WO2024041103A1

WO2024041103A1 - Trailer mode control method and apparatus, and device and readable medium

Info

Publication number: WO2024041103A1
Application number: PCT/CN2023/099471
Authority: WO
Inventors: 李俊
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-08-22
Filing date: 2023-06-09
Publication date: 2024-02-29
Also published as: CN115402235A

Abstract

Provided are a trailer mode control method and apparatus, and a device and a readable medium. The method comprises: when a trailer mode trigger event is detected, triggering a trailer mode of a vehicle; determining at least one target function of the vehicle; determining an execution apparatus, which corresponds to each target function, on the vehicle; and sending a control signal to the execution apparatus, such that the execution apparatus controls the corresponding target function.

Description

Trailer mode control method, device, equipment and readable medium

This application claims priority to the Chinese patent application with application number 202211008962.2, which was submitted to the China Patent Office on August 22, 2022. The entire content of the above application is incorporated into this application by reference.

Technical field

The present application relates to the field of vehicle control technology, such as trailer mode control methods, devices, equipment and readable media.

Background technique

With the development of intelligent cars, the number of driving assistance functions and intelligent functions of automobiles are increasing day by day. Driving assistance functions and intelligent functions can improve the driver's driving experience and improve the driving safety of the vehicle in specific scenarios. sex.

When a vehicle is in towing mode and towing other vehicles, if human intervention or working conditions change, the vehicle's driving assistance function or intelligent function will be mistakenly triggered, affecting the driving status of the towed vehicle, so there are certain safety risks.

Contents of the invention

This application provides a trailer mode control method, device, equipment and readable medium to solve potential safety hazards caused by false triggering of driving assistance functions or intelligent functions when the car is in trailer mode.

This application provides a trailer mode control method, including:

When a trailer mode triggering event is detected, trigger the vehicle's trailer mode;

determining at least one target function of the vehicle;

Determine the execution device corresponding to each target function on the vehicle;

Send a control signal to the execution device so that the execution device controls the corresponding target function.

This application also provides a trailer mode control device, including:

a trailer mode trigger unit configured to trigger the vehicle's trailer mode when a trailer mode trigger event is detected;

a target function determining unit configured to determine at least one target function of the vehicle;

an execution device determination unit configured to determine the execution device corresponding to each target function on the vehicle;

A control signal sending unit configured to send a control signal to the execution device so that the execution device The device controls the corresponding target function.

This application also provides an electronic device, which includes:

at least one processor; and

A memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one A processor is capable of executing the trailer mode control method described in any embodiment of the present application.

This application also provides a computer-readable storage medium that stores computer instructions, and the computer instructions are used to enable the processor to implement the trailer mode control method described in any embodiment of the application when executed. .

Description of drawings

The following will briefly introduce the drawings needed to describe the embodiments.

Figure 1 is a flow chart of a trailer mode control method provided in Embodiment 1 of the present application;

Figure 2 is a flow chart of a trailer mode detection method provided in Embodiment 2 of the present application;

Figure 3 is a schematic structural diagram of a trailer mode control device provided in Embodiment 3 of the present application;

Figure 4 is a schematic structural diagram of an electronic device that implements the trailer mode control method according to the embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

The terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

Embodiment 1

Figure 1 is a flow chart of a trailer mode control method provided in Embodiment 1 of the present application. This embodiment can be applied to situations where a vehicle enters trailer mode to prevent false triggering of specific functions that may cause safety hazards. The method may be executed by a trailer mode control device, which may be implemented in the form of hardware and/or software, and which may be configured in a vehicle engine. As shown in Figure 1, the method includes:

S110. When a trailer mode triggering event is detected, trigger the vehicle's trailer mode.

The towing mode refers to a mode used when other vehicles are unable to drive normally due to a malfunction and the current vehicle is required to tow the malfunctioning vehicle at a short distance and at a slow speed to move the malfunctioning vehicle to a safe area. The trailer mode trigger event can be actively detected through the vehicle's own hardware to determine whether to trigger the vehicle's trailer mode. Through the above method, the trailer mode can be automatically recognized.

S120. Determine at least one target function of the vehicle.

The target functions are related functions that are easily triggered accidentally when the vehicle is in towing mode because they are not in line with daily driving conditions and thus lead to safety hazards. For example, some functions that can identify the status of vehicles around the vehicle may cause false alarms because the distance between the towed vehicle and the vehicle in towing mode is maintained within a certain distance.

S130. Determine the execution device corresponding to each target function on the vehicle.

S140. Send a control signal to the execution device so that the execution device controls the corresponding target function.

After the vehicle enters the trailer mode, a control signal is sent to the execution device that performs the target function to inform the execution device that the vehicle is currently in the trailer mode, and the execution device controls its corresponding target function. For example, for target functions that are prone to false triggering , the execution device can directly deactivate the target function. For the target function of the vehicle to facilitate driving in the trailer mode, the execution device can control or limit the target function, such as controlling the gear position in a low gear with greater torque for better towing. Faulty vehicles limit the gear switching function.

The technical solution of the embodiment of the present application is to detect the trailer mode trigger event and trigger the trailer mode when the trailer mode trigger event is detected. After the trailer mode is triggered, at least one target function possessed by the vehicle and an execution device for executing the target function are determined. , each execution device controls the corresponding target function by sending a control signal to the execution device. The technical solution provided by this application can control relevant functions through the execution device when the vehicle enters the towing mode, thereby preventing false triggering of specific functions during the towing process and preventing the occurrence of safety hazards.

Embodiment 2

Figure 2 is a flow chart of a trailer mode detection method provided in Embodiment 2 of the present application. This embodiment is explained based on the above embodiment. As shown in Figure 2, the method includes:

S210. Obtain the sensing result of the trailer sensor in real time, wherein the trailer sensor is installed on the trailer device of the vehicle, and the trailer sensor is used to sense whether the trailer device is connected to a trailer hitch.

S220. If the sensing result is that the trailer device is connected to the trailer hitch, determine that the trailer mode trigger event is detected.

The trailer device is configured to connect the vehicle and the towed vehicle through a connecting medium. The trailer device is usually installed at the rear of the vehicle. When towing is required, the protective cover of the trailer device is opened. There is a connecting device at the front of the trailer device and the towed vehicle. They are connected via a trailer hitch. When the trailer hitch is connected to the trailer device, the trailer sensor can detect that the trailer device is connected to the hitch. The hook detection can be realized by a sensor that detects metal or a tension sensor that detects the tension of the trailer hitch.

In the second embodiment of the present application, after triggering the trailer mode of the vehicle, the method further includes: lighting the trailer mode indicator light of the vehicle; generating prompt information indicating that the vehicle enters the trailer mode, and controlling the display module to display the prompt information .

The trailer mode indicator light is a physical indicator light or a virtual indicator light set by the vehicle on the instrument panel or the vehicle system screen. After the vehicle enters the towing mode, the tow mode indicator light lights up to remind the driver that the vehicle has entered the towing mode. The display module is a display screen set on the vehicle center console. After the vehicle enters the towing mode, it can generate a pop-up window indicating that the vehicle has entered the towing mode and display the pop-up window through the display module, which can more intuitively remind the user that the vehicle has entered the towing mode. .

When the vehicle does not have a trailer recognition controller and cannot automatically recognize the trailer mode, the vehicle functions can also be controlled through the trailer mode switch in the center console.

In the second embodiment of the present application, after sending the control signal to the execution device, the method further includes: determining the display area corresponding to the display module for each target function; setting the display area to represent the Describes the display status of each target function controlled.

The display area refers to the virtual display module or physical display light corresponding to the target function for function display or status display. When the target function is controlled by the execution device because the vehicle enters trailer mode, the display area is used to display that the corresponding target function is under control. For example, when the display area is an indicator light, gray light can be used to indicate that the target function is controlled; when the display area is a display area on the display screen, gray words or a gray background can be used to indicate that the target function is controlled. control.

In Embodiment 2 of the present application, after sending the control signal to the execution device, the method further includes: determining a control button for each target function; stopping execution of the control button to trigger each target based on a physical operation Function operation.

In order to prevent users from accidentally touching the physical control buttons on the vehicle's central control screen and triggering the target function, after the vehicle enters trailer mode, the control button corresponding to the execution device control will not execute the target function when pressed to prevent misoperation.

Through the above two methods, after the towing mode is recognized, some functions of the vehicle can be restricted to prevent safety hazards caused by accidentally triggering some functions in the towing mode.

In the second embodiment of the present application, the at least one target function includes a suspension adjustment function, and the execution device of the suspension adjustment function is a suspension controller; accordingly, the control signal is sent to the execution device, To enable the execution device to control the corresponding target function includes: sending a control signal to the suspension controller, where the control signal includes a suspension height control signal and a suspension height lock signal, so that the suspension control The controller adjusts the height of the suspension to a preset height according to the suspension height control signal and stops executing the suspension adjustment function after the adjustment is completed.

In order to adapt to various road conditions and the driver's driving style, some vehicles are currently equipped with suspension adjustment functions. The stiffness and damping coefficient of the suspension can be adjusted in real time according to the vehicle's operating conditions. When the vehicle is in towing mode, in order to maintain driving stability, the height of the suspension needs to be adjusted to the preset height. When the height of the current suspension is higher or lower than the preset height due to the driver's adjustment, the suspension control The controller adjusts the suspension to the preset height, and stops the driver from adjusting the height of the suspension through driving mode switching and other methods during the duration of the trailer mode.

In the second embodiment of the present application, the at least one target function includes a driving assistance function, and the execution device of the driving assistance function is a driving assistance controller; accordingly, the control signal is sent to the execution device so that The execution device controls the corresponding target function, including: sending a control signal to the driving assistance controller so that the driving assistance controller deactivates the driving assistance function according to the control signal.

The driving assistance function is a function that assists the driver in driving while the vehicle is driving, helps or reminds the driver of the situation around the vehicle, and reduces accident injuries. Commonly used driving assistance functions include lane keeping assist function, automatic parking assist function, brake assist function, reversing assist function and driving assist function.

When the vehicle is in tow mode and is towing other vehicles, the driving assistance function may produce false alarms, affecting the safety of the tow vehicle. For example, the brake assist function can identify obstacles in front of the vehicle and perform braking when the vehicle is close to the obstacle. Alarm or direct intervention to prevent the vehicle from colliding with suspected obstacles through braking. During the towing process, if the brake assist function intervenes in braking, the vehicle may decelerate more sharply because the vehicle being towed behind is closer to the vehicle. , which is likely to lead to a collision; the driving assistance function can identify vehicles approaching from the rear and issue an alarm when the rear vehicle is close. Since the vehicle being towed from behind is close to the vehicle during the towing process, it is very likely that the vehicle will be towed from behind. The towed vehicle is regarded as a detection target and an alarm is issued. Therefore, in order to avoid false alarms from the driving assistance functions, the driving assistance functions are restricted after entering the towing mode.

In the second embodiment of the present application, the at least one target function includes a vehicle hardware control function, and the execution device of the vehicle hardware control function is a hardware controller; accordingly, the control signal is sent to the execution device to Making the execution device control the corresponding target function includes: sending instructions to the hardware control The controller sends a control signal so that the hardware controller executes the vehicle hardware control function according to the control signal.

For example, the hardware controller executing the vehicle hardware control function according to the control signal may mean that the hardware controller controls the execution function of the preset hardware according to the control signal.

Hardware is some necessary devices equipped for the vehicle, such as rearview mirrors, gearboxes, etc. Take the rearview mirror as an example. The rearview mirror of the vehicle has folding and flip-down functions. The folding function of the rearview mirror can prevent scratches after the vehicle is parked. , the flip-down function of the rearview mirror allows the vehicle to better observe the ground markings through the flip-down rearview mirror angle when reversing. When the vehicle enters the towing mode, in order to ensure that the driver can observe the road conditions on the side of the vehicle through the rearview mirror in the normal position, the hardware controller corresponding to the rearview mirror limits the folding or folding of the rearview mirror.

When a new controller is added to the vehicle, the trailer mode status change event can be registered in the vehicle machine. When the trailer status changes, the vehicle machine notifies the new execution device, and the new execution device sends the restricted target function list to On the car, the setting switch for restricted target functions is disabled.

Embodiment 3

Figure 3 is a schematic structural diagram of a trailer mode control device provided in Embodiment 3 of the present application. As shown in Figure 3, the device includes: a trailer mode trigger unit 310, configured to trigger the trailer mode of the vehicle when a trailer mode trigger event is detected; a target function determination unit 320, configured to determine at least one of the vehicle's target functions; the execution device determination unit 330 is configured to determine the execution device corresponding to each target function on the vehicle; the control signal sending unit 340 is configured to send a control signal to the execution device so that the execution device Control the corresponding target function.

In the third embodiment of the present application, the trailer mode trigger unit 310 is configured to detect the trailer mode trigger event in the following manner: obtaining the sensing results of the trailer sensor in real time, wherein the trailer sensor is installed on the trailer device of the vehicle, so The trailer sensor is used to sense whether the trailer device is connected to a trailer hitch; in response to a sensing result that the trailer device is connected to a trailer hitch, it is determined that the trailer mode trigger event is detected.

In the third embodiment of the present application, the trailer mode triggering unit 310 is further configured to: after triggering the trailer mode of the vehicle, light the trailer mode indicator light of the vehicle; generate prompt information indicating that the vehicle enters the trailer mode, and control the display The module displays the prompt information.

In the third embodiment of the present application, the control signal sending unit 340 is further configured to: after sending the control signal to the execution device, determine the display area corresponding to the display module for each target function; The display area is set to represent the display state in which each of the target functions is controlled.

In the third embodiment of the present application, the control signal sending unit 340 is further configured to: after sending the control signal to the execution device, determine the control button for each target function; stop executing the control button based on physical operations Actions that trigger each target function described.

In the third embodiment of the present application, when the at least one target function includes a suspension adjustment function and the execution device of the suspension adjustment function is a suspension controller, the control signal sending unit 340 is set to: The suspension controller sends a control signal, the control signal includes a suspension height control signal and a suspension height lock signal, so that the suspension controller adjusts the suspension height according to the suspension height control signal. to the preset height and stop executing the suspension adjustment function after the adjustment is completed.

In the third embodiment of the present application, when at least one target function includes a driving assistance function and the execution device of the driving assistance function is a driving assistance controller, the control signal sending unit 340 is configured to: The controller sends a control signal to cause the driving assistance controller to deactivate the driving assistance function according to the control signal.

In the third embodiment of the present application, when at least one target function includes a vehicle hardware control function and the execution device of the vehicle hardware control function is a hardware controller, the control signal sending unit 340 is configured to: The controller sends a control signal so that the hardware controller performs a vehicle hardware control function according to the control signal.

The trailer mode control device provided by the embodiments of this application can execute the trailer mode control method provided by any embodiment of this application, and has the corresponding functional modules and effects of the execution method.

Embodiment 4

FIG. 4 shows a schematic structural diagram of an electronic device 10 that can be used to implement embodiments of the present application. Electronic devices are intended to refer to various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.

As shown in Figure 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (Read-Only Memory, ROM) 12, a random access memory (Random Access Memory, RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can be loaded into the random access memory (RAM) according to the computer program stored in the read-only memory (ROM) 12 or from the storage unit 18. A computer program in RAM) 13 to perform a variety of appropriate actions and processes. In RAM 13, it is also possible to store Various programs and data required for the operation of electronic device 10. The processor 11, the ROM 12 and the RAM 13 are connected to each other via the bus 14. An input/output (I/O) interface 15 is also connected to the bus 14 .

Multiple components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc. etc.; and communication unit 19, such as network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunications networks.

Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (Central Processing Unit, CPU), a graphics processing unit (GPU), a variety of dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, a variety of running Machine learning model algorithm processor, digital signal processor (Digital Signal Processor, DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes a plurality of methods and processes described above, such as the trailer mode control method.

In some embodiments, the trailer mode control method may be implemented as a computer program that is tangibly embodied in a computer-readable storage medium, such as the storage unit 18 . In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the trailer mode control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the trailer mode control method in any other suitable manner (eg, by means of firmware).

Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Product (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), computer hardware, firmware, software, and/or their realized in combination. These various embodiments may include implementation in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor The processor, which may be a special purpose or general purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device. An output device.

Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed by the processor, causes the flowcharts and/or blocks to The functions/operations specified in the diagram are implemented. A computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this application, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. Machine-readable storage media may include electrical connections based on one or more wires, portable computer disks, hard drives, random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (Electrically Erasable Programmable Read-Only Memory (EPROM) or flash memory, optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having a display device (e.g., a cathode ray tube (CRT) or liquid crystal) configured to display information to a user. A display (Liquid Crystal Display, LCD monitor); and a keyboard and pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be configured to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and may be provided in any form, including Acoustic input, voice input or tactile input) to receive input from the user.

The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., A user's computer having a graphical user interface or web browser through which the user can interact with implementations of the systems and technologies described herein), or including such backend components, middleware components, or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communications network). Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), blockchain network, and the Internet.

Computing systems may include clients and servers. Clients and servers are generally remote from each other and typically interact over a communications network. The relationship of client and server is created by computer programs running on corresponding computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host. It is a host product in the cloud computing service system to solve It overcomes the shortcomings of difficult management and weak business scalability in traditional physical hosts and Virtual Private Server (VPS) services.

It should be understood that various forms of the process shown above may be used, with steps reordered, added or deleted. For example, multiple steps described in this application can be executed in parallel, sequentially, or in different orders. As long as the desired results of the technical solution of this application can be achieved, there is no limitation here.

Claims

Trailer mode control methods include:

When a trailer mode triggering event is detected, trigger the vehicle's trailer mode;

determining at least one target function of the vehicle;

Determine the execution device corresponding to each target function on the vehicle;

Send a control signal to the execution device so that the execution device controls the corresponding target function.
The method according to claim 1, wherein the trailer mode triggering event is detected in the following manner:

Obtain sensing results of a trailer sensor in real time, wherein the trailer sensor is installed on a trailer device of the vehicle, and the trailer sensor is used to sense whether the trailer device is connected to a trailer hitch;

When the sensing result is that the trailer device is connected to the trailer hitch, it is determined that the trailer mode triggering event is detected.
The method of claim 1, after triggering the towing mode of the vehicle, further comprising:

illuminate the trailer mode indicator light of said vehicle;

Prompt information indicating that the vehicle enters the trailer mode is generated, and the display module is controlled to display the prompt information.
The method according to claim 3, after sending the control signal to the execution device, further comprising at least one of the following:

Determine the display area corresponding to each target function in the display module, and set the display area to represent the controlled display state of each target function;

Determine the control button for each target function, and stop executing the operation of the control button triggering each target function based on the physical operation.
The method of claim 1, wherein the at least one target function includes a suspension adjustment function, and the execution device of the suspension adjustment function is a suspension controller;

The sending a control signal to the execution device so that the execution device controls the corresponding target function includes:

Send a control signal to the suspension controller, the control signal including a suspension height control signal and a suspension height lock signal, so that the suspension controller adjusts the height of the suspension according to the suspension height control signal. Adjust to the preset height and stop performing the suspension adjustment function after the adjustment is completed.
The method according to claim 1, wherein the at least one target function includes a driving assistance function, and the execution device of the driving assistance function is a driving assistance controller;

The sending a control signal to the execution device so that the execution device controls the corresponding target function includes:

A control signal is sent to the driving assistance controller so that the driving assistance controller deactivates the driving assistance function according to the control signal.
The method according to claim 1, wherein the at least one target function includes a vehicle hardware control function, and the execution device of the vehicle hardware control function is a hardware controller;

The sending a control signal to the execution device so that the execution device controls the corresponding target function includes:

A control signal is sent to the hardware controller so that the hardware controller performs a vehicle hardware control function according to the control signal.
Trailer mode controls, including:

a trailer mode trigger unit configured to trigger the vehicle's trailer mode when a trailer mode trigger event is detected;

a target function determining unit configured to determine at least one target function of the vehicle;

an execution device determination unit configured to determine the execution device corresponding to each target function on the vehicle;

A control signal sending unit is configured to send a control signal to the execution device so that the execution device controls the corresponding target function.
An electronic device including:

at least one processor; and

A memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one A processor is capable of executing the trailer mode control method according to any one of claims 1-7.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the trailer mode control method according to any one of claims 1-7 when executed by a processor.