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CN-121989941-A - Method and device for hooking vehicle towing hook, storage medium and electronic device

CN121989941ACN 121989941 ACN121989941 ACN 121989941ACN-121989941-A

Abstract

The invention provides a method and a device for hooking a vehicle towing hook, a storage medium and an electronic device, wherein the method comprises the steps of collecting environment information of a towing hook operation area at the tail of the vehicle, identifying position information of a target hooking point of the towing hook according to the environment information, determining a target reversing path from a towing hook unfolding point to the target hooking point according to the position information, wherein the towing hook unfolding point is a connecting point after the towing hook is unfolded, controlling the vehicle reversing to move the towing hook unfolding point to the target hooking point based on the target reversing path, and controlling the vehicle to unfold the towing hook to hook a towed vehicle. Through this embodiment, solved the technical problem that the alignment efficiency of towing pintle and articulation point is low among the prior art, through environmental perception and intelligent counterpoint guide, reduce manual operation, show the reduction trailer articulates the degree of difficulty.

Inventors

  • LIU CHUN
  • XIANG WEI
  • TAO LIGANG

Assignees

  • 重庆长安汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20260330

Claims (10)

  1. 1. A method of hitching a towing hitch for a vehicle, comprising: collecting environmental information of a towing hook operation area at the tail part of a vehicle; Identifying position information of a target hitch point of the towing hook according to the environment information; Determining a target reversing path from a tow hook unfolding point to the target hanging point according to the position information, wherein the tow hook unfolding point is a connection point after the tow hook is unfolded; controlling the vehicle to reverse based on the target reverse path to move the tow hook deployment point to the target hitch point; controlling the vehicle to unfold the towing hook so as to hang the towed vehicle.
  2. 2. The method of claim 1, wherein controlling the vehicle to reverse based on the target reverse path to move the tow hook deployment point to the target hitch point comprises: dividing the target reversing path into a first path and a second path which are continuous, wherein the distance between the second path and the target hanging point is smaller than a preset distance; Selecting a dynamic look-ahead point on the first path in real time according to a period; calculating a steering angle of the vehicle for moving the tow hook unfolding point to the dynamic forward looking point according to a vehicle kinematic model; determining a first target reversing speed, and controlling the vehicle to move the tow hook unfolding point to the starting point of the second path according to the first target reversing speed and the steering angle; and determining a second target reversing speed, and controlling the vehicle to move the tow hook unfolding point from the starting point to the ending point of the second path according to the second target reversing speed, wherein the ending point is the coincidence point of the center of the tow hook unfolding point and the circle center of the target hanging point.
  3. 3. The method of claim 2, wherein determining a second target reverse vehicle speed, and controlling the vehicle to move the tow hook deployment point from a start point to a final point of the second path in accordance with the second target reverse vehicle speed comprises: Acquiring a first echo signal acquired by a first ultrasonic probe at the tail of the vehicle in real time, and acquiring a second echo signal acquired by a second ultrasonic probe at the tail of the vehicle in real time, wherein the first ultrasonic probe and the second ultrasonic probe are respectively arranged at two sides of the towing hook; Calculating an echo time difference between the first echo signal and the second echo signal; Correcting an alignment error between the tow hook unfolding point and a target hanging point on the second path based on the echo time differential state to obtain a corrected path; and controlling the vehicle to move from the starting point to the final end point along the modified path according to the second target reversing speed.
  4. 4. The method of claim 1, wherein the environmental information comprises an environmental image, and identifying location information of a target hitch point of the hitch based on the environmental information comprises: Identifying the geometric features of the hanging points of the target hanging points of the towing hooks according to the environment image; Outputting a target bounding box of the target hanging point based on the hanging point geometric feature; And converting the target boundary box into three-dimensional coordinates of a camera coordinate system, and determining the three-dimensional coordinates as the position information of the target hanging point.
  5. 5. The method of claim 4, wherein converting the target bounding box into three-dimensional coordinates of a camera coordinate system comprises: extracting pixel point coordinates of the target boundary box in an image coordinate system; determining a camera internal reference matrix of a tail camera of the vehicle, wherein the tail camera is used for acquiring the environment image; And converting the pixel point coordinates into three-dimensional coordinates of a camera coordinate system of the tail camera based on the camera internal reference matrix.
  6. 6. The method of claim 1, wherein determining a target reverse path between a tow hook deployment point to the target hitch point based on the position information comprises: establishing a rectangular coordinate system by taking the center of a rear axle of the vehicle as an origin; determining a yaw deviation between a heading angle of the vehicle and a tangent to the target hitch point in the rectangular coordinate system; and generating a target reversing path between the tow hook unfolding point and the target hanging point based on the yaw deviation fitting.
  7. 7. The method of claim 1, wherein after controlling the vehicle to deploy the tow hook, the method further comprises: Controlling the vehicle to enter a traction mode and limiting the maximum speed of the vehicle; continuously monitoring whether an obstacle appears in the towing hook operation area in the towing mode; And if the obstacle in the towing hook operation area is monitored, controlling the vehicle to stop the traction mode, and outputting safety prompt information.
  8. 8. A hitch device for a vehicle hitch, comprising: the acquisition module is used for acquiring environmental information of a towing hook operation area at the tail of the vehicle; the identification module is used for identifying the position information of the target hanging point of the towing hook according to the environment information; the calculation module is used for determining a target reversing path between a tow hook unfolding point and the target hanging point according to the position information, wherein the tow hook unfolding point is a connection point of the tow hook after being unfolded; The control module is used for controlling the vehicle to reverse based on the target reversing path so as to move the towing hook unfolding point to the target hanging point, and controlling the vehicle to unfold the towing hook so as to hang the towed vehicle.
  9. 9. A storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method of any of claims 1 to 7 when run.
  10. 10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of claims 1 to 7.

Description

Method and device for hooking vehicle towing hook, storage medium and electronic device Technical Field The invention relates to the technical field of vehicles, in particular to a method and a device for hooking a vehicle towing hook, a storage medium and an electronic device. Background In the related art, along with the multifunctionalization of automobiles and the continuous expansion of outdoor and trailer use scenes, the towing hooks are widely applied to the scenes of traction, trailers, hanging baskets, bicycle frames, emergency rescue and the like of the motor home. The existing vehicle towing hook mainly comprises a fixed towing hook, a manually detachable towing hook and an electric telescopic towing hook. In the prior art, the electric towing hook usually only realizes simple motor drive extension or retraction, the control logic of the electric towing hook depends on manual observation and operation of a driver, and the electric towing hook has the obvious defects that the environment perception capability is lacking, the environment at the tail of a vehicle and the position state of an articulated object cannot be perceived by the existing electric towing hook system, the driver needs to confirm through a rearview mirror or a get-off, the operation efficiency is low, and the safety is insufficient at night, in rainy and snowy or in a narrow space. The alignment accuracy depends on manual experience, namely the alignment of the towing hook and the towing device completely depends on the reversing experience of a driver, so that the problems of alignment failure and repeated adjustment exist, and the damage to the towing hook, the bumper or the hung object is easy to cause. The system is isolated and not cooperated with the whole vehicle control, wherein a plurality of towing hook systems exist as independent components and are not cooperated with the whole vehicle controller, an auxiliary driving system or a vehicle-mounted communication network, so that state linkage, risk early warning and function expansion can not be realized. The safety control means is single, and the existing towing hook system lacks an active recognition and processing mechanism for abnormal working conditions (such as personnel approach, obstacle invasion, coupling failure and the like) and has potential safety hazards. In view of the above problems in the related art, an efficient and accurate solution has not been found. Disclosure of Invention The invention provides a method and a device for hooking a vehicle towing hook, a storage medium and an electronic device, and aims to solve the technical problems in the related art. According to one embodiment of the invention, a hitching method of a vehicle hitch is provided, and the hitching method comprises the steps of collecting environment information of a vehicle tail hitch operation area, identifying position information of a target hitching point of a hitch according to the environment information, determining a target reversing path between a hitch unfolding point and the target hitching point according to the position information, wherein the hitch unfolding point is a connection point after the hitch is unfolded, controlling the vehicle to reverse according to the target reversing path so as to move the hitch unfolding point to the target hitching point, and controlling the vehicle to unfold the hitch so as to hitch the towed vehicle. Optionally, the environment information comprises an environment image, and the identification of the position information of the target hitch point of the towing hook according to the environment information comprises the identification of the hitch point geometric feature of the target hitch point of the towing hook according to the environment image, the output of the target boundary frame of the target hitch point based on the hitch point geometric feature, the conversion of the target boundary frame into the three-dimensional coordinate of a camera coordinate system, and the determination of the three-dimensional coordinate as the position information of the target hitch point. Optionally, converting the target bounding box into three-dimensional coordinates of a camera coordinate system comprises extracting pixel point coordinates of the target bounding box in an image coordinate system, determining a camera internal reference matrix of a tail camera of the vehicle, wherein the tail camera is used for collecting the environment image, and converting the pixel point coordinates into three-dimensional coordinates of the camera coordinate system of the tail camera based on the camera internal reference matrix. Optionally, determining the target reversing path between the tow hook unfolding point and the target hanging point according to the position information comprises the steps of establishing a rectangular coordinate system by taking the center of a rear axle of the vehicle as an origin, determining yaw deviation between a co