Vehicle towing method, electronic device, towing vehicle and storage medium

文档序号：1946315 发布日期：2021-12-10 浏览：18次中文

阅读说明：本技术 车辆拖挂方法、电子设备、牵引车辆及存储介质 (Vehicle towing method, electronic device, towing vehicle and storage medium ) 是由何增龙于 2021-09-23 设计创作，主要内容包括：本申请实施例公开了一种车辆拖挂方法、电子设备、牵引车辆及存储介质,该车辆拖挂方法包括：通过第一定位通讯模块与拖挂车辆的第二定位通讯模块之间传输的通信信号,确定牵引车辆与拖挂车辆之间的第一相对位置信息,并根据第一相对位置信息和目标相对位置信息,得到位置指示信息,该位置指示信息用于指示对牵引车辆的位置进行调整,以使第一相对位置信息和目标相对位置信息匹配,使第一连接装置和拖挂车辆的第二连接装置能够连接。通过实施该方法,可以提高牵引车辆和拖挂车辆的连接效率。(The embodiment of the application discloses a vehicle towing method, electronic equipment, a towing vehicle and a storage medium, wherein the vehicle towing method comprises the following steps: the method comprises the steps of determining first relative position information between a towing vehicle and a trailer vehicle through communication signals transmitted between a first positioning communication module and a second positioning communication module of the trailer vehicle, and obtaining position indication information according to the first relative position information and target relative position information, wherein the position indication information is used for indicating to adjust the position of the towing vehicle so as to enable the first relative position information to be matched with the target relative position information, and enable a first connecting device to be connected with a second connecting device of the trailer vehicle. By implementing the method, the connection efficiency of the towing vehicle and the trailer vehicle can be improved.)

1. A vehicle towing method adapted for a towing vehicle including a first positioning communication module and a first connecting device, the method comprising:

determining first relative position information between the towing vehicle and a towing vehicle through a communication signal transmitted between the first positioning communication module and a second positioning communication module of the towing vehicle;

and obtaining position indication information according to the first relative position information and the target relative position information, wherein the position indication information is used for indicating the adjustment of the position of the towing vehicle so as to enable the first relative position information to be matched with the target relative position information and enable the first connecting device to be connected with the second connecting device of the towing vehicle.

2. The method of claim 1, wherein the position indication information includes position adjustment information for the towing vehicle, and wherein after obtaining position indication information based on the first relative position information and target relative position information, the method further comprises:

adjusting the position of the towing vehicle according to the position adjustment information;

and if the first relative position information is detected to be matched with the target relative position information, controlling the first connecting device to be unfolded so as to be connected with the second connecting device.

3. The method according to claim 1 or 2, wherein after obtaining the position indication information according to the first relative position information and the target relative position information, the method further comprises:

generating a first control instruction aiming at a target signal lamp of the trailer vehicle when the target signal lamp of the trailer vehicle is detected to be in a working state; the target signal lamp comprises at least one of a left steering lamp, a right steering lamp, a brake lamp and a fog lamp;

and sending the first control instruction to the second positioning communication module through the first positioning communication module so that the trailer vehicle controls a target signal lamp of the trailer vehicle to work according to the first control instruction.

4. The method of claim 3, wherein after sending the first control command to the second positioning communication module via the first positioning communication module, the method further comprises:

if second indication information sent by the second positioning communication module is not received by the first positioning communication module within a first time length, first warning information indicating that communication between the towing vehicle and the trailer vehicle is interrupted is output, and the second indication information is used for indicating that a target signal lamp of the trailer vehicle normally works.

5. The method of claim 3, wherein after sending the first control command to the second positioning communication module via the first positioning communication module, the method further comprises:

and if third indication information sent by the second positioning communication module is received through the first positioning communication module, outputting the third indication information, wherein the third indication information is used for indicating the fault of a target signal lamp of the trailer vehicle.

6. The method according to claim 1 or 2, wherein an environmental sensor is provided on the trailer vehicle, and after obtaining the position indication information according to the first relative position information and the target relative position information, the method further comprises:

receiving, by the first positioning communication module, sensor data collected by the environmental sensor and sent by the second positioning communication module;

outputting the sensor data.

7. The method according to claim 1 or 2, wherein after obtaining the position indication information according to the first relative position information and the target relative position information, the method further comprises:

receiving, by the first positioning communication module, battery information corresponding to the towed vehicle sent by the second positioning communication module; the battery information comprises at least one of voltage, current, residual electric quantity, battery temperature and charge-discharge state;

and outputting the battery information.

8. The method of any of claims 1-2 and 4-5, wherein the first positioning communication module comprises a first ultra-wideband (UWB) communication module and the second positioning communication module comprises a second UWB communication module.

9. An electronic device, wherein the electronic device is provided in a towing vehicle, the towing vehicle includes a first positioning communication module and a first connecting device, and the electronic device includes:

the positioning module is used for determining first relative position information between the traction vehicle and the trailer vehicle through a communication signal transmitted between the first positioning communication module and a second positioning communication module of the trailer vehicle;

and the determining module is used for obtaining position indication information according to the first relative position information and the target relative position information, wherein the position indication information is used for indicating the adjustment of the position of the towing vehicle so as to enable the first relative position information to be matched with the target relative position information and enable the first connecting device to be connected with the second connecting device of the towing vehicle.

10. A towing vehicle comprising a first positioning communication module and a first connecting device, the towing vehicle comprising:

11. A towing vehicle, comprising:

a memory storing executable program code;

and a processor coupled to the memory;

the processor calls the executable program code stored in the memory, which when executed by the processor causes the processor to implement the method of any one of claims 1-8.

12. A computer-readable storage medium having executable program code stored thereon, wherein the executable program code, when executed by a processor, implements the method of any of claims 1-8.

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a vehicle towing method, an electronic device, a towing vehicle, and a storage medium.

Background

With the improvement of living standard of people, the change of the tour style of people is larger and larger. The traditional tourism mode is that the group sits to travel on the bus for traveling, and the current self-driving tour is more and more popular, wherein the self-driving tour mode of towing a motor home is selected by more and more self-driving tourists due to the characteristic of freedom and convenience.

In practice, it is found that the connection process of the trailer and the tractor often depends on the sight of the driver to adjust the position of the tractor, so that the connection process of the trailer and the tractor usually takes a long time.

Disclosure of Invention

The embodiment of the application provides a vehicle towing method, electronic equipment, a towing vehicle and a storage medium, and the connection efficiency of the towing vehicle and the towing vehicle can be improved.

In a first aspect, an embodiment of the present application provides a vehicle towing method, which is applicable to a towing vehicle including a first positioning communication module and a first connecting device, and includes:

As an optional implementation manner, in the first aspect of this embodiment of the present application, the position indication information includes position adjustment information for the towing vehicle, and after obtaining the position indication information according to the first relative position information and the target relative position information, the method further includes:

adjusting the position of the towing vehicle according to the position adjustment information;

outputting the position adjustment information for reference when a driver of the towing vehicle adjusts the position of the towing vehicle;

and if the first relative position information of the towing vehicle and the trailer vehicle after the position adjustment is matched with the target relative position information, outputting first indication information for indicating the driver to connect the first connecting device and the second connecting device.

As an optional implementation manner, in the first aspect of the embodiment of the present application, after obtaining the position indication information according to the first relative position information and the target relative position information, the method further includes:

As an optional implementation manner, in the first aspect of this embodiment of the present application, after the sending, by the first positioning communication module, the first control instruction to the second positioning communication module, the method further includes:

As an optional implementation manner, in the first aspect of this embodiment of the present application, after the environment sensor is disposed on the trailer vehicle, and the position indication information is obtained according to the first relative position information and the target relative position information, the method further includes:

receiving, by the first positioning communication module, sensor data collected by the environmental sensor and sent by the second positioning communication module;

outputting the sensor data.

and outputting the battery information.

As an alternative implementation manner, in the first aspect of this embodiment of the present application, the first positioning communication module includes a first ultra-wideband UWB communication module, and the second positioning communication module includes a second ultra-wideband UWB communication module.

A second aspect of the embodiments of the present application provides an electronic device, where the electronic device is disposed in a towing vehicle, the towing vehicle includes a first positioning communication module and a first connection device, and the electronic device includes:

A third aspect of embodiments of the present application provides a towing vehicle including a first positioning communication module and a first connecting device, the towing vehicle including:

A fourth aspect of an embodiment of the present application provides a traction vehicle, which may include:

a memory storing executable program code;

and a processor coupled to the memory;

the processor calls the executable program code stored in the memory, and when executed by the processor, the executable program code causes the processor to implement the method according to the first aspect of the embodiments of the present application.

A fifth aspect of embodiments of the present application provides a computer-readable storage medium, on which executable program code is stored, and when the executable program code is executed by a processor, the method according to the first aspect of embodiments of the present application is implemented.

A sixth aspect of embodiments of the present application discloses a computer program product, which, when run on a computer, causes the computer to perform any one of the methods disclosed in the first aspect of embodiments of the present application.

A seventh aspect of the embodiments of the present application discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where when the computer program product runs on a computer, the computer is caused to execute any one of the methods disclosed in the first aspect of the embodiments of the present application.

According to the technical scheme, the embodiment of the application has the following advantages:

in an embodiment of the present application, the vehicle towing method is applied to a towing vehicle including a first positioning communication module and a first connecting device, and the method includes: the method comprises the steps of determining first relative position information between a towing vehicle and a trailer vehicle through communication signals transmitted between a first positioning communication module and a second positioning communication module of the trailer vehicle, and obtaining position indication information according to the first relative position information and target relative position information, wherein the position indication information is used for indicating to adjust the position of the towing vehicle so as to enable the first relative position information to be matched with the target relative position information, and enable a first connecting device to be connected with a second connecting device of the trailer vehicle. By implementing the method, the relative position of the traction vehicle and the trailer vehicle can be accurately positioned through the communication signal transmitted between the first positioning communication module and the second positioning communication module, further, accurate position indication information can be obtained according to the relative position and the target relative position, the position of the traction vehicle can be conveniently and rapidly adjusted, so that the relative position of the traction vehicle and the trailer vehicle is matched with the target relative position information, the first connecting device and the second connecting device can be connected, and the connecting efficiency of the traction vehicle and the trailer vehicle is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to the drawings.

FIG. 1 is a schematic view of a vehicle towing method according to an embodiment of the present disclosure;

FIG. 2A is a schematic flow chart diagram illustrating a method for towing a vehicle according to an embodiment of the present disclosure;

FIG. 2B is a schematic diagram of another scenario of a vehicle towing method disclosed in an embodiment of the present application;

FIG. 3A is a schematic flow chart diagram illustrating another method for towing a vehicle as disclosed in an embodiment of the present application;

FIG. 3B is a schematic diagram of another scenario of a vehicle towing method disclosed in the embodiments of the present application;

fig. 4 is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application;

fig. 5 is a schematic structural diagram of another electronic device disclosed in the embodiments of the present application;

fig. 6 is a schematic structural diagram of a towing vehicle according to an embodiment of the present application.

Detailed Description

For a person skilled in the art to better understand the present application, 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, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. The embodiments in the present application shall fall within the protection scope of the present application.

Referring to fig. 1, fig. 1 is a schematic view of a scene of a vehicle towing method according to an embodiment of the present application. As shown in fig. 1, a towing vehicle 110 and a towing vehicle 120 are included, wherein towing vehicle 110 includes a first connecting device 1101 and towing vehicle 120 includes a second connecting device 1201. First, the first relative position information of the towing vehicle 110 and the towing vehicle 120 can be accurately located through the communication signal transmitted between the first positioning communication module of the towing vehicle 110 and the second positioning communication module of the towing vehicle 120, then, accurate position indication information is obtained according to the first relative position information and the target relative position information, a basis can be provided for adjusting the position of the towing vehicle 110, and further, the position of the towing vehicle 110 is favorably and rapidly adjusted, so that the relative position of the towing vehicle 110 and the towing vehicle 120 is matched with the target relative position, the first connecting device 1101 of the towing vehicle 110 and the second connecting device 1201 of the towing vehicle 120 can be connected, the position adjustment of the towing vehicle does not depend on the sight of a driver, and the connection efficiency of the towing vehicle 110 and the towing vehicle 120 is improved.

In the embodiment of the present application, the positioning communication module (the first positioning communication module/the second positioning communication module) may include, but is not limited to, any one of a Wireless-Fidelity (WiFi) module, a bluetooth module, and a Wireless carrier communication (UWB) module.

Referring to fig. 2A, fig. 2A is a schematic flow chart illustrating a vehicle towing method according to an embodiment of the present disclosure. May include the steps of:

201. first relative position information between the towing vehicle and the towing vehicle is determined through communication signals transmitted between the first positioning communication module and the second positioning communication module.

In some embodiments, the number of the first positioning communication module on the towing vehicle and the second positioning communication module on the towing vehicle may be one or more, and the embodiments of the present application are not limited. In some embodiments, the first positioning communication module may be set with reference to a center of a body, a center of a tail, or a center of a head of the towing vehicle, and the second positioning communication module may be set with reference to a center of a body, a center of a tail, or a center of a head of the towing vehicle. It should be noted that the setting positions of the first positioning communication module and the second positioning communication module may be preset and stored, and the embodiment of the present application is not limited.

It should be noted that the first relative position information may be referred to by the towing vehicle, and the first relative position information may indicate a relative position between any point on the towing vehicle and any point on the towing vehicle, where the relative position may include a relative direction, a relative distance, and the like. In some embodiments, any point on the towing vehicle may be any first positioning communication module, a body center point, a tail center point, a head center point, or the like on the towing vehicle; any point on the trailer vehicle can be any second positioning communication module, a vehicle body central point, a vehicle tail central point or a vehicle head central point and the like on the trailer vehicle, and the embodiment of the application is not limited.

In some embodiments, the first relative position information may indicate a relative position of any first positioning communication module on the towing vehicle and any second positioning communication module on the towing vehicle. Referring to fig. 2B, fig. 2B is a schematic view of another scenario of a vehicle towing method according to an embodiment of the present disclosure. As shown in fig. 2B, the towing vehicle 210 and the trailer vehicle 220 are included, wherein the towing vehicle 210 includes a first positioning communication module 2101, a second first positioning communication module 2102, a third first positioning communication module 2103, a fourth first positioning communication module 2104, a fifth first positioning communication module 2105, and a first connection device 2106; the towing vehicle 220 includes a first second positioning communication module 2201, a second positioning communication module 2202, a third second positioning communication module 2203, a fourth second positioning communication module 2204, a fifth second positioning communication module 2205 and a second connecting device 2206. The first relative position information indication may be a relative position between the first positioning communication module 2101 and the first second positioning communication module 2201, a relative position between the third first positioning communication module 2103 and the third second positioning communication module 2203, or the like, which is not limited herein.

In some embodiments, the first relative position information may indicate a relative position of a center body point of the towing vehicle and a center body point of the towing vehicle.

202. And obtaining position indication information according to the first relative position information and the target relative position information, wherein the position indication information is used for indicating that the position of the towing vehicle is adjusted so that the first relative position information is matched with the target relative position information, and the first connecting device and the second connecting device can be connected.

The target relative position information may refer to a preset relative position corresponding to the first relative position information, and the preset relative position may be located in advance and stored. In some embodiments, if the location indication information is obtained according to the first relative location information and the target relative location information, the obtaining may include: and if the first relative position information does not match the target relative position information, obtaining position indication information according to the first relative position information and the target relative position information.

In some embodiments, if the first relative position information matches the target relative position information, a prompt indicating that the first relative position information matches the target relative position information is output.

Further, the output mode of the prompt message may include, but is not limited to, any one or a combination of audio, text, and an indicator light, and the embodiment of the present application is not limited.

It should be noted that the target relative position information may be set in advance according to actual requirements, or may be measured through a large number of experiments, and the embodiment of the present application is not limited.

It is understood that the first relative position information and the target relative position information may correspond to each other, for example, if the first relative position information indicates the relative positions of the first positioning communication module 2101 and the first second positioning communication module 2201, the target relative position information indicates the relative positions of the first positioning communication module 2101 and the first second positioning communication module 2201. If the first relative position information indicates the relative position of the body center point of the towing vehicle and the body center point of the towing vehicle, the target relative position information indicates the relative position of the body center point of the towing vehicle and the body center point of the towing vehicle.

In some embodiments, the position indication information may include position information of the towing vehicle and position information of the towing vehicle; in the embodiment of the present application, the position information of the towing vehicle and the position information of the towing vehicle may be expressed by any one of a map coordinate system, a world coordinate system, and a geodetic coordinate system, which is not limited herein. In some embodiments, the position information of the towing vehicle and the position information of the towing vehicle may be output for reference by a driver of the towing vehicle in adjusting the position of the towing vehicle.

In some embodiments, the position indication information may include position adjustment information for the towing vehicle, which may include an adjustment direction, an adjustment distance, and the like. In some embodiments, position adjustment information for the towing vehicle may be output for reference by a driver of the towing vehicle in adjusting the position of the towing vehicle.

By implementing the method, the relative position of the traction vehicle and the trailer vehicle can be accurately positioned through the communication signal transmitted between the first positioning communication module and the second positioning communication module, and further, accurate position indication information can be obtained according to the relative position and the target relative position, so that the position of the traction vehicle can be conveniently and rapidly adjusted, the relative position of the traction vehicle and the trailer vehicle is matched with the target relative position information, the first connecting device and the second connecting device can be connected, and the connecting efficiency of the traction vehicle and the trailer vehicle is improved.

Referring to fig. 3A, fig. 3A is a schematic flow chart illustrating another vehicle towing method according to an embodiment of the disclosure. May include the steps of:

301. first relative position information between the towing vehicle and the towing vehicle is determined through communication signals transmitted between the first positioning communication module and the second positioning communication module.

In the embodiment of the present application, determining the first relative position information between the towing vehicle and the towing vehicle through the communication signal transmitted between the first positioning communication module and the second positioning communication module may include, but is not limited to, the following ways:

mode 1, first relative position information between a towing vehicle and a trailer vehicle sent by a second positioning communication module is received by a first positioning communication module.

Mode 2, the first positioning communication module receives the distance information of the first positioning communication module and the second positioning communication module, which is sent by the second positioning communication module, and obtains first relative position information between the towing vehicle and the trailer vehicle according to the distance information.

In this embodiment, the first positioning communication module may include a first positioning communication module, and the first positioning communication module may be any first positioning communication module. The trailer vehicle sends positioning signals to a first positioning communication module of the trailer vehicle through at least three second positioning communication modules, and determines the distance information between the first positioning communication module and each second positioning communication module according to the time interval between each positioning signal and the corresponding reply signal when receiving the reply signal aiming at each positioning signal fed back by the first positioning communication module. In the mode 1, the trailer vehicle can determine first relative position information between the trailer vehicle and the trailer vehicle according to the distance information between the first positioning communication module and each second positioning communication module and the position of each second positioning communication module, and send the first relative position information to any first positioning communication module through any second positioning communication module. In a mode 2, the towing vehicle can send the distance information between the first positioning communication module and each second positioning communication module to any first positioning communication module through any second positioning communication module, and the towing vehicle can determine the first relative position information between the towing vehicle and the towing vehicle according to the distance information between the first positioning communication module and each second positioning communication module and the position of each second positioning communication module. It should be noted that the position of each second positioning communication module may be sent to the first positioning communication module through the second positioning communication module in advance.

Mode 3, sending a positioning signal to a first second positioning communication module through at least three first positioning communication modules, where the first second positioning communication module may be any second positioning communication module, receiving a feedback signal of the first second positioning communication module for each positioning signal, and determining distance information between each first positioning communication module and the first second positioning communication module according to a time interval between each positioning signal and a corresponding feedback signal, and obtaining first relative position information between the towing vehicle and the towing vehicle according to the distance information between each first positioning communication module and the first second positioning communication module.

It can be understood that both the mode 1 and the mode 2 are that the trailer vehicle sends a positioning signal to any first positioning communication module of the trailer vehicle through at least three second positioning communication modules, so as to obtain first relative position information; in the mode 3, the traction vehicle sends a positioning signal to any second positioning communication module of the traction vehicle through at least three first positioning communication modules, so that first relative position information is obtained.

302. And obtaining position indication information according to the first relative position information and the target relative position information, wherein the position indication information is used for indicating that the position of the towing vehicle is adjusted so that the first relative position information is matched with the target relative position information, and the first connecting device and the second connecting device can be connected.

In some embodiments, if the position indication information includes position adjustment information for the towing vehicle, after step 302, the following steps may also be performed: and adjusting the position of the towing vehicle according to the position adjustment information, and controlling the first connecting device to be unfolded to be connected with the second connecting device if the first relative position information is matched with the target relative position information.

It can be understood that the towing vehicle can autonomously adjust its position according to the position adjustment information so that the relative position of the towing vehicle and the towing vehicle matches the target relative position information, and when the relative position of the towing vehicle and the towing vehicle matches the target relative position information, the first connecting device is autonomously controlled to be connected with the second connecting device, so that the connection of the towing vehicle is autonomously completed, and this process is completely free from driver intervention, which is helpful to improve the connection efficiency of the towing vehicle and the towing vehicle.

In some embodiments, if the position indication information includes position adjustment information for the towing vehicle, after step 302, the following steps may also be performed: outputting position adjustment information for reference when a driver of the towing vehicle adjusts the position of the towing vehicle; and if the first relative position information of the traction vehicle and the trailer vehicle after the position adjustment is matched with the target relative position information, outputting first indication information for indicating a driver to connect the first connecting device and the second connecting device.

In some embodiments, the position adjustment information may include, but is not limited to, any one or a combination of a text type, an audio type, and a video type, which is not limited herein. It will be appreciated that if the position adjustment information is of the text and/or video type, the position adjustment information is output via an on-board display screen of the towing vehicle. And if the position adjustment information is of an audio type, outputting the position adjustment information through a vehicle-mounted loudspeaker of the towing vehicle.

It should be noted that, in the process that the driver adjusts the position of the towing vehicle according to the position adjustment information, the towing vehicle may determine the first relative position information between the towing vehicle and the trailer vehicle in real time through the communication signal transmitted between the first positioning communication module and the second positioning communication module until the first relative position information of the towing vehicle and the trailer vehicle is matched with the target relative position information.

In some embodiments, the output mode of the first indication information may include, but is not limited to, any one or a combination of audio, text, and an indication lamp, and the embodiments of the present application are not limited.

It will be appreciated that the adjustment of the position of the towing vehicle and its connection to the towing vehicle is effected by the driver of the towing vehicle, in particular: the driver adjusts the towing vehicle with reference to the outputted position adjustment information so that the relative positions of the towing vehicle and the trailer vehicle match the target relative position information, and outputs first instruction information for instructing a driver to connect the first connecting device and the second connecting device, the driver manually connecting the first connecting device and the second connecting device. This manner of assisting the driver of the towing vehicle in connecting the towing vehicle helps to improve the efficiency of connecting the towing vehicle and the towing vehicle.

In some embodiments, an environmental sensor may be disposed on the towing vehicle, and after step 302, the following steps may be further performed: receiving sensor data collected by an environmental sensor and sent by a second positioning communication module through a first positioning communication module; the sensor data is output.

In some embodiments, the environmental sensors may include, but are not limited to, a reversing camera and/or a reversing radar. In some embodiments, the reversing camera may include, but is not limited to, a monocular camera and/or a binocular camera, and the reversing radar may include, but is not limited to, one or a combination of a multiline laser radar, a millimeter wave radar, and an ultrasonic radar, which is not limited in this application.

In some embodiments, the sensor data may include, but is not limited to, three-dimensional point cloud data and/or image frames, which are not limited to embodiments of the present application. Alternatively, the sensor data may be output via an on-board display screen of the towing vehicle.

It should be noted that, for a towed vehicle, a driver of the towed vehicle cannot usually observe the situation behind the towed vehicle, which causes a great safety hazard to the towed vehicle in operations such as reversing or moving a garage. To solve this problem, in some embodiments, receiving, by the first positioning communication module, sensor data collected by the environmental sensor and sent by the second positioning communication module may include: when a reversing or garage moving instruction for the trailing vehicle is detected, sensor data collected by a reversing camera and/or a reversing radar sent by the second positioning communication module is received through the first positioning communication module. Therefore, when the towed vehicle is subjected to a garage reversing or garage moving operation, the towed vehicle can obtain sensor data acquired by the reversing camera and/or the reversing radar through data interaction of the first positioning communication module and the second positioning communication module, so that a driver of the towed vehicle can observe the situation behind the towed vehicle in real time.

It can be understood that if the environmental sensor is a reversing camera and the sensor data is an image, the image acquired by the reversing camera can be sent to the first positioning communication module of the towing vehicle through the second positioning communication module of the towing vehicle, and then the image is displayed on the vehicle-mounted display screen of the towing vehicle.

In some embodiments, after step 302, the following steps may also be performed: receiving battery information corresponding to the trailer vehicle sent by a second positioning communication module through a first positioning communication module; the battery information comprises at least one of voltage, current, residual electric quantity, battery temperature and charge-discharge state; the battery information is output.

In some embodiments, the output mode of the battery information may include, but is not limited to, a voice output, a text output, or a video output. It is understood that if the output mode of the battery information is text output or video output, the battery information is output through an on-board display screen of the towing vehicle. By implementing this method, the driver of the towing vehicle can be made aware of the battery condition of the towing vehicle in real time.

303. When the target signal lamp of the traction vehicle is detected to be in the working state, a first control instruction aiming at the target signal lamp of the traction vehicle is generated.

In the embodiment of the present application, the target signal lamp may include at least one of a left turn lamp, a right turn lamp, a brake lamp, and a fog lamp;

304. and sending a first control instruction to the second positioning communication module through the first positioning communication module so that the trailer vehicle controls a target signal lamp of the trailer vehicle to work according to the first control instruction.

In some embodiments, after step 304, the following steps may be performed: and if the second indication information sent by the second positioning communication module is not received by the first positioning communication module within the first time length, outputting first warning information indicating that the communication between the towing vehicle and the trailer vehicle is interrupted, wherein the second indication information is used for indicating that a target signal lamp of the trailer vehicle normally works.

Optionally, the output mode of the first warning information may include, but is not limited to, any one or a combination of several of audio, text, and an indicator light, and the embodiment of the present application is not limited.

In the embodiment of the application, when the trailer vehicle receives the first control instruction, the target signal lamp of the trailer vehicle can be controlled to work, and when the target signal lamp of the trailer vehicle is detected to be in a working state, the second positioning communication module sends the second indication information to the first positioning communication module.

In the embodiment of the present application, the first duration may indicate an interval threshold between a sending time of the first control instruction and a receiving time of the second indication information. The first duration may be used to reflect the communication quality of the communication link between the first positioning communication module and the second positioning communication module, that is, if the second indication information sent by the second positioning communication module is not received by the first positioning communication module within the first duration, the communication quality of the communication link between the first positioning communication module and the second positioning communication module is good when the communication quality of the communication link between the first positioning communication module and the second positioning communication module is described to be good, otherwise, the communication quality of the communication link between the first positioning communication module and the second positioning communication module is not good (for example, the first control instruction is lost, and the second positioning communication module is not received). Illustratively, the first duration may be 3s (seconds), 5s, 10s, or the like. It should be noted that the first duration can be obtained by a large number of experiments.

In this embodiment of the application, when the trailer vehicle receives the first control instruction, the target signal lamp of the trailer vehicle may be controlled to operate, and when it is detected that the target signal lamp of the trailer vehicle normally operates, the second positioning communication module sends, to the first positioning communication module, second indication information for indicating that the target signal lamp of the trailer vehicle normally operates, and if the trailer vehicle does not receive the second indication information within the first duration, it is determined that the communication link of the first positioning communication module and the second positioning communication module is interrupted, so as to output first warning information indicating that the communication between the trailer vehicle and the trailer vehicle is interrupted, so that a driver of the trailer vehicle may timely know the problem of the interruption of the communication link, and timely deal with the problem.

It should be noted that, when the target signal lamp of the trailer vehicle is in an operating state, a current flows through the target signal lamp of the trailer vehicle, and a voltage division exists in the sampling resistor for the target signal lamp of the trailer vehicle, therefore, in this embodiment of the present application, the detecting, by the trailer vehicle, whether the target signal lamp of the trailer vehicle is operating normally may include: the trailer vehicle can detect whether partial pressure exists on a sampling resistor corresponding to a target signal lamp of the trailer vehicle, if so, the target signal of the trailer vehicle is in a working state, otherwise, the target signal of the trailer vehicle is in a non-working state.

In some embodiments, after step 304, the following steps may be performed: and if the third indication information sent by the second positioning communication module is received through the first positioning communication module, outputting the third indication information, wherein the third indication information is used for indicating the fault of a target signal lamp of the trailer vehicle.

In this application embodiment, when the trailer vehicle receives first control instruction, can control this target signal lamp of trailer vehicle and carry out work to when detecting that the target signal lamp of trailer vehicle breaks down, can to sending third indicating information to first location communication module through second location communication module, so that the driver of traction vehicle can in time know the trouble problem of the target signal lamp of trailer vehicle, and carry out fault handling.

Optionally, the output mode of the third indication information may include text or voice.

In some embodiments, a second control instruction for the household appliance device on the trailer vehicle may be further sent to the second positioning communication module through the first positioning communication module, so that the trailer vehicle controls the household appliance device of the trailer vehicle to start or stop working according to the second control instruction.

In some embodiments, the home devices of the trailer vehicle may include, but are not limited to, one or more of an air conditioner, a refrigerator, and a television.

Referring to fig. 3B, fig. 3B is a schematic view of another scenario of a vehicle towing method according to an embodiment of the present application, where the scenario may include a towing vehicle 310 and a towing vehicle 320. The towing vehicle 310 includes a first processing unit 3101, an on-vehicle display 3102 connected to the first processing unit 3101, and a first UWB module 3103; the trailer vehicle 320 includes a second processing unit 3201, a signal light unit 3202 connected to the second processing unit 3201, a reverse camera 3203, a reverse radar 3204, a battery 3205, and a second UWB module 3206. It should be noted that the signal light unit 3202 may include, but is not limited to, at least one of a left turn light, a right turn light, a brake light, and a fog light.

The following describes the control flow of the signal lights of the trailer vehicle with reference to fig. 3B: the first processing unit 3101 of the towing vehicle 310 may send a control instruction for the signal light unit 3202 to the second UWB module 3206 through the first UWB module 3103, the second UWB module 3206 sends the control instruction to the second processing unit 3201 of the towing vehicle 320 when receiving the control instruction, and the second processing unit 3201 responds to the control instruction to control a corresponding signal light (e.g., at least one of a left turn light, a right turn light, a brake light, and a fog light) in the signal light unit 3202 to operate.

The following describes a flow of acquiring sensor data of the trailer vehicle with reference to fig. 3B: the second processing unit 3201 of the trailer vehicle 320 may acquire sensor data collected by the reversing camera 3203 and/or the reversing radar 3204 in real time, and transmit the sensor data to the first UWB module 3103 through the second UWB module 3206, the first UWB module 3103 transmits the sensor data to the first processing unit 3101 when receiving the sensor data, and the first processing unit 3101 controls the vehicle-mounted display screen 3102 to output the sensor data.

The following describes the flow of acquiring battery information of the trailer vehicle with reference to fig. 3B: the second processing unit 3201 of the trailer vehicle 320 may acquire battery information corresponding to the battery 3205 in real time and transmit the battery information to the first UWB module 3103 through the second UWB module 3206, the first UWB module 3103 transmits the battery information to the first processing unit 3101 upon receiving the battery information, and the first processing unit 3101 controls the on-vehicle display screen 3102 to output the battery information.

In practice, the technology of European and American countries is mostly used for communication between a towing vehicle and a towing vehicle, and a 7-pin or 13-pin control plug of European and American standards is used for communication between the towing vehicle and the towing vehicle. The 13-pin electric vehicle is introduced by taking the 13-pin connector as an example, the ports of the electric vehicle are integrated with control of signal lamps (such as steering lamps, fog lamps, reversing lamps and position lamps), ACC signals, power and ground signals, the 13-pin control plug is sufficient for general driving functions (controlling the steering lamps, the fog lamps, the reversing lamps, the position lamps, the ACC signals, the power and the ground signals), but if various household appliances, reversing cameras, reversing radars and the like are installed on a trailer vehicle, the control of the various household appliances, the reversing cameras, the reversing radars and the like cannot be realized through the 13-pin control plug, and in order to solve the problem, a communication cable between the trailer vehicle and the trailer vehicle is added for control. Since the 7-pin or 13-pin control plug of the european and american standard also needs to lead out a cable from the towing vehicle to be connected with the towing vehicle, adding a communication cable between the towing vehicle and the towing vehicle makes a wiring harness between the towing vehicle and the towing vehicle very large, and the towing vehicle often need to perform a complicated and tedious wiring process each time the connection is performed. On the other hand, the cable is usually exposed between the towing vehicle and the trailer vehicle, is easily exposed to wind, sunshine, sand and stone, and is easily damaged. By implementing the method, the communication between the traction vehicle and the trailer vehicle is realized by the first positioning communication module and the second positioning communication module, so that the control of signal lamps, ACC signals, power supplies, ground signals, various household appliances, reversing cameras, reversing radars and the like is realized by the first positioning communication module and the second positioning communication module, and thus, the complicated and fussy wiring process is not required to be carried out when the traction vehicle and the trailer vehicle are connected every time, thereby not only being beneficial to further improving the connection efficiency of the traction vehicle and the trailer vehicle, but also being capable of realizing accurate control.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. The electronic device as shown in fig. 4 may be provided in a towing vehicle comprising a first positioning communication module and a first connecting means. The electronic device shown in fig. 4 may include: a positioning module 401 and a determination module 402; wherein:

a positioning module 401, configured to determine first relative position information between the towing vehicle and the towing vehicle according to a communication signal transmitted between the first positioning communication module and a second positioning communication module of the towing vehicle;

a determining module 402, configured to obtain position indication information according to the first relative position information and the target relative position information, where the position indication information is used to indicate that the position of the towing vehicle is to be adjusted, so that the first relative position information and the target relative position information are matched, and the first connecting device and the second connecting device of the towing vehicle are enabled to be connected.

Referring to fig. 5, fig. 5 is a schematic structural diagram of another electronic device disclosed in the embodiment of the present application, where the electronic device shown in fig. 5 is an optimization of the electronic device shown in fig. 4, and the electronic device shown in fig. 5 may include a positioning module 401, a determining module 402, a position adjusting module 403, and a connecting module 404; wherein the position indication information includes position adjustment information for the towing vehicle. It should be noted that, please refer to the description in fig. 4 for the detailed functions of the positioning module 401 and the determining module 402, which are not described herein again.

A position adjusting module 403, configured to adjust the position of the towing vehicle according to the position adjusting information after the determining module 402 obtains the position indication information according to the first relative position information and the target relative position information;

a connection module 404, configured to control the first connection device to expand to connect with the second connection device if it is detected that the first relative position information matches the target relative position information.

In some embodiments, the position adjusting module 403 is further configured to, after the determining module 402 obtains the position indication information according to the first relative position information and the target relative position information, output the position adjustment information for reference when the driver of the towing vehicle adjusts the position of the towing vehicle;

further, the connection module 404 is further configured to output first indication information for indicating the driver to connect the first connection device and the second connection device if the first relative position information of the position-adjusted towing vehicle and the first relative position information of the towing vehicle match the target relative position information.

In some embodiments, the electronic device may further include a first processing module, configured to generate a first control instruction for a target signal lamp of the towing vehicle when detecting that the target signal lamp of the towing vehicle is in an operating state after the determining module 402 obtains the position indication information according to the first relative position information and the target relative position information; the target signal lamp comprises at least one of a left steering lamp, a right steering lamp, a brake lamp and a fog lamp; and sending a first control instruction to the second positioning communication module through the first positioning communication module so that the trailer vehicle controls a target signal lamp of the trailer vehicle to work according to the first control instruction.

In some embodiments, the first processing module is further configured to, after the first control instruction is sent to the second positioning communication module through the first positioning communication module, output first warning information indicating that communication between the towing vehicle and the trailer vehicle is interrupted if second indication information sent by the second positioning communication module is not received through the first positioning communication module within a first time period, where the second indication information is used to indicate that a target signal lamp of the trailer vehicle is operating normally.

In some embodiments, the first processing module is further configured to, after the first positioning communication module sends the first control instruction to the second positioning communication module, if third indication information sent by the second positioning communication module is received by the first positioning communication module, output the third indication information, where the third indication information is used to indicate a fault of a target signal lamp of the trailer vehicle.

In some embodiments, the electronic device may further include a second processing module, configured to receive, by the first positioning communication module, sensor data collected by the environmental sensor and sent by the second positioning communication module, and output the sensor data after the determining module 402 obtains the position indication information according to the first relative position information and the target relative position information.

In some embodiments, the electronic device may further include a third processing module, where the third processing module is configured to receive, by the first positioning communication module, battery information corresponding to the towed vehicle sent by the second positioning communication module after the determining module 402 obtains the position indication information according to the first relative position information and the target relative position information; the battery information includes at least one of voltage, current, remaining capacity, battery temperature and charge/discharge state, and outputs the battery information.

In some embodiments, the first positioning communication module comprises a first UWB communication module and the second positioning communication module comprises a second UWB communication module.

The embodiment of the application discloses traction vehicle, this traction vehicle includes first location communication module and first connecting device, includes: the positioning module is used for determining first relative position information between the traction vehicle and the trailer vehicle through a communication signal transmitted between the first positioning communication module and a second positioning communication module of the trailer vehicle; and the determining module is used for obtaining position indication information according to the first relative position information and the target relative position information, and the position indication information is used for indicating the adjustment of the position of the towing vehicle so as to enable the first relative position information to be matched with the target relative position information and enable the first connecting device to be connected with the second connecting device of the towing vehicle.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a towing vehicle according to an embodiment of the present application. The method can comprise the following steps:

a memory 601 in which executable program code is stored;

and a processor 602 to which the memory 601 is coupled;

the processor 602 invokes executable program code stored in the memory 601, which when executed by the processor 602, causes the processor 602 to implement a vehicle pull method as disclosed in embodiments of the present application.

The embodiment of the application discloses a computer readable storage medium which stores a computer program, wherein the computer program is used for realizing the vehicle dragging method disclosed by the embodiment of the application when being executed by a processor.

Embodiments of the present application disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is executable by a processor to implement a vehicle towing method as disclosed in embodiments of the present application.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the vehicle towing method disclosed in the embodiments of the present application. The storage medium may be a magnetic disk, an optical disk, a ROM, etc.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.

The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

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Vehicle towing method, electronic device, towing vehicle and storage medium

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