
The vehicle trailer connection detection method according to claim 1, wherein, before the step of acquiring the state of the trailer drawbar of the vehicle, the vehicle trailer connection detection method further comprises:

It is confirmed that the brake light circuit is not connected, and the step of obtaining the state of the trailer tow bar of the vehicle is performed.
A vehicle, wherein the vehicle includes: a memory, a processor, and a trailer connection detection program of the vehicle stored on the memory and operable on the processor, and the trailer connection detection program of the vehicle is controlled by the The following steps are implemented when the processor executes:

obtaining the status of a trailer hitch of the vehicle, wherein the trailer hitch is configured to connect with a trailer and is configured to tow the trailer by the vehicle; and

When the state of the tow bar of the trailer is an extended state and/or a stressed state, it is determined that the vehicle is connected to the trailer.
A computer storage medium, wherein a trailer connection detection program of a vehicle is stored on the computer storage medium, and the trailer connection detection program of the vehicle is executed by a processor to implement the following steps:

obtaining the status of a trailer hitch of the vehicle, wherein the trailer hitch is configured to connect with a trailer and is configured to tow the trailer by the vehicle; and

When the state of the tow bar of the trailer is an extended state and/or a stressed state, it is determined that the vehicle is connected to the trailer.