Control method and device for electric back door and vehicle

Abstract

The invention relates to the technical field of automobiles, and particularly discloses an electric back door control method and device and a vehicle. The method comprises the steps that it is determined that a target vehicle is in a traction state, and the target vehicle is a traction vehicle; acquiring current traction working condition data corresponding to the target vehicle; based on the current traction working condition data, opening parameters of the electric back door are determined, and the opening parameters comprise at least one of an anti-pinch force threshold value, braking response time, the opening speed of the back door and the opening degree of the back door; and based on the opening parameters, the electric back door is controlled to be opened. By collecting the traction working condition data of the traction vehicle under different working conditions, the opening parameters of the electric back door of the traction vehicle are determined by using different methods, so that the opening of the electric back door is controlled, and the function safety and the user experience in the traction state are balanced.

Description

Technical Field

[0001] This application relates to the field of automotive technologies, and in particular, to a control method, device, and vehicle for an electric rear door. Background Art

[0002] In the prior art, when a towing vehicle is recognized as being hitched to a trailer, the vehicle control system usually adopts a relatively conservative safety strategy. The towing vehicle will immediately cut off the triggering channels of the electric rear door, including the remote key signal, the physical button on the center console, the foot-kick induction module, etc. In a more conservative implementation, the in-vehicle system will even completely lock the power supply of the drive motor of the electric rear door, making the electric rear door unable to be mechanically opened.

[0003] Although this safety strategy can prevent potential safety hazards caused by the accidental opening of the rear door during driving and avoid mechanical interference between the rear door and the trailer device, in actual use scenarios, when users need to take or place items from the trunk of the towing vehicle in the state of being hitched to a trailer (such as checking the tools carried with the vehicle, loading and unloading small goods, or storing and retrieving travel items), they are forced to adopt complex emergency opening mechanisms or are completely unable to operate. Especially in professional scenarios such as cold chain transportation and field operations, operators often need to frequently access the trunk equipment. The function design of forcibly disabling the rear door in the prior art seriously reduces work efficiency and fails to perform differential control according to the actual situation, resulting in a poor user experience.

[0004] Therefore, how to provide a control strategy for an electric rear door that can balance functional safety and user experience has become an urgent technical problem for those skilled in the art. Summary of the Invention

[0005] In view of the above problems, the present disclosure provides a control method, device, and vehicle for an electric rear door that overcome or at least partially solve the above problems, and the technical solutions are as follows:

[0006] A control method for an electric rear door, characterized by comprising: determining that the target vehicle is in a towing state and the target vehicle is a towing vehicle; obtaining the current towing working condition data corresponding to the target vehicle; based on the current towing working condition data, determining the opening parameters of the electric rear door, where the opening parameters include at least one of an anti-pinch force threshold, a braking response time, a rear door opening speed, and a rear door opening degree; and controlling the opening of the electric rear door based on the opening parameters.

[0007] By obtaining the current towing working condition data of the target vehicle and determining the opening parameters of the electric rear door during towing of the target vehicle, the electric rear door opening request of the user can be responded to in different working conditions and different target vehicle types, and functional safety and user experience can be balanced during the opening process of the electric rear door.

[0008] Optionally, the current towing working condition data includes a first distance time series data set between the power back door and objects within a preset range, and an expected opening degree input by the user; determining the opening parameter of the power back door based on the current towing working condition data specifically includes: determining the actual openable opening degree of the power back door based on the first distance time series data set; determining whether the power back door of the target vehicle meets the opening condition based on the actual openable opening degree and the expected opening degree; if the power back door does not meet the opening condition, inform the user that the power back door does not meet the opening condition.

[0009] Before performing the power back door opening action, first determining whether the power back door meets the opening condition under the current towing working condition can prevent the power back door from rubbing against obstacles or the situation where the user cannot normally access items. At the same time, it also avoids the situation where if the actual openable opening degree is very small but the power back door is still opened, resulting in a short acceleration path when the user closes the power back door, and then the power back door is not closed tightly, thus causing other problems.

[0010] Optionally, determining the opening parameter of the power back door based on the current towing working condition data specifically includes: confirming that both the target vehicle and the towed vehicle remain stationary within a preset time period; determining the opening parameter of the power back door based on the current towing working condition data; storing the opening parameter in a preset control module of the target vehicle; controlling the power back door to open based on the opening parameter specifically includes: receiving a back door opening instruction from the user and confirming that the target vehicle is in a stationary state; obtaining the opening parameter from the preset control module and controlling the power back door to open based on the opening parameter.

[0011] After the target vehicle and the towed vehicle stop, the opening parameter of the power back door of the target vehicle at the current moment can be immediately calculated and the opening parameter can be stored in advance in the preset control module. Thus, after the user sends a back door opening instruction, the power back door opening action can be executed immediately to improve the user experience. At the same time, it also avoids the situation where calculating the opening parameter of the power back door takes too long due to insufficient computing resources of the target vehicle, resulting in a poor user experience.

[0012] Optionally, the current towing condition data includes the vehicle type of the currently towed vehicle; determining the opening parameter of the electric rear door based on the current towing condition data specifically includes: determining the reference towed vehicle of the currently towed vehicle; obtaining the reference opening parameter corresponding to the reference towed vehicle and the historical towing condition data corresponding to the reference opening parameter; and determining the opening parameter of the electric rear door based on the reference opening parameter, the historical towing condition data, and the current towing condition data.

[0013] By determining a reference towed vehicle with the same vehicle type as the currently towed vehicle, the historical towing condition data and the corresponding reference opening parameter of the reference towed vehicle can be used as a reference for the currently towed vehicle, thereby reducing the calculation amount of the target vehicle under the current towing condition data and ensuring the timeliness of the electric rear door opening process.

[0014] Optionally, the reference towed vehicle includes a historical towed vehicle and a calibrated towed vehicle; determining the reference towed vehicle of the currently towed vehicle specifically includes: obtaining the current towed vehicle parameter of the currently towed vehicle; determining the parameter similarity between each optional towed vehicle and the currently towed vehicle in a preset towed vehicle database based on the current towed vehicle parameter; and using the optional towed vehicle with the parameter similarity higher than a preset threshold as the reference towed vehicle.

[0015] By calibrating different types of towed vehicles under different working conditions in advance, the opening parameters of the electric rear door corresponding to the target vehicle under different working conditions and different towed vehicles can be determined in advance. By calculating the parameter similarity between each optional towed vehicle and the currently towed vehicle, the reference towed vehicle that best matches the current towing condition data can be determined, thereby improving the accuracy of the reference opening parameter of the reference towed vehicle for the current electric rear door opening task and further enhancing the safety of the electric rear door opening process.

[0016] Optionally, after determining the reference towed vehicle of the currently towed vehicle, the method further includes: determining a current recommended angle range based on the current towing condition data, the reference opening parameter, and the historical towing condition data; and sending the current recommended angle range to the user to prompt the user to make the angle between the target vehicle and the currently towed vehicle within the current recommended angle range when parking.

[0017] After determining the reference towed vehicle, based on the historical towing operation data of the reference towed vehicle, determine the reference opening degree of the electric tailgate and the angular relationship between the target vehicle and the reference towed vehicle. Furthermore, determine the recommended angle corresponding to the current towing operation data, so as to facilitate the user to clarify the relationship between the angle between the target vehicle and the towed vehicle and the opening degree of the electric tailgate, prompting the user to pay attention to the included angle between the target vehicle and the towed vehicle when parking, thereby improving the opening speed and safety of the electric tailgate.

[0018] Optionally, controlling the opening of the electric tailgate based on the opening parameter specifically includes: obtaining, through a preset sensor, a time series data set of the positions of obstacles within a preset range of the electric tailgate during the opening process of the electric tailgate; determining predicted obstacle position data corresponding to a future time point based on the time series data set of the positions of obstacles; and during the opening process of the electric tailgate, correcting the opening parameter based on the predicted obstacle position data corresponding to the future time point and the opening path of the electric tailgate.

[0019] By continuously obtaining the time series data of the positions of obstacles within the preset range of the electric tailgate during the opening process of the electric tailgate, it is possible to predict the movement trajectory of the obstacles during the opening process of the electric tailgate, and then correct the opening parameter of the electric tailgate to prevent the electric tailgate from colliding with continuously moving obstacles during the opening process, improving the safety during the opening process of the electric tailgate.

[0020] Optionally, the current towing operation data includes a time series data set of the distances between a preset target and the electric tailgate within a preset time period; the preset target includes the signal source for issuing the electric tailgate opening instruction and the target user; determining the opening parameter of the electric tailgate based on the current towing operation data specifically includes: determining the reserved time for the opening of the electric tailgate based on the time series data set of the distances and the preset time period; and modifying the opening speed of the electric tailgate based on the reserved time.

[0021] After receiving the electric tailgate opening instruction, by determining the distance between the electric tailgate and the preset target, correct the opening speed of the electric tailgate, so that the opening speed of the electric tailgate is related to the distance between the user and the electric tailgate. When the user is far from the electric tailgate, the electric tailgate can be slowly opened to avoid accidents caused by too fast an opening speed when the electric tailgate does not need to be opened quickly, thereby improving the safety when the electric tailgate is opened.

[0022] The present application also provides a control device for an electric rear door, including: a state determination module, which determines that the target vehicle is in a towing state and the target vehicle is a towing vehicle; a data acquisition module, which acquires the current towing condition data corresponding to the target vehicle; a parameter determination module, which determines the opening parameters of the electric rear door based on the current towing condition data, and the opening parameters include at least one of an anti-pinch force threshold, a braking response time, a rear door opening speed, and a rear door opening degree; and a rear door control module, which controls the opening of the electric rear door based on the opening parameters.

[0023] The present application also provides a vehicle, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to: determine that the target vehicle is in a towing state and the target vehicle is a towing vehicle; acquire the current towing condition data corresponding to the target vehicle; determine the opening parameters of the electric rear door based on the current towing condition data, and the opening parameters include at least one of an anti-pinch force threshold, a braking response time, a rear door opening speed, and a rear door opening degree; and control the opening of the electric rear door based on the opening parameters.

[0024] By means of the above technical solutions, a vehicle control method, device, computer-readable storage medium and vehicle provided by the present disclosure are applied to a vehicle. By acquiring the current towing condition data of the target vehicle, the opening parameters of the electric rear door during the towing process of the target vehicle are determined, so that the opening request of the electric rear door of the user can be responded to under different working conditions and different target vehicle types, and the functional safety and user experience are balanced during the opening process of the electric rear door.

[0025] The above description is only an overview of the technical solutions of the present disclosure. In order to be able to understand the technical means of the present disclosure more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present disclosure more obvious and understandable, the following specifically illustrates the specific embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present disclosure. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0027] Figure 1 A flowchart showing a control method for an electric rear door provided by an embodiment of the present application is shown;

[0028] Figure 2 A schematic structural diagram of a control device for an electric tailgate provided in an embodiment of the present application is shown;

[0029] Figure 3 A structural schematic diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. The technical solutions provided by the various embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0031] In existing technology, when a tractor detects a trailer, the vehicle control system typically adopts a more conservative safety strategy, immediately shutting off the power tailgate triggering channels, including the remote key signal, the physical button on the center console, and the kick sensor module. In even more conservative implementations, the vehicle control system may even completely lock the power supply to the power tailgate's drive motor, preventing it from mechanically opening.

[0032] While this safety strategy can prevent the potential safety hazards caused by the tailgate opening accidentally during driving and avoid mechanical interference between the tailgate and the trailer, in actual use, when users need to access items from the trunk of the towing vehicle (such as checking onboard tools, loading and unloading small cargo, or storing travel items) while the trailer is attached, they are forced to use complex emergency opening mechanisms or are completely unable to operate. This is especially true in professional scenarios such as cold chain transportation and field operations, where operators often need to frequently access equipment in the trunk. The existing technology's forced disabling of the tailgate function severely reduces work efficiency and fails to provide differentiated control based on actual conditions, resulting in a poor user experience.

[0033] Figure 1 This is a flow chart of a method for controlling a power tailgate provided in accordance with one or more embodiments of this specification. This method can be applied to controlling the opening of a towing vehicle's tailgate during towing. The process can be executed by a computing device in the relevant field (e.g., a mobile terminal installed in the towing vehicle, a server installed in the cloud, or a user's handheld mobile terminal). Certain input parameters or intermediate results in the process can be manually adjusted to help improve accuracy.

[0034] The analysis methods described in the embodiments of this application may be implemented on a terminal device or a server, and this application does not impose any specific restrictions on this. It should be noted that the server may be a single device or a system composed of multiple devices, i.e., a distributed server, and this application does not impose any specific restrictions on this. For ease of understanding and description, the following embodiments are described in detail using a mobile terminal installed in a towing vehicle as an example.

[0035] like Figure 1 As shown, the embodiment of the present application provides a method for controlling an electric tailgate, comprising:

[0036] S101: Determine that a target vehicle is in a towing state and the target vehicle is a towing vehicle.

[0037] First, determine that the target vehicle is a towing vehicle in a towing state, where the towing state means that the target vehicle is towing other vehicles or carriages. This method is a method for controlling an electric tailgate, so the target vehicle here is a vehicle with an electric tailgate. Common towing scenarios may be a private vehicle towing a carriage with a trailer hook, where the carriage has a living function or a storage function, or an off-road vehicle towing a stuck vehicle out of trouble with a trailer hook. The target vehicles in this application include but are not limited to private vehicles and off-road vehicles with trailer hooks. A towing vehicle refers to a vehicle used to provide power in a towing state, such as a private vehicle and an off-road vehicle in the above-mentioned towing scenario. Exemplarily, whether it is in a towing state can be determined by the electrical connection status of the trailer or the self-detection of the rearview camera.

[0038] S102: Acquire current traction operating condition data corresponding to the target vehicle.

[0039] When the target vehicle is in towing mode and the trunk of the towing vehicle is to be opened, the current towing condition data of the target vehicle must be obtained to balance functional safety and user experience. This data can then be used to determine the optimal control strategy for the power tailgate. This current towing condition data can include obstacle location data collected by sensors and current vehicle speed data obtained by the vehicle computer.

[0040] S103: Determine the opening parameters of the electric tailgate based on the current traction operating condition data.

[0041] After obtaining the current traction condition data corresponding to the target vehicle, the power tailgate opening parameters can be determined based on the current traction condition data. Specifically, the opening parameters include anti-pinch force threshold, brake response time, tailgate opening speed, and tailgate opening degree.

[0042] S104: Control the power rear door to open based on the opening parameter.

[0043] After obtaining the opening parameter, the in-vehicle computer can control the opening of the power rear door based on the opening parameter. In the specific implementation process, the in-vehicle computer sends an instruction to the Body Control Module (BCM) or a dedicated trunk control module through a vehicle network (such as CAN bus, LIN bus). Then the BCM confirms the legality of the instruction (such as preventing accidental touch or illegal operation). Then the BCM sends a current signal to the power strut motor to drive the strut to unfold, and at the same time may control the trunk locking mechanism to unlock.

[0044] In the first embodiment, when determining the opening parameter of the power rear door through the current towing working condition data, the target vehicle can determine whether it is in a towing state by means of the trailer electrical connection status or the self-detection of the rearview camera. If it is detected that a towed vehicle is attached, the door control system automatically activates the trailer mode function of the power rear door. At this time, the safety opening of the power rear door can be realized through the sensor monitoring during the opening process of the rear door and the improvement of the anti-pinch sensitivity.

[0045] Furthermore, since the best ranging distance of the ultrasonic radar is 0 - 2m and the ranging accuracy is ±2cm, which meets the scenario application of the power rear door, the ultrasonic radar is selected here as the sensor to obtain the distance data between the power rear door and various objects to illustrate the overall solution. The following is the installation position and function description of an ultrasonic radar: First, an ultrasonic radar is respectively arranged on both sides of the lower edge of the door frame of the power rear door, and its corresponding coverage area is the horizontal area directly behind the door body (for example, the coverage distance can be 0.3 - 2 meters), and the installation angle can be set to be inclined downward horizontally by 10°, mainly used to monitor the obstacles behind the power rear door. Secondly, an ultrasonic radar is arranged in the center of the top of the door body of the power rear door, and its corresponding coverage area is the vertical area above the door body (for example, the coverage distance can be 0 - 1.5 meters), and the installation angle can be set to be inclined upward vertically by 15°, mainly used for the power rear door to prevent collision with the garage door and the ceiling. Two ultrasonic radars can also be respectively arranged on the left and right side edges of the door body of the power rear door, and their corresponding coverage areas are the fan-shaped areas on both sides of the door body (for example, the coverage distance can be 0.2 - 1 meter), and the installation angle can be set to deflect outward by 30°, used to prevent rubbing against the columns and walls.

[0046] During the opening process of the power rear door, the ultrasonic radar continuously monitors whether there are obstacles on the movement path of the power rear door. If there are obstacles, the power rear door stops at a preset distance (such as 3 cm) from the obstacle and the buzzer sounds (such as 3 times) to inform the user. Further, due to the limited detection accuracy of the ultrasonic radar and its susceptibility to factors such as environmental temperature, humidity, the material and shape of the obstacle, some preventive measures can be added: the anti-pinch force threshold is reduced from the conventional 100 N to 70 N (to improve sensitivity). Even if there is a misidentification by the ultrasonic radar, the degree of damage caused by a collision can be reduced. At the same time, the response time of the emergency braking can be shortened from the conventional 100 ms to 80 ms to compensate for the detection error of the ultrasonic radar. Finally, the opening speed of the power rear door can also be adjusted: when it is detected that a towed vehicle is attached behind the target vehicle, the opening speed of the power rear door is reduced to 0.05 - 0.08 m / s, so that when there is a risk of collision, the power rear door can be braked as soon as possible to reduce the probability of a collision.

[0047] In the second embodiment, if a sensor is provided at the rear of the target vehicle, before opening the power rear door, it can be determined whether the power rear door can be opened and whether the opening degree of the power rear door can reach the user's expectation. It can be understood that if the user's expectation cannot be met, even if the power rear door is opened, the user cannot normally access items from the target trunk. Therefore, when sending the rear door opening command, the user can also synchronously send their expected opening degree. When sending the expected opening degree, a voice command can be sent to the vehicle computer, and the vehicle computer can identify the voice command to determine the expected opening degree. The preset opening degree of the power rear door previously set on the vehicle computer can also be used as the expected opening degree.

[0048] The above voice commands can be commands such as "I hope to take out the suitcase from the trunk" and "I hope the trunk opens by 50%". The control logic for parsing the above voice commands can be stored in the vehicle computer in advance, so that after the user sends the above voice commands, the user's intention can be determined based on the keywords in the voice command, and the corresponding expected opening degree can be output.

[0049] In one embodiment, sensors can also be provided in the trunk of the target vehicle to determine the type and volume of the objects in the trunk. The sensors can be infrared sensors or vision sensors. By collecting the data of the objects in the trunk through the sensors, information such as the height of the objects in the trunk, the remaining space, and the volume of the objects can be determined, so as to determine the user's expected opening degree. It can be understood that when the stacking height of the items in the trunk is relatively high, the items can only be accessed when the opening degree of the power rear door is relatively large. Therefore, when the remaining space is small, the object height is high, and the object volume is large, the expected opening degree automatically generated by the vehicle computer is large.

[0050] In one embodiment, when the user sends a rear door opening instruction, the current speed of the target vehicle also needs to be obtained through the in-vehicle computer. Only when the current speed of the target vehicle is lower than a preset threshold or the current speed is zero can the rear door opening instruction be executed to prevent the electric trunk from being opened due to accidental touch by the user during high-speed driving of the target vehicle, resulting in dangerous accidents.

[0051] After obtaining the expected opening degree and when the current speed of the target vehicle meets the electric rear door opening condition, at this time, the first distance time series data set between the electric rear door and each object within the preset range can be obtained through the sensor set at the rear of the target vehicle. According to the first distance time series data set, the actual openable degree of the electric rear door can be determined, and by comparing the size of the actual openable degree and the expected opening degree, it can be judged whether the electric rear door of the target vehicle meets the opening condition. After meeting the opening condition, the electric rear door can be controlled to open according to the rear door opening instruction.

[0052] The actual openable degree here refers to the maximum opening degree that the electric rear door can reach according to the current first distance time series data set. In the above solution, when determining the actual openable degree of the electric rear door according to the first distance time series data set, the obstacle range corresponding to the first distance time series data set can be compared with the electric rear door opening path corresponding to the electric rear door of the target vehicle at different opening degrees, so as to obtain the actual openable degree of the electric rear door. This technology is a mature existing technology in the fields of robot sensors, etc., and will not be elaborated here.

[0053] When judging whether the electric rear door meets the opening condition, the size relationship between the actual openable degree and the expected opening degree of the electric rear door can be compared first. If the actual openable degree is greater than the expected opening degree, the opening degree difference between the actual openable degree and the expected opening degree can be determined. If the above opening degree difference is higher than the preset difference, it means that after opening the electric rear door at this time, the user can take and place the items they want from the trunk. At this time, the electric rear door meets the opening condition, and the electric rear door can be controlled to open based on the rear door opening instruction. It can be understood that if the electric rear door does not meet the opening condition, for example, there are obstacles in the relatively close range of the electric rear door, resulting in the electric rear door can only be opened to a small degree. At this time, if the electric rear door opening action is still executed, not only can the user not access the items normally, but also it is easy to cause a collision accident between the electric rear door and the obstacles. At the same time, if the actual openable degree is very small but the electric rear door is still opened, it is also easy to cause a short acceleration path when the user closes the electric rear door, resulting in the electric rear door not being closed tightly, thus causing other problems.

[0054] In one embodiment, after the vehicle stops or shuts down, to improve the user experience, the opening parameters of the electric tailgate can be calculated in advance and stored in a preset control module, so that after the user sends a tailgate opening instruction, the tailgate opening instruction can be responded to more quickly to improve the user experience. The preset control module here can be the Hydraulic Electronic Control Unit (HCU) or the Electronic Control Unit (ECU) of the target vehicle. Specifically, if it is determined that the engine of the target vehicle is in the shutdown state or the stop state, the opening parameters are stored in the preset control module of the target vehicle. And when controlling the electric tailgate to open based on the opening parameters, after receiving the tailgate opening instruction from the user, it is confirmed that the engine of the target vehicle is in the shutdown state; the opening parameters are obtained from the preset control module, and the electric tailgate is controlled to open based on the opening parameters.

[0055] The complete process of the above embodiment is described here: After the user parks the vehicle and shuts down the target vehicle, the user leaves the target vehicle to handle other things, such as having a meal. At this time, the target vehicle will calculate the current opening parameters and store the opening parameters in the HCU of the target vehicle. During the period when the user is handling things, the vehicle computer will recalculate the opening parameters at preset intervals (such as five minutes) and update them to the HCU together with the timestamp. After the user finishes handling things, the user returns to the vicinity of the target vehicle and remotely initiates a tailgate opening instruction by means of a mobile phone or a car key under the condition that the vehicle is not ignited. At this time, the vehicle computer can directly and quickly read the stored opening parameters from the HCU, and select the latest opening parameters from among the numerous opening parameters based on the timestamp as the reference opening parameters at this time. Then, the electric tailgate is controlled to open according to the reference opening parameters, thereby reducing the response time, so that the vehicle computer can execute the tailgate opening instruction immediately after receiving the tailgate opening instruction, reducing the time spent on calculation at this time. During the process of controlling the opening of the electric tailgate according to the reference opening parameters, it is still necessary to continuously obtain the distance between the electric tailgate and the obstacle in real time according to the sensor, so as to correct the reference opening parameters. During the correction process, the electric tailgate can be controlled according to the reference opening parameters.

[0056] In one embodiment, when the target vehicle is towing, in most cases, only a few towed vehicles will correspond to the same target vehicle. At this time, when the target vehicle first tows a certain towed vehicle, the information of the towed vehicle can be set and stored. The information of the towed vehicle here can be the type of the towed vehicle, the name of the towed vehicle, and the space occupied by the front of the towed vehicle. After the user sets the information of the towed vehicle, the information of the towed vehicle can be stored, and during the continuous towing state, the opening parameters of the electric tailgate and the towing condition data at the corresponding moment can be stored. When the target vehicle tows the towed vehicle again, the opening parameters corresponding to the target vehicle at the current moment can be determined based on the pre-stored historical towing condition data and the reference opening parameters, and the electric tailgate of the target vehicle can be controlled to open based on the opening parameters at the current moment. By pre-storing the vehicle parameters corresponding to the towed vehicle and information such as the reference opening parameters, it is possible to shorten the time to model the towed vehicle again or obtain the obstacle distance corresponding to the towed vehicle under the current towing condition data after receiving the tailgate opening instruction.

[0057] Specifically, the above process can be described as follows: Determine the reference towed vehicle of the current towed vehicle, and obtain the reference opening parameters corresponding to the reference towed vehicle and the historical towing condition data corresponding to the reference opening parameters. Then, based on the reference opening parameters, the historical towing condition data, and the current towing condition data, the opening parameters of the electric tailgate can be determined. The reference towed vehicle here includes both the towed vehicles towed by the target vehicle and the calibration towed vehicles used when calibrating the data in advance.

[0058] Here, an explanation of the calibration towed vehicle is given: When calibrating in advance, the calibration personnel will test the opening parameters of the electric tailgate under specific towing conditions and pre-store the test results in a preset towed vehicle database. When calibrating, on the premise of knowing the type of the target vehicle and the length of the towing hook, it is necessary to consider the angle between the towing hook of the target vehicle and the tow hitch of the towed vehicle (which can be understood as the axis angle between the towing vehicle and the towed vehicle), the length of the tow hitch, and the vehicle type of the towed vehicle. The vehicle type of the towed vehicle here is mainly used to determine the obstacle position data corresponding to the front of the towed vehicle, that is, for different towed vehicles, the shape and the space occupied by the area adjacent to the electric tailgate of the towing vehicle are different.

[0059] Specifically, when determining the reference towed vehicle of the current towed vehicle, the current towed vehicle parameters of the current towed vehicle can be obtained, and based on the current towed vehicle parameters, the parameter similarity between each optional towed vehicle and the current towed vehicle can be determined in the preset towed vehicle database. Finally, the optional towed vehicle with a parameter similarity higher than the preset threshold is used as the reference towed vehicle.

[0060] The above-mentioned preset trailer vehicle database can be pre-stored in the storage device of a computer device. When it is necessary to determine a reference trailer vehicle, the computer device can select the preset trailer vehicle database from the storage device. Of course, the computer device can also obtain the preset trailer vehicle database from other external devices. For example, the preset trailer vehicle database is stored in the cloud. When it is necessary to determine a reference trailer vehicle, the computer device can obtain the preset trailer vehicle database from the cloud. The present embodiment does not limit the acquisition method of the preset trailer vehicle data.

[0061] Furthermore, when determining the reference trailer vehicle of the target vehicle, the trailer vehicle parameters corresponding to each trailer vehicle can be structured and stored in the trailer vehicle database. The trailer vehicle parameters here can include parameters such as trailer vehicle type, trailer vehicle name, the space occupied by the vehicle head, and the length of the trailer hitch. The trailer hitch here refers to the traction structure provided on the trailer vehicle and is used to connect to the tow hook provided on the towing vehicle, so that the towing vehicle can drive the trailer vehicle to move. After structuring the trailer vehicle parameters, it is necessary to convert the text-type parameters into numerical values to facilitate the calculation of similarity. For example, one-hot encoding can be used to vectorize the features of the vehicle type, and TF-IDF or word embedding (such as Word2Vec) can be used to extract the text features in the vehicle name. Then, numerical features such as the space occupied by the vehicle head (vehicle head width, vehicle head height, vehicle head shape) are normalized to avoid the influence of dimensions. The processed features mentioned above are combined and spliced to obtain the feature vector corresponding to each trailer vehicle. After obtaining the feature vector, the parameter similarity between the target vehicle and each optional trailer vehicle can be determined by means of cosine similarity, Euclidean distance, or weighted similarity. Then, the optional trailer vehicle with the highest parameter similarity is used as the reference trailer vehicle.

[0062] Similarly, a trailer working condition database can be maintained while there is a preset trailer vehicle database, which is specifically used to store the trailer working conditions corresponding to the trailer vehicle when the electric rear door is opened. The trailer working conditions here include the angle between the tow hook and the trailer hitch, as well as the environmental obstacle data. When determining the reference trailer vehicle, the factor of the trailer working condition can be added, and the reference opening parameter corresponding dimension is refined from the reference trailer vehicle to the electric rear door opening scenario corresponding to the reference trailer vehicle, so as to further improve the reliability of the reference opening parameter. The above-mentioned trailer working conditions can be parameter-structured and similarity-calculated in the same way to determine the reference electric rear door opening scenario corresponding to the reference trailer vehicle, and the reference opening parameter corresponding to the reference electric rear door opening scenario is used as the electric rear door opening parameter in the current towing state.

[0063] In one embodiment, after obtaining the reference opening parameters of the electric rear door, the opening of the electric rear door can be directly controlled according to the reference opening parameters. At the same time, for a target vehicle equipped with sensors on the electric rear door, the reference opening parameters can be corrected in real time according to the obtained sensor data during the opening process of the electric rear door, so as to ensure the safety during the opening process of the electric rear door. For a target vehicle without sensors installed at the electric rear door, after obtaining the reference opening parameters of the electric rear door, the historical traction condition data corresponding to the reference opening parameters can be compared with the current traction condition data, so as to determine the difference between the historical traction condition data domain corresponding to the reference opening parameters and the current traction condition data, and then correct the reference opening parameters.

[0064] Specifically, the difference between the historical traction condition data and the current traction condition data can be determined first. For example, if the difference mainly focuses on environmental obstacles, and at this time the angle between the target vehicle and the towed vehicle is the same as the angle between the target vehicle and the historical towed vehicle, then the influence of environmental obstacles on the opening parameters of the electric rear door is mainly considered. If there are fewer environmental obstacles corresponding to the current traction condition data and the distance from the electric rear door is farther, then the risk value corresponding to the reference opening parameter is smaller at this time. The reference opening parameter can be used as the initial opening parameter, and the opening parameter can be corrected during the execution of the initial opening parameter, so as to improve the command response speed of the electric rear door. If there are more environmental obstacles corresponding to the current traction condition data and the distance from the electric rear door is closer, then the risk value corresponding to the reference opening parameter is higher at this time, and the opening parameter corresponding to the current traction condition data needs to be recalculated.

[0065] In one embodiment, it can be understood that the angle between the target vehicle and the towed vehicle will affect the opening degree of the electric rear door. Therefore, when the influence of environmental obstacles is small and the type of the towed vehicle remains unchanged, the opening degree of the electric rear door can be determined based on the angle between the target vehicle and the towed vehicle. Therefore, after determining the reference towed vehicle, the current recommended angle range can be determined based on the current traction condition data, the reference opening parameters, and the historical traction condition data; the current recommended angle range is sent to the user to prompt the user to make the angle between the target vehicle and the current towed vehicle within the current recommended angle range when parking. Specifically, when determining the current recommended angle range, it can be determined based on the opening degree of the electric rear door corresponding to different angles between the reference towed vehicle and the target vehicle and the expected opening degree, or it can be calculated from the expected opening degree and the current traction condition data.

[0066] In one embodiment, the angle between the target vehicle and the current towed vehicle corresponding to the maximum opening degree of the electric rear door can also be used as the best recommended angle and sent to the user, so as to improve the efficiency of the opening process of the electric rear door.

[0067] Further, after obtaining the current recommended angle range, during the process of the user parking the vehicle, the angle between the target vehicle and the towed vehicle can be displayed on the in-vehicle computer, so that the user can determine the size of the angle between the target vehicle and the towed vehicle inside the vehicle, avoiding the user getting in and out of the vehicle repeatedly to adjust the angle, and improving the user experience.

[0068] In one embodiment, during the opening process of the electric rear door, it is necessary to consider environmental obstacles, especially the influence of dynamic environmental obstacles. At this time, the time-series data set of the positions of obstacles within the preset range of the electric rear door during the opening process of the electric rear door can be obtained through preset sensors. And through the time-series data set of the positions of obstacles, the positions of each environmental obstacle at future time points are predicted, so as to obtain the predicted obstacle position data corresponding to each future time point. After knowing the opening path of the electric rear door and the predicted obstacle position data, the opening speed and opening degree in the opening parameters can be corrected to prevent the electric rear door from colliding with obstacles during the opening process. By continuously obtaining the time-series data of the positions of obstacles within the preset range of the electric rear door during the opening process of the electric rear door, the movement trajectory of the obstacles during the opening process of the electric rear door can be predicted, and then the opening parameters of the electric rear door can be corrected to prevent the electric rear door from colliding with continuously moving obstacles during the opening process, improving the safety of the opening process of the electric rear door.

[0069] In one embodiment, when the electric rear door performs the opening action, its corresponding opening speed can be related to the user's needs. When the user is far away from the electric rear door, even if the electric rear door is opened, it is still necessary to wait until the user approaches the electric rear door before accessing the items in the trunk. Therefore, the opening speed of the electric rear door can be adjusted in real time based on the distance between the user and the electric rear door. It can be understood that the farther the distance between the user and the electric rear door, the slower the opening speed of the electric rear door can be set. At this time, the current traction condition data includes the time-series data set of the distance between the preset target and the electric rear door within a preset time period. The preset target here includes the signal source that issues the electric rear door opening instruction and the target user, and the target user here refers to the user closest to the electric rear door.

[0070] When the user issues an electric rear door opening instruction through the terminal or in-vehicle computer inside the vehicle, at this time, the position of the signal source is inside the vehicle, and the distance between the target user and the electric rear door is mainly considered. At this time, the in-vehicle computer will obtain the distance between the user near the electric rear door and the electric rear door through the sensor set on the electric rear door. If there is no target user near the electric rear door, the time-series data set of the distance between the main driver and the electric rear door after leaving the main driving position is obtained.

[0071] When a user issues an electric rear door opening instruction outside the vehicle through a terminal or a car key, at this time, the vehicle computer simultaneously obtains the second distance between the signal source that issues the electric rear door opening instruction and the electric rear door, the target user closest to the electric rear door, and the third distance between the target user and the electric rear door. It can be understood that when the target user holds the signal source, the second distance is equal to the third distance at this time. The lower value of the second distance and the third distance is used as the distance value in the distance time series dataset.

[0072] After obtaining the distance time series dataset, when determining the opening speed of the electric rear door, the speed at which the target user or the signal source approaches the electric rear door can be determined based on the distance time series dataset within a preset time period. Specifically, the distance change value within the preset time period can be divided by the preset time period to obtain the approaching speed within the preset time period. Then, based on the approaching speed and the distance value, the reserved time for opening the electric rear door is determined. After determining the reserved time, the opening speed of the electric rear door can be corrected according to the reserved time, the current opening degree of the electric rear door, and the target opening degree, so that when the user approaches the electric rear door, the electric rear door is exactly at the target opening degree, thereby improving the user experience while ensuring safety.

[0073] After receiving the electric rear door opening instruction, by determining the distance between the electric rear door and a preset target and correcting the opening speed of the electric rear door, the opening speed of the electric rear door can be linked to the distance between the user and the electric rear door. When the user is far from the electric rear door, the electric rear door can be slowly opened to avoid accidents caused by too fast an opening speed when the electric rear door does not need to be opened quickly, thereby improving the safety when the electric rear door is opened.

[0074] As Figure 2 shown, an embodiment of the present application further provides a control device for an electric rear door, including:

[0075] A status determination module 201 that determines that the target vehicle is in a towing state and the target vehicle is a towing vehicle.

[0076] A data acquisition module 202 that acquires the current towing condition data corresponding to the target vehicle.

[0077] A parameter determination module 203 that determines the opening parameters of the electric rear door based on the current towing condition data, where the opening parameters include at least one of an anti-pinch force threshold, a braking response time, a rear door opening speed, and a rear door opening degree.

[0078] A rear door control module 204 that controls the opening of the electric rear door based on the opening parameters.

[0079] In a specific embodiment, the current towing working condition data includes a first distance time series data set between the electric rear door and each object within a preset range, and when the expected opening degree is input by the user, the parameter determination module 203 includes:

[0080] Based on the first distance time series data set, determine the actual openable opening degree of the electric rear door; based on the actual openable opening degree and the expected opening degree, determine whether the electric rear door of the target vehicle meets the opening condition; if the electric rear door does not meet the opening condition, inform the user that the electric rear door does not meet the opening condition.

[0081] In a specific embodiment, the parameter determination module 203 includes: confirming that both the target vehicle and the towed vehicle remain stationary within a preset time period; based on the current towing working condition data, determining the opening parameter of the electric rear door; storing the opening parameter in a preset control module of the target vehicle; the controlling the opening of the electric rear door based on the opening parameter specifically includes: receiving a rear door opening instruction from the user, and confirming that the target vehicle is in a stationary state; obtaining the opening parameter from the preset control module, and controlling the opening of the electric rear door based on the opening parameter.

[0082] In a specific embodiment, when the current towing working condition data includes the vehicle type of the current towed vehicle, the parameter determination module 203 includes: determining a reference towed vehicle for the current towed vehicle; obtaining the reference opening parameter corresponding to the reference towed vehicle, and the historical towing working condition data corresponding to the reference opening parameter; based on the reference opening parameter, the historical towing working condition data, and the current towing working condition data, determining the opening parameter of the electric rear door.

[0083] In a specific embodiment, the reference towed vehicle includes a historical towed vehicle and a calibrated towed vehicle. The parameter determination module 203 includes: obtaining the current towed vehicle parameters of the current towed vehicle; based on the current towed vehicle parameters, determining the parameter similarity between each optional towed vehicle and the current towed vehicle in a preset towed vehicle database; using the optional towed vehicle with a parameter similarity higher than a preset threshold as the reference towed vehicle.

[0084] In a specific embodiment, the parameter determination module 203 includes: based on the current towing working condition data, the reference opening parameter, and the historical towing working condition data, determining a current recommended angle range; sending the current recommended angle range to the user to prompt the user to make the included angle between the target vehicle and the current towed vehicle within the current recommended angle range when parking.

[0085] In a specific embodiment, the rear door control module 204 includes: obtaining a time series data set of the positions of obstacles within a preset range of the electric rear door during the opening process of the electric rear door through a preset sensor; determining predicted obstacle position data corresponding to a future time point based on the time series data set of the obstacle positions; and correcting the opening parameters during the opening process of the electric rear door based on the predicted obstacle position data corresponding to the future time point and the opening path of the electric rear door.

[0086] In a specific embodiment, the current towing condition data includes a time series data set of the distances between a preset target and the electric rear door within a preset time period; the preset target includes a signal source that issues an electric rear door opening instruction and a target user; the parameter determination module 203 includes: determining a reserved time for the opening of the electric rear door based on the time series data set of the distances and the preset time period; and modifying the opening speed of the rear door of the electric rear door based on the reserved time.

[0087] Figure 3 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0088] Exemplarily, as Figure 3 shown, the vehicle includes: a memory 301 and a processor 302, wherein an executable program code 3011 is stored in the memory 301, and the processor 302 is configured to call and execute the executable program code 3011 to execute a vehicle torque control method.

[0089] In this embodiment, the vehicle can be divided into functional modules according to the above method examples. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0090] In the case of dividing each functional module according to each corresponding function, the vehicle can include:

[0091] A state determination module that determines that the target vehicle is in a towing state and the target vehicle is a towing vehicle;

[0092] A data acquisition module that acquires the current towing condition data corresponding to the target vehicle;

[0093] A parameter determination module that determines the opening parameters of the electric rear door based on the current towing condition data, and the opening parameters include at least one of an anti-pinch force threshold, a braking response time, a rear door opening speed, and a rear door opening degree;

[0094] The rear door control module controls the electric rear door to open based on the opening parameter.

[0095] It should be noted that all relevant contents of each step involved in the above method embodiments can be cited in the function descriptions of the corresponding function modules, and will not be elaborated here.

[0096] The vehicle provided in this embodiment is used to execute the above electric rear door control method, so the same effects as those of the above implementation method can be achieved.

[0097] In the case of adopting an integrated unit, the vehicle may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and data, etc.

[0098] The vehicle provided in this embodiment is used to execute the above electric rear door control method, so the same effects as those of the above implementation method can be achieved. In the case of adopting an integrated unit, the vehicle may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and data, etc.

[0099] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of this application. The processor can also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0100] This embodiment also provides a computer-readable storage medium. Computer program code is stored in the computer-readable storage medium (including but not limited to disk memories, CD-ROMs, optical memories, etc.). When the computer program code runs on a computer, the computer is enabled to execute the above relevant method steps to implement the control method of an electric rear door provided in the above embodiment.

[0101] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is enabled to execute the above relevant steps to implement the control method of an electric rear door provided in the above embodiment. Among them, the beneficial effects of the above embodiment can be referred to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0102] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and conciseness of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0103] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical or other forms. In the description of the present disclosure, it should be understood that if terms such as "upper", "lower", "front", "rear", "left" and "right" are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated position or element must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present disclosure.

[0104] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, commodity or device including the element.

[0105] The above are only the embodiments of the present disclosure and are not used to limit the present disclosure. For those skilled in the art, the present disclosure can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included within the scope of the claims of the present disclosure.

Claims

1. A control method for an electric rear door, characterized in that, Including: Determine that the target vehicle is in a towing state and the target vehicle is a towing vehicle; Obtain the current towing condition data corresponding to the target vehicle; Based on the current towing condition data, determine the opening parameters of the electric rear door, where the opening parameters include at least one of an anti-pinch force threshold, a braking response time, a rear door opening speed, and a rear door opening degree; Based on the opening parameters, control the electric rear door to open.

2. The method according to claim 1, characterized in that The current towing condition data includes a first distance time series data set between the electric rear door and each object within a preset range, and an expected opening degree input by the user; The determining the opening parameters of the electric rear door based on the current towing condition data specifically includes: Based on the first distance time series data set, determine the actual openable opening degree of the electric rear door; Based on the actual openable opening degree and the expected opening degree, determine whether the electric rear door of the target vehicle meets the opening condition; If the electric rear door does not meet the opening condition, inform the user that the electric rear door does not meet the opening condition.

3. The method according to claim 1, characterized in that, The determining the opening parameters of the electric rear door based on the current towing condition data specifically includes: Confirm that both the target vehicle and the towed vehicle remain stationary within a preset time period; Based on the current towing condition data, determine the opening parameters of the electric rear door; Store the opening parameters in a preset control module of the target vehicle; The controlling the electric rear door to open based on the opening parameters specifically includes: Receive a rear door opening instruction from the user and confirm that the target vehicle is in a stationary state; Obtain the opening parameters from the preset control module and control the electric rear door to open based on the opening parameters.

4. The method according to claim 1, wherein The current towing condition data includes the vehicle type of the current towed vehicle; The determining the opening parameters of the electric rear door based on the current towing condition data specifically includes: Determine the reference towed vehicle of the current towed vehicle; Obtain the reference opening parameters corresponding to the reference towed vehicle, and the historical towing condition data corresponding to the reference opening parameters; Based on the reference opening parameters, the historical towing condition data, and the current towing condition data, determine the opening parameters of the electric rear door.

5. The method according to claim 4, characterized in that, The reference towed vehicle includes a historical towed vehicle and a calibrated towed vehicle; The determining the reference towed vehicle of the current towed vehicle specifically includes: Obtain the current towed vehicle parameters of the current towed vehicle; Based on the current towed vehicle parameters, determine the parameter similarity between each optional towed vehicle and the current towed vehicle in a preset towed vehicle database; Use the optional towed vehicle with a parameter similarity higher than a preset threshold as the reference towed vehicle.

6. The method according to claim 4, wherein After determining the reference towed vehicle of the current towed vehicle, the method further includes: Based on the current towing condition data, the reference opening parameters, and the historical towing condition data, determine the current recommended angle range; Send the current recommended angle range to the user to prompt the user to make the angle between the target vehicle and the current towed vehicle within the current recommended angle range when parking.

7. The method according to claim 1, characterized in that, Based on the opening parameter, controlling the opening of the electric rear door specifically includes: Obtain a time series data set of obstacle positions within a preset range of the electric rear door during the opening process of the electric rear door through a preset sensor; Based on the time series data set of obstacle positions, determine the predicted obstacle position data corresponding to a future time point; During the opening process of the electric rear door, correct the opening parameter based on the predicted obstacle position data corresponding to the future time point and the opening path of the electric rear door.

8. The method according to claim 1, characterized in that, The current traction working condition data includes a time series data set of the distances between a preset target and the electric rear door within a preset time period; the preset target includes a signal source that issues an electric rear door opening instruction and the target user; Based on the current traction working condition data, determining the opening parameter of the electric rear door specifically includes: Based on the time series data set of distances and the preset time period, determine the reserved time for the opening of the electric rear door; Modify the opening speed of the rear door of the electric rear door based on the reserved time.

9. A control device for an electric rear door, characterized in that Include: A state determination module that determines that the target vehicle is in a towing state and the target vehicle is a towing vehicle; A data acquisition module that acquires the current traction working condition data corresponding to the target vehicle; A parameter determination module that determines the opening parameter of the electric rear door based on the current traction working condition data, where the opening parameter includes at least one of an anti-pinch force threshold, a braking response time, a rear door opening speed, and a rear door opening degree; A rear door control module that controls the opening of the electric rear door based on the opening parameter.

10. A vehicle, characterized in that, Include: At least one processor; And a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute: Determine that the target vehicle is in a towing state and the target vehicle is a towing vehicle; Acquire the current traction working condition data corresponding to the target vehicle; Based on the current traction working condition data, determine the opening parameter of the electric rear door, where the opening parameter includes at least one of an anti-pinch force threshold, a braking response time, a rear door opening speed, and a rear door opening degree; Based on the opening parameter, control the opening of the electric rear door.

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