Tail gate control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of intelligent vehicles, and discloses a tail gate control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring positioning information of a UWB digital key; judging whether the UWB digital key is located in a target range or not according to the positioning information; the target range is adjacent to a projection area of a projection device at the tail of the vehicle; if it is determined that the digital key is located in the target range, controlling the projection device to project a projection area on the ground; and a target UWB anchor point installed at the tail of the vehicle in a UWB digital key system of the vehicle is controlled to detect the target limb action, and if the target limb action is detected and the target limb action is carried out in the projection area, a tail gate control instruction is generated. The UWB anchor point of the UWB digital key is reused as the kick detection radar, the cost can be reduced, the projection device is controlled according to the relation between the position of the UWB digital key and the kick detection area, and the accuracy of kick detection projection prompt is improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of intelligent automobile technology, and in particular to a tailgate control method and device, an electronic device, and a storage medium. Background Art

[0002] With the rapid development of technology and the continuous improvement of the automotive industry, cars have brought increasing convenience to people's lives. At the same time, users have higher expectations for various vehicle performance. To provide a better user experience and facilitate users to open the tailgate more easily when their hands are full, foot-kick sensors have become mainstream due to their comfort, convenience, and safety.

[0003] Currently, kick sensors commonly use capacitive sensors, which detect a person's kicking motion through a capacitive strip and then control the tailgate's opening. However, this kick detection method suffers from a high false alarm rate in dusty, rainy, or snowy conditions, making it difficult to maintain normal operation. As kick detection solutions diversify, UWB (Ultra-Wide Band) kick detection and projection-based kick detection have emerged, improving kick detection accuracy. However, these methods require dedicated kick sensors, resulting in higher overall costs, and projection-based kick detection methods lack precision. Summary of the Invention

[0004] Embodiments of the present invention provide a tailgate control method and device, an electronic device, and a storage medium. By reusing the UWB anchor point of a UWB digital key as a kick detection radar, costs can be reduced. At the same time, the projection device is controlled according to the relationship between the position of the UWB digital key and the kick detection area, thereby improving the accuracy of the kick detection projection prompt.

[0005] In a first aspect, an embodiment of the present invention provides a tailgate control method, comprising: obtaining positioning information of a UWB digital key;

[0006] determining, based on the positioning information, whether the UWB digital key is within a target range, wherein the target range is adjacent to a projection area of ​​a projection device at the rear of the vehicle; and if it is determined that the digital key is within the target range, controlling the projection device to project a projection area on the ground;

[0007] A target UWB anchor point installed at the rear of the vehicle in the UWB digital key system for controlling the vehicle detects target limb movements. If the target limb movement is detected and the target limb movement is performed within the projection area, a tailgate control instruction is generated.

[0008] As an embodiment, in the UWB digital key system for controlling the vehicle, the target UWB anchor point installed at the rear of the vehicle detects the target body movement, including:

[0009] Acquire detection information collected by the target UWB anchor point; the detection information includes: flight time information and CIR information;

[0010] Calculating acceleration information and displacement information of the target limb based on the flight time information and CIR information;

[0011] Determine whether the target limb movement exists based on the acceleration information and displacement information of the target limb.

[0012] As an embodiment, the calculating of the acceleration information and displacement information of the target limb according to the flight time information and the CIR information includes:

[0013] The flight time information and CIR information are subjected to wavelet denoising and then Kalman filtering;

[0014] The acceleration and displacement information of the target limb are calculated based on the flight time information and CIR information after Kalman filtering.

[0015] As an embodiment, determining whether the UWB digital key is within a target range according to the positioning information includes:

[0016] Determining whether the digital key is located in a first positioning area based on the UWB digital key system, and if the digital key is located in the first positioning area, obtaining ranging information of multiple UWB anchor points at a preset position of the vehicle;

[0017] Determine whether the UWB digital key is within the target range based on the ranging information.

[0018] As an embodiment, the plurality of UWB anchor points at the preset positions include a first UWB anchor point and a second UWB anchor point symmetrically arranged in a central area outside the vehicle, and the target UWB anchor point;

[0019] Obtaining ranging information of multiple UWB anchor points at a preset position of the vehicle, including: obtaining ranging value information between each of the first UWB anchor point, the second UWB anchor point, and the target UWB anchor point and the digital key;

[0020] The determining, according to the ranging information, whether the UWB digital key is within the target range includes:

[0021] Based on the ranging value information, change information of the effective ranging values ​​of the first UWB anchor point, the second UWB anchor point and the target UWB anchor point is calculated respectively, and the target position of the digital key is analyzed based on the change information of the ranging values. If the target position of the digital key is the target range and the distance between the digital key and the target UWB anchor point is less than a preset distance threshold, it is determined that the digital key is within the target range.

[0022] As an embodiment, analyzing the target position of the digital key according to the change information of the ranging value includes:

[0023] A minimum ranging value is obtained according to the ranging value information, and if the minimum ranging value corresponds to a first UWB anchor point or a second UWB anchor point, and if it is determined that the digital key is gradually moving away from itself according to the variation information of the ranging value of the first UWB anchor point or the second UWB anchor point, and it is determined that the digital key is gradually approaching the target anchor point according to the variation information of the ranging value of the target anchor point, then the target position of the digital key is determined to be the target range; or

[0024] If the minimum ranging value corresponds to the target UWB anchor point, and the distances between the digital key and the first UWB anchor point, the second UWB anchor point, and the third UWB anchor point all show a decreasing trend, then the target position of the digital key is determined to be the target range.

[0025] As an embodiment, generating a tailgate control instruction includes:

[0026] The operating state of the vehicle is obtained. If the operating state of the vehicle is a parking state, and the current state of the tailgate of the vehicle is closed, and no moving object is detected within a preset range by the millimeter-wave radar of the vehicle, an instruction to open the tailgate is generated.

[0027] As an embodiment, the method further includes:

[0028] When it is determined according to the positioning information of the digital key that the UWB digital key leaves the target range, the projection device is controlled to be turned off.

[0029] In a second aspect, an embodiment of the present invention provides a tailgate control device, comprising: an acquisition module, configured to acquire positioning information of a UWB digital key;

[0030] a position determination module, configured to determine, based on the positioning information, whether the UWB digital key is within a target range; wherein the target range is adjacent to a projection area of ​​a projection device at the rear of the vehicle;

[0031] a projection control module, configured to control the projection device to project a projection area on the ground if it is determined that the digital key is within the target range;

[0032] A target detection module, configured to control a target UWB anchor point installed at the rear of the vehicle in the UWB digital key system of the vehicle to detect target body movements;

[0033] An instruction generating module is configured to generate a tailgate control instruction if the target limb movement is detected and the target limb movement is performed within the projection area.

[0034] In a third aspect, an embodiment of the present invention provides a positioning device, including a memory and a processor;

[0035] The memory is used to store a computer program; the processor is used to read the computer program in the memory and implement the tailgate control method as described above when executing the program.

[0036] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the tailgate control method as described in the first aspect.

[0037] Compared with the prior art, the technical solution provided by the embodiments of the present invention has at least the following positive effects:

[0038] In the technical solution of the embodiment of the present invention, the positioning information of the UWB digital key is obtained, and it is determined whether the UWB digital key is within the target range based on the positioning information. The target range is adjacent to the projection area of ​​the projection device at the rear of the vehicle. If it is determined that the digital key is within the target range, the projection device is controlled to project the projection area on the ground; the target UWB anchor point installed at the rear of the vehicle in the UWB digital key system of the vehicle is controlled to detect target body movements. If the target body movement is detected and the target body movement is performed within the projection area, a tailgate control instruction is generated. This application performs body movement detection by reusing the target UWB anchor point at the rear of the vehicle, without the need for additional hardware costs such as millimeter wave radar. At the same time, it determines whether the user is near the projection area based on the position of the UWB digital key. If the user is near the projection area, the projection device is controlled to turn on, so that the projection device can be more accurately controlled to instruct the user to perform actions such as kicking. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 A layout schematic diagram of a UWB anchor point and a projection device of a vehicle provided for an embodiment of the present application is shown in the figure;

[0041] Figure 2 A flowchart of a tailgate control method provided for the first embodiment of the present application is shown in the figure;

[0042] Figure 3 A structural schematic diagram of a tailgate control device provided for the second embodiment of the present application is shown in the figure;

[0043] Figure 4 A structural schematic diagram of an electronic device provided for the third embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0044] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. In addition, it should be noted that only the parts related to the present application are shown in the drawings for the convenience of description, rather than all the structures.

[0045] The tailgate control method and device, electronic device and storage medium of the embodiments of the present application will be described below in conjunction with the accompanying drawings. In view of the problem that the kick sensor mentioned in the background art needs to increase the hardware cost and the kick position prompt is not accurate, the present application provides a tailgate control method, in which the positioning information of a UWB digital key is obtained, it is determined whether the UWB digital key is located in a target range according to the positioning information, the target range is adjacent to a projection area of a projection device at the tail of the vehicle, if it is determined that the digital key is located in the target range, the projection device is controlled to project the projection area; a target UWB anchor point installed at the tail of the vehicle in the UWB digital key system of the vehicle is controlled to detect a target limb action, if the target limb action is detected and the target limb action is performed in the projection area, a tailgate control instruction is generated, so that the UWB anchor point of the UWB digital key can be reused for kick detection, which is beneficial to save the cost, and at the same time, the projection device is controlled to project when the digital key enters the target range, i.e., adjacent to the projection area, which can prompt according to whether the user has the intention to use the tailgate, and further improve the intelligence of the vehicle.

[0046] Figure 1 A layout schematic diagram of a UWB anchor point and a projection device of a digital key on a vehicle in the tailgate control method provided for the embodiments of the present application is shown in the figure. Figure 1As shown, the UWB digital key system includes at least: a target UWB anchor point 10 mounted at the rear of the vehicle, and a first UWB anchor point 11 and a second UWB anchor point 12 symmetrically located in the center area outside the vehicle. This embodiment imposes no restrictions on the installation locations of the first UWB anchor point 11, the second UWB anchor point 12, and the target anchor point 10. The projection device 20 can be installed in the recess at the bottom of the tailgate. Its mounting structure has an IP67 protection rating and a temperature resistance range of -40°C to 85°C, making it suitable for rainy, snowy, and dusty environments. The projection device 20 utilizes a Class 2 safety laser module with a wavelength of 650nm and a power of ≤5mW. It supports dynamic focusing (projection distance 0.3-1.5 meters) and adaptive brightness adjustment (10-200 lumens), ensuring clear viewing in various lighting conditions. The projection device 20 can also include a built-in light intensity sensor to address bright light environments, such as switching to a high-contrast red flashing pattern in high-intensity sunlight. The projection area 30 projected by the projection device 20 on the ground can be programmed to be circular, fan-shaped, or brand logo, and the shape of the projection area can be set through the vehicle's central control screen. The embodiment of the present application does not impose excessive restrictions on the installation method and type of the projection device 20.

[0047] Figure 2 This is a flow chart of a tailgate control method provided by an embodiment of the present invention, which can be applied to the kick control of a vehicle's electric tailgate. This method can be executed by a tailgate control device provided by an embodiment of the present invention, which can be implemented in software and / or hardware and configured in the vehicle's tailgate control electronic equipment. Figure 2 As shown, the tailgate control method of the present application includes the following steps:

[0048] Step 201: Obtain the positioning information of the UWB digital key.

[0049] The positioning information of a UWB digital key is typically used to locate the digital key. For example, the positioning information can be used to determine the digital key's location zone. The digital key's location zone can include areas inside the vehicle or in the parking area, while areas outside the vehicle can include unlock, lock, welcome, and connect zones. This digital key positioning information can also be used to assist in determining whether the user requires the tailgate. Positioning information can include the distance measurement value between each UWB anchor point in the UWB digital key system and the digital key, as well as the received power, etc., without specific limitations here.

[0050] Step 202: Determine whether the UWB digital key is within the target range based on the positioning information.

[0051] The target range is used to more accurately determine the user's intention to control the tailgate. When the user's intention to operate the tailgate is determined, projection and kick detection are performed to meet the requirements of kick-controlled tailgate operation while optimizing the energy consumption of projection and kick detection. The target range is adjacent to the projection area of ​​the projection device at the rear of the vehicle. Figure 1 As shown, the projection area is, for example, a fan-shaped area in front of the tailgate, and the target range can be an area within a range of 0.5 to 1.5 meters outside the projection area. The target range can also include the projection area. This embodiment does not impose any specific restrictions on the target range.

[0052] Determining whether the UWB digital key is within a target range based on positioning information may include: determining whether the digital key has entered a first positioning area based on the UWB digital key system. If the digital key is within the first positioning area, obtaining ranging information from multiple UWB anchor points at preset locations on the vehicle, and determining whether the UWB digital key is within the target range based on the ranging information. By first determining whether the digital key has entered the first positioning area and then performing a step-by-step determination of whether the digital key is within the target range, the user's intention to use the tailgate can be better identified. The first positioning area may be within a preset distance range from the vehicle, such as 3 meters or 5 meters. If the user is within the preset distance and sufficiently close to the vehicle, the next step of the determination can be performed directly. The first positioning area can also be further limited to the periphery of the vehicle's mid-to-rear section. That is, if the digital key is moving near the head outside the vehicle, it is assumed that the user does not currently need to use the tailgate. After determining that the digital key has entered the first positioning area, the tailgate control system, such as the projection device, can be activated via the vehicle's central control console.

[0053] Multiple UWB anchor points at preset locations may include a first UWB anchor point, a second UWB anchor point, and a target UWB anchor point, symmetrically located in a central area outside the vehicle. This simplifies the digital key positioning algorithm. Acquiring ranging information for multiple UWB anchor points at preset vehicle locations includes obtaining ranging value information between the first UWB anchor point, the second UWB anchor point, and the target UWB anchor point and the digital key. Accordingly, determining whether the UWB digital key is within a target range based on the ranging information may include calculating changes in effective ranging values ​​for the first UWB anchor point, the second UWB anchor point, and the target UWB anchor point based on the ranging value information, analyzing the target position of the digital key based on the ranging value changes, and determining that the digital key is within the target range if the target position of the digital key is within the target range and the distance between the digital key and the target UWB anchor point is less than a preset distance threshold. By monitoring the changes in the distance between the first UWB anchor point and the target UWB anchor point, or the second UWB anchor point and the target UWB anchor point, or the first UWB anchor point, the second UWB anchor point, the target UWB anchor point and each of the digital key, it is possible to simply and quickly analyze whether the target position of the digital key is within the target range without the need for complex coordinate calculations.

[0054] Specifically, analyzing the target position of the digital key based on the ranging value change information may include: obtaining a minimum ranging value based on the ranging value information; if the minimum ranging value corresponds to the first UWB anchor point or the second UWB anchor point, and if the digital key is gradually moving away from the first UWB anchor point or the second UWB anchor point based on the ranging value change information, and if the digital key is gradually approaching the target anchor point based on the ranging value change information of the target anchor point, then determining that the target position of the digital key is within the target range; or, if the minimum ranging value corresponds to the target UWB anchor point, and the distances between the digital key and the first UWB anchor point, the second UWB anchor point, and the third UWB anchor point all show a decreasing trend, then determining that the target position of the digital key is within the target range. The UWB digital key system can conveniently and accurately monitor the position of the digital key without activating equipment such as millimeter-wave radar on the vehicle, which helps reduce the overall power consumption of the vehicle and avoids misjudgments caused by pedestrians passing by. It is understood that other methods can also be used to determine whether the digital key is within the target range, and no specific limitations are set here. If it is determined that the digital key is gradually moving away from the target range and is no longer within the first positioning area, detection of whether the digital key intends to enter the target range may be stopped.

[0055] Step 203: If it is determined that the digital key is within the target range, the projection device is controlled to project a projection area on the ground.

[0056] The projection area can be set in a variety of shapes and sizes, and the target range can be set according to the default projection area. The various projection areas can be switched dynamically during use. By switching projection areas of different sizes and shapes, different ground areas can be covered, making it easier for users to select a suitable ground area to perform kicking actions, and avoiding situations where the projection area is dirty or water-logged, making it inconvenient to perform kicking. The shapes of the projection area may include ellipse, rectangle, and circle. When the projection area is dynamically switched, a larger ground area can be covered. It is understandable that the switching of the projection area can be based on a predetermined time interval, such as every 3 seconds, or it can be switched based on the detection results of the ground conditions in front of the tailgate. No specific restrictions are made here.

[0057] Step 204: Control the target UWB anchor point installed at the rear of the vehicle in the UWB digital key system of the vehicle to detect the target body movement.

[0058] In the multi-anchor UWB digital key system, a UWB anchor point is usually deployed at the rear of the vehicle. By reusing this UWB anchor point to detect body movements, there is no need to install additional millimeter wave, infrared, and capacitive kick sensors, further reducing vehicle costs.

[0059] When a UWB anchor detects a target's limb motion, it emits a nanometer-scale detection pulse signal and receives the reflected signal. After a series of processing steps, including amplification, frequency conversion, and analog-to-digital conversion, the CIR (Channel Impulse Response) is generated. Combined with the Doppler effect, this CIR can be used to calculate the target's distance, velocity, and trajectory. When detecting a kick, signal fluctuations are analyzed to determine whether a fluctuation pattern consistent with a kick is present. Specifically, detecting a target's limb motion using a target UWB anchor may include acquiring detection information collected by the target UWB anchor, including time-of-flight (TOF) and CIR. Acceleration and displacement information of the target limb is calculated based on the TOF and CIR information. The presence of the target limb motion is determined based on the acceleration and displacement information, enabling dynamic identification of the kick. The time of flight (ToF) can be used to accurately calculate the distance between the target UWB anchor and the target limb. Continuous CIR signals can be used to obtain target velocity information, which can then be used to calculate the acceleration and displacement information of the target limb. The detection information collected by the target UWB anchor point can be sent to the vehicle's central control unit, which executes the tailgate control algorithm. This embodiment does not impose any specific restrictions on the execution entity of the tailgate control method.

[0060] In order to reduce the influence of noise and multipath interference, the acceleration information and displacement information of the target limb calculated according to the time-of-flight information and the CIR information can include: respectively performing wavelet denoising on the time-of-flight information and the CIR information, and then performing Kalman filtering, and calculating the acceleration information and displacement information of the target limb according to the Kalman filtered time-of-flight information and CIR information. Through the dual-mode detection of ToF and CIR, the target limb position accuracy detection can reach centimeter level, and through Kalman filtering to eliminate multipath interference, the accurate acceleration information and displacement information of the target limb can be obtained. The acceleration of the target limb can be the maximum acceleration in the acceleration stage of the target limb, and the acceleration is calculated according to the ToF and CIR signals corresponding to the initial motion stage of the target limb, and the maximum acceleration in the acceleration process is taken as the acceleration of the target limb. The displacement of the target limb is obtained by integrating the speed of the target limb. By fusing the acceleration and displacement of the target limb, the kicking action can be more accurately recognized. At the same time, the acceleration curve can be obtained, and the acceleration curve is matched with the preset waveform to more accurately recognize the kicking action, and the preset waveform is a preset acceleration curve of the limb. The preset waveform can be obtained by establishing the kinematics equation of the limb action such as kicking and numerically solving, calculating the angular acceleration of the limb at different time points, and further obtaining the linear acceleration, so as to draw the acceleration curve.

[0061] According to the acceleration information and displacement information of the target limb, it can be determined whether there is a target limb action, which can include: if the acceleration of the target limb is greater than a preset acceleration threshold and the displacement of the target limb is greater than a preset displacement threshold, it is determined that there is a target limb action. The preset acceleration threshold is, for example, 2 meters per square second, and the preset displacement threshold is, for example, 15 cm. The embodiment does not make excessive restrictions on the corresponding threshold size, as long as the kicking action can be accurately recognized. If the kicking action is detected, step 205 is continued, if any of the acceleration or displacement of the target limb does not meet the condition, it is considered that the standard kicking action is not detected, at this time, the projection device can be controlled to project flickering blue laser to give feedback prompt, and continue the kicking detection. If the digital key leaves the target range, the kicking detection can be stopped. It should be noted that when the UWB digital key is determined to leave the target range according to the positioning information of the digital key, the projection device is controlled to be turned off.

[0062] Step 205: If the target limb action is detected and the target limb action is performed in the projection area, a tail gate control instruction is generated.

[0063] The position information of the target limb can be obtained according to the CIR information, and when the kicking action occurs in the projection area according to the position information of the target limb, the tail gate control instruction is generated, if the current state of the tail gate is closed, the tail gate opening operation instruction is generated, and if the current state of the tail gate is opened, the tail gate closing operation instruction is generated.

[0064] To ensure tailgate operation safety, generating tailgate control commands may include: obtaining the vehicle's operating status. If the vehicle is parked, the tailgate is currently closed, and the vehicle's millimeter-wave radar detects no moving objects within a preset range, a tailgate opening command is generated. If the vehicle is not parked and the speed is not zero, the projection device is controlled to project a flashing yellow laser as feedback. If a moving object, such as a pedestrian, is detected, the projection device is controlled to project a flashing red laser as a warning. The vehicle can count the number of user operation errors in real time. If the number of errors is less than a threshold, the system will wait two seconds after the error occurs and then retest. If the number of errors is greater than the threshold, the tailgate control system will be locked for 30 seconds, and tailgate operation instructions will be pushed to the user's digital key or mobile app, and the error counter will be reset.

[0065] Compared with the prior art, the tailgate control method of the embodiment of the present invention obtains the positioning information of the UWB digital key, and determines whether the UWB digital key is within the target range based on the positioning information. The target range is adjacent to the projection area of ​​the projection device at the rear of the vehicle. If it is determined that the digital key is within the target range, the projection device is controlled to project the projection area on the ground; the target UWB anchor point installed at the rear of the vehicle in the UWB digital key system of the vehicle is controlled to detect target limb movements. If the target limb movement is detected and the target limb movement is performed within the projection area, a tailgate control instruction is generated. This application performs limb movement detection by reusing the target UWB anchor point at the rear of the vehicle, without the need for additional hardware costs such as millimeter wave radar. At the same time, it determines whether the user is near the projection area based on the position of the UWB digital key. If the user is near the projection area, the projection device is controlled to turn on, so that the projection device can be more accurately controlled to instruct the user to perform actions such as kicking.

[0066] Figure 3 A tailgate control device provided by an embodiment of the present invention includes:

[0067] An acquisition module 301 is used to obtain the positioning information of the UWB digital key;

[0068] A position determination module 302 is configured to determine whether the UWB digital key is within a target range based on the positioning information; wherein the target range is adjacent to a projection area of ​​a projection device at the rear of the vehicle;

[0069] The projection control module 303 is configured to control the projection device to project a projection area on the ground if it is determined that the digital key is within the target range;

[0070] The target detection module 304 is used to control the target UWB anchor point installed at the rear of the vehicle in the UWB digital key system of the vehicle to detect the target body movement;

[0071] The instruction generation module 305 is configured to generate a tailgate control instruction if a target limb movement is detected and the target limb movement is performed within the projection area.

[0072] Optionally, the target detection module 304 module:

[0073] The acquisition submodule is used to obtain the detection information collected by the target UWB anchor point; the detection information includes: flight time information and CIR information;

[0074] A motion information calculation submodule, configured to calculate the acceleration and displacement information of the target limb based on the flight time information and the CIR information; and

[0075] The action recognition submodule is used to determine whether there is a target limb action based on the acceleration information and displacement information of the target limb.

[0076] Optionally, the motion information calculation submodule may include:

[0077] a signal processing unit, configured to perform wavelet denoising and then Kalman filtering on the time-of-flight information and the CIR information; and

[0078] The calculation unit is used to calculate the acceleration information and displacement information of the target limb according to the flight time information and CIR information after Kalman filtering.

[0079] Optionally, the location determination module 302 may include:

[0080] The first positioning submodule is used to determine whether the digital key is located in the first positioning area based on the UWB digital key system.

[0081] a ranging submodule, configured to obtain ranging information of a plurality of UWB anchor points at a preset position of the vehicle if the digital key is located in the first positioning area;

[0082] The second positioning submodule is used to determine whether the UWB digital key is within the target range based on the ranging information.

[0083] Optionally, the multiple UWB anchor points at preset positions include a first UWB anchor point, a second UWB anchor point, and a target UWB anchor point symmetrically arranged in the middle area outside the vehicle. Accordingly, the ranging subunit is used to obtain the ranging value information between the first UWB anchor point, the second UWB anchor point, and the target UWB anchor point and the digital key.

[0084] The second positioning submodule may include:

[0085] a change calculation unit, configured to calculate change information of effective ranging values ​​of the first UWB anchor point, the second UWB anchor point, and the target UWB anchor point respectively according to the ranging value information;

[0086] an analyzing unit, configured to analyze a target position of the digital key based on information on changes in the ranging value;

[0087] A position determination unit is configured to determine that the digital key is within the target range if the target position of the digital key is within the target range and the distance between the digital key and the target UWB anchor point is less than a preset distance threshold.

[0088] Optionally, the analysis unit is specifically used to obtain a minimum ranging value based on the ranging value information. If the minimum ranging value corresponds to the first UWB anchor point or the second UWB anchor point, and if it is determined based on the change information of the ranging value of the first UWB anchor point or the second UWB anchor point that the digital key is gradually moving away from itself, and based on the change information of the ranging value of the target anchor point, it is determined that the digital key is gradually approaching the target anchor point, then the target position of the digital key is determined to be the target range; or, if the minimum ranging value corresponds to the target UWB anchor point, and the distances between the digital key and the first UWB anchor point, the second UWB anchor point, and the third UWB anchor point are all decreasing, then the target position of the digital key is determined to be the target range.

[0089] Optionally, the instruction generation module may include:

[0090] A status acquisition submodule, used to acquire the operating status of the vehicle;

[0091] The comprehensive judgment submodule is used to generate an instruction to open the tailgate if the vehicle's operating state is parking and the current state of the vehicle's tailgate is closed, and no moving object is detected within a preset range by the vehicle's millimeter-wave radar.

[0092] Compared with the prior art, the tailgate control device of the embodiment of the present invention obtains the positioning information of the UWB digital key and determines whether the UWB digital key is within the target range based on the positioning information. The target range is adjacent to the projection area of ​​the projection device at the rear of the vehicle. If it is determined that the digital key is within the target range, the projection device is controlled to project the projection area on the ground. The target UWB anchor point installed at the rear of the vehicle in the vehicle's UWB digital key system is controlled to detect target body movements. If the target body movement is detected and the target body movement is performed within the projection area, a tailgate control instruction is generated. This application performs body movement detection by reusing the target UWB anchor point at the rear of the vehicle, eliminating the need for additional hardware costs such as millimeter-wave radar. At the same time, it determines whether the user is near the projection area based on the position of the UWB digital key. If the user is near the projection area, the projection device is controlled to turn on, thereby more accurately controlling the projection device to instruct the user to perform actions such as kicking.

[0093] Figure 4 This is a schematic diagram of the structure of a positioning device provided in Embodiment 3 of the present invention. The electronic device 40 includes a memory 41 and a processor 42;

[0094] The memory 41 is used to store computer programs; the processor 42 is used to read the computer programs in the memory 41 and implement the tailgate control method as described in the above embodiment when executing the programs.

[0095] A fourth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computer processor, the computer program is used to execute the technical solution of any method embodiment.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware. Of course, it can also be implemented with hardware, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or grid device, etc.) to execute the methods described in various embodiments of the present invention.

[0097] It is worth noting that in the embodiment of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0098] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A tailgate control method, characterized in that: include: Get the positioning information of the UWB digital key; determining, based on the positioning information, whether the UWB digital key is within a target range, wherein the target range is adjacent to a projection area of ​​a projection device at the rear of the vehicle; and if it is determined that the digital key is within the target range, controlling the projection device to project a projection area on the ground; A target UWB anchor point installed at the rear of the vehicle in the UWB digital key system for controlling the vehicle detects target limb movements. If the target limb movement is detected and the target limb movement is performed within the projection area, a tailgate control instruction is generated.

2. The tailgate control method according to claim 1, characterized in that: The UWB digital key system for controlling the vehicle, wherein a target UWB anchor point installed at the rear of the vehicle detects a target body movement, including: Acquire detection information collected by the target UWB anchor point; the detection information includes: flight time information and CIR information; Calculating acceleration information and displacement information of the target limb based on the flight time information and CIR information; Determine whether the target limb movement exists based on the acceleration information and displacement information of the target limb.

3. The tailgate control method according to claim 2, characterized in that: The step of calculating the acceleration information and displacement information of the target limb according to the flight time information and the CIR information includes: The flight time information and CIR information are subjected to wavelet denoising and then Kalman filtering; The acceleration and displacement information of the target limb are calculated based on the flight time information and CIR information after Kalman filtering.

4. The tailgate control method according to claim 1, characterized in that: The determining, based on the positioning information, whether the UWB digital key is within a target range includes: Determining whether the digital key is located in a first positioning area based on the UWB digital key system, and if the digital key is located in the first positioning area, obtaining ranging information of multiple UWB anchor points at a preset position of the vehicle; Determine whether the UWB digital key is within the target range based on the ranging information.

5. The tailgate control method according to claim 4, characterized in that: The plurality of UWB anchor points at the preset positions include a first UWB anchor point and a second UWB anchor point symmetrically arranged in a central area outside the vehicle, and the target UWB anchor point; Obtaining ranging information of multiple UWB anchor points at a preset position of the vehicle, including: obtaining ranging value information between each of the first UWB anchor point, the second UWB anchor point, and the target UWB anchor point and the digital key; The determining, according to the ranging information, whether the UWB digital key is within the target range includes: Based on the ranging value information, change information of the effective ranging values ​​of the first UWB anchor point, the second UWB anchor point and the target UWB anchor point is calculated respectively, and the target position of the digital key is analyzed based on the change information of the ranging values. If the target position of the digital key is the target range and the distance between the digital key and the target UWB anchor point is less than a preset distance threshold, it is determined that the digital key is within the target range.

6. The tailgate control method according to claim 5, characterized in that: Analyzing the target position of the digital key according to the change information of the ranging value includes: A minimum ranging value is obtained according to the ranging value information, and if the minimum ranging value corresponds to a first UWB anchor point or a second UWB anchor point, and if it is determined that the digital key is gradually moving away from itself according to the variation information of the ranging value of the first UWB anchor point or the second UWB anchor point, and it is determined that the digital key is gradually approaching the target anchor point according to the variation information of the ranging value of the target anchor point, then the target position of the digital key is determined to be the target range; or If the minimum ranging value corresponds to the target UWB anchor point, and the distances between the digital key and the first UWB anchor point, the second UWB anchor point, and the third UWB anchor point all show a decreasing trend, then the target position of the digital key is determined to be the target range.

7. The tailgate control method according to claim 6, characterized in that: Generate tailgate control commands, including: Obtaining the operating state of the vehicle, and if the operating state of the vehicle is a parking state, the current state of the tailgate of the vehicle is closed, and no moving object is detected within a preset range by the millimeter-wave radar of the vehicle, generating an instruction to open the tailgate; Optionally, the method further includes: When it is determined according to the positioning information of the digital key that the UWB digital key leaves the target range, the projection device is controlled to be turned off.

8. A dual-mode dual-anchor digital key positioning device, characterized in that: include: Acquisition module, used to obtain the positioning information of the UWB digital key; a position determination module, configured to determine whether the UWB digital key is located within a target range based on the positioning information; wherein the target range is adjacent to a projection area of ​​a projection device at the rear of the vehicle; a projection control module, configured to control the projection device to project a projection area on the ground if it is determined that the digital key is within the target range; A target detection module, configured to control a target UWB anchor point installed at the rear of the vehicle in the UWB digital key system of the vehicle to detect target body movements; An instruction generating module is configured to generate a tailgate control instruction if the target limb movement is detected and the target limb movement is performed within the projection area.

9. An electronic device, characterized in that: including memory and processor; A memory for storing a computer program; the processor for reading the computer program in the memory and implementing the tailgate control method according to any one of claims 1 to 7 when executing the program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the tailgate control method according to any one of claims 1 to 7 is implemented.

Images