Anti-pinch system, method, computer device, medium and vehicle for a tailgate

Abstract

The present invention relates to an anti-pinch system for a tailgate. The system includes: a sensor configured to sense a real-time value of a minimum distance between the sensor and surrounding objects of the tailgate when the tailgate descends, wherein the surrounding objects of the tailgate include objects located on a movement trajectory of the tailgate; and a controller configured to perform the following operations when the real-time value is not greater than a first distance threshold: determine a calibrated value corresponding to the real-time value, compare the real-time value with the corresponding calibrated value, and issue a first warning signal when the real-time value is less than the corresponding calibrated value. The present invention also relates to an anti-pinch method for a tailgate, a computer device, a computer storage medium, and a vehicle.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to an anti-pinch system, method, computer equipment, computer storage medium and vehicle for a tailgate. Background Art

[0002] With the continuous development and popularization of automation technology, more and more cars are equipped with electric tailgates. Users can automatically open or close the tailgate by setting a switch in a suitable position such as inside the vehicle, on the tailgate, or on the car key.

[0003] Considering the risk of electric tailgate accidentally pinching obstacles or even people, it is necessary to configure the electric tailgate with an anti-pinch function. The existing anti-pinch function is often based on the detection of motor ripple or the Hall signal of the motor. When it is detected that the operation of the electric tailgate has been blocked by an obstacle or a person, the anti-pinch operation is started.

[0004] However, before such an anti-pinch operation is initiated, accidental pinching may have occurred, resulting in problems such as obstacles being pinched, tailgate being damaged, or people being accidentally injured.

[0005] It can be seen that an anti-pinch technology is needed that can better deal with the problem of tailgate accidental pinching. Summary of the invention

[0006] In order to solve or at least alleviate one or more of the above problems, the following technical solutions are provided.

[0007] According to one aspect of the present invention, there is provided an anti-pinch system for a tailgate. The system comprises: a sensor configured to sense a real-time value of a minimum distance between the sensor and surrounding objects of the tailgate when the tailgate is lowered, wherein the surrounding objects of the tailgate include objects located on a motion track of the tailgate; and a controller configured to perform the following operations when the real-time value is not greater than a first distance threshold: determining a calibration value corresponding to the real-time value, comparing the real-time value with the corresponding calibration value, and issuing a first warning signal when the real-time value is less than the corresponding calibration value.

[0008] Optionally, in the above-mentioned anti-pinch system for the tailgate, the controller is also configured to: when the real-time value is less than the corresponding calibration value, compare the real-time value with a second distance threshold, and when the real-time value is not greater than the second distance threshold, send a stop signal to stop the tailgate from descending.

[0009] Optionally, in the above anti-pinch system for the tailgate, the controller is further configured to: issue a second warning signal when the real-time value is not greater than the second distance threshold.

[0010] Optionally, in the above anti-pinch system for the tailgate, the controller is further configured to: when the real-time value is not greater than the second distance threshold, determine whether the duration for which the real-time value is less than the calibrated value reaches a predetermined time threshold; and if the duration reaches the time threshold, send a flip signal to cause the tailgate to flip upward, otherwise, send a lowering signal to cause the tailgate to continue to lower.

[0011] Optionally, in the above anti-pinch system for the tailgate, the controller is further configured to: if the duration reaches the time threshold, send a third warning signal.

[0012] Optionally, in the above anti-pinch system for the tailgate, the controller is configured to determine the calibrated value corresponding to the real-time value through the following operations: determine the height of the tailgate corresponding to the real-time value; and based on the correspondence between the height of the tailgate and the calibrated value, determine the calibrated value corresponding to the real-time value.

[0013] Optionally, in the controller of the above anti-pinch system for the tailgate, the correspondence between the height of the tailgate and the calibrated value is determined through the following operations: in response to receiving a height learning signal, set the current height of the tailgate as the maximum height; in response to receiving a calibration signal, cause the tailgate to lower from the maximum height; during the lowering of the tailgate, receive the calibrated value of the minimum distance between the sensor and the surrounding objects of the tailgate at different heights of the tailgate; and establish the correspondence between the height of the tailgate and the calibrated value.

[0014] Optionally, in the above anti-pinch system for the tailgate, the sensor is disposed on the tailgate.

[0015] According to another aspect of the present invention, there is provided an anti-pinch method for a tailgate. The method includes: when the tailgate is lowering, using a sensor to sense a real-time value of the minimum distance between the sensor and the surrounding objects of the tailgate, where the surrounding objects of the tailgate include objects located on the movement trajectory of the tailgate; comparing the real-time value with a first distance threshold; when the real-time value is not greater than the first distance threshold, determining a calibrated value corresponding to the real-time value; comparing the real-time value and the corresponding calibrated value; and when the real-time value is less than the corresponding calibrated value, sending a first warning signal, where the sensor is disposed on the tailgate.

[0016] Optionally, in the above anti-pinch method for the tailgate, it further includes: when the real-time value is less than the corresponding calibrated value, comparing the real-time value with a second distance threshold, and when the real-time value is not greater than the second distance threshold, sending a stop signal to stop the tailgate from descending.

[0017] Optionally, in the above anti-pinch method for the tailgate, it further includes: when the real-time value is not greater than the second distance threshold, sending a second warning signal.

[0018] Optionally, in the above anti-pinch method for the tailgate, it further includes: when the real-time value is not greater than the second distance threshold, determining whether the duration for which the real-time value is less than the calibrated value reaches a predetermined time threshold; and if the duration reaches the time threshold, sending a flip signal to make the tailgate flip upward, otherwise, sending a descending signal to make the tailgate continue to descend.

[0019] Optionally, in the above anti-pinch method for the tailgate, it further includes: if the duration reaches the time threshold, sending a third warning signal.

[0020] Optionally, in the above anti-pinch method for the tailgate, the calibrated value corresponding to the real-time value is determined by the following operations: determining the height of the tailgate corresponding to the real-time value; and determining the calibrated value corresponding to the real-time value according to the corresponding relationship between the height of the tailgate and the calibrated value.

[0021] Optionally, in the above anti-pinch method for the tailgate, the corresponding relationship between the height of the tailgate and the calibrated value is determined by the following operations: in response to receiving a height learning signal, setting the current height of the tailgate as the maximum height; in response to receiving a calibration signal, making the tailgate descend from the maximum height; during the descent of the tailgate, receiving the calibrated value of the minimum distance between the sensor and the surrounding objects of the tailgate at different heights of the tailgate; and establishing the corresponding relationship between the height of the tailgate and the calibrated value.

[0022] Optionally, in the above anti-pinch method for the tailgate, the sensor is disposed on the tailgate.

[0023] According to another aspect of the present invention, there is provided a computer storage medium. The medium includes instructions that, when running, execute any of the above anti-pinch methods for the tailgate.

[0024] According to another aspect of the present invention, there is provided a computer device. The computer device includes a processor and a memory. When a computer program stored in the memory is run on the processor, any of the above-described anti-pinch methods for a tailgate is implemented.

[0025] According to still another aspect of the present invention, there is provided a vehicle. The vehicle is equipped with any of the above-described anti-pinch systems for a tailgate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other objects and advantages of the present invention will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0027] Figure 1 FIG. shows a block diagram of an anti-pinch system 1000 for a tailgate according to an embodiment of the present invention.

[0028] Figure 2 FIG. shows a schematic diagram of a vehicle 2000 equipped with an anti-pinch system for a tailgate according to an embodiment of the present invention.

[0029] Figure 3 FIG. shows a flowchart of an anti-pinch method 3000 for a tailgate according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] It should be noted that the terms "vehicle", "automobile" or other similar terms herein include general motor vehicles, such as passenger cars (including sport utility vehicles, buses, trucks, etc.), various commercial vehicles, ships, airplanes, etc., and include hybrid electric vehicles, electric vehicles, plug-in hybrid electric vehicles, etc. A hybrid electric vehicle is a vehicle having two or more power sources, such as a gasoline-powered and an electric vehicle. In addition, the terms "first", "second", "third", etc. herein are used to distinguish similar objects and do not necessarily have to describe a specific order or sequence. In addition, unless otherwise specifically specified, the terms "comprising", "having" and similar expressions herein are intended to mean non-exclusive inclusion.

[0031] It should also be noted that herein, the origin of the vehicle coordinate system coincides with the center of mass, the longitudinal axis of the vehicle is intended to represent parallel to the ground and pointing forward of the vehicle, the lateral axis of the vehicle is intended to represent parallel to the ground and pointing to the left of the driver, and the vertical axis of the vehicle is intended to represent passing through the center of mass of the vehicle and pointing upward.

[0032] Hereinafter, various exemplary embodiments of the present invention will be described in detail with reference to the drawings.

[0033] Figure 1 FIG. shows a block diagram of an anti-pinch system 1000 for a tailgate according to an embodiment of the present invention. As Figure 1As shown, the anti-pinch system 1000 for the tailgate includes a sensor 110 and a controller 120.

[0034] Among them, the sensor 110 is configured to sense the real-time value of the minimum distance between the sensor 110 and the surrounding objects of the tailgate 210 when the tailgate 210 descends. Among them, the surrounding objects of the tailgate 210 include the objects located on the movement trajectory of the tailgate 210. Therefore, when an obstacle appears on the movement trajectory of the tailgate 210, the sensor 110 can sense the obstacle. Optionally, the sensor 110 is arranged on the tailgate 210 of the vehicle 2000 as shown in Figure 2 As shown. In this article, the "movement trajectory of the tailgate" is intended to represent the trajectory line formed by the tailgate during the ascending or descending process.

[0035] Optionally, the sensor 110 is a millimeter-wave radar sensor that is centrosymmetric along the longitudinal axis of the vehicle. It should be noted that the "sensor" in this article is not limited to such a millimeter-wave radar sensor, but may be any suitable sensor capable of realizing the ranging function, such as a lidar sensor, an ultrasonic radar sensor, etc. It should also be noted that the "sensor" in this article is not limited to the centrosymmetric arrangement along the longitudinal axis of the vehicle, but may be arranged at other suitable positions of the tailgate. In addition, the "obstacle" in this article may be an object, or a part of a person or an animal.

[0036] Among them, the controller 120 is configured to perform the following operations when the real-time value sensed by the sensor 110 is not greater than the first distance threshold: determine the calibration value corresponding to the above real-time value, and then compare the real-time value with the corresponding calibration value. When the real-time value is less than the corresponding calibration value, send a first warning signal to remind the user that the tailgate faces the risk of false clamping.

[0037] Here, the first distance threshold is pre-determined, and it can be 30mm. However, the present invention does not intend to limit the distance threshold to such a value. The distance threshold can be any value such as 25mm, 35mm, 45mm, etc. that can reflect that the distance between the sensor and the surrounding objects of the tailgate 210 is small enough to require attention.

[0038] In addition, here, the first warning signal causes the vehicle 2000 to remind the user of the possible risk of false clamping in the form of light. For example, it causes the delay switch indicator light on the tailgate 210 to enter the flashing state. It should be noted that the first warning signal can also cause the vehicle 2000 to remind the user of the possible risk of false clamping in any other suitable form, such as in the form of sound, in the form of text, graphics, etc. displayed on the in-vehicle display screen, in the form of text, graphics, etc. displayed on the mobile device connected to the vehicle.

[0039] The controller 120 can also be configured to further compare the real-time value with a second distance threshold when the real-time value is less than the corresponding calibrated value. When the real-time value is less than the second distance threshold, the controller 120 is configured to issue a stop signal to stop the tailgate from descending. Optionally, the controller 120 can also be configured to issue a second warning signal when the real-time value is less than the second distance threshold to alert the user that the tailgate faces an imminent risk of pinching.

[0040] Here, the second distance threshold is predetermined and can be 10 mm. However, the present invention does not intend to limit the distance threshold to such a value, and the distance threshold can be predetermined as any value such as 8 mm, 12 mm, 14 mm, etc. that can reflect that the sensor is about to contact an object around the tailgate. Generally, the second distance threshold is less than the first distance threshold.

[0041] In addition, here, the second warning signal causes the vehicle 2000 to alert the user in the form of a high-frequency alarm sound. It should be noted that the second warning signal can also cause the vehicle 2000 to alert the user of the imminent risk of pinching in any other appropriate form, such as in the form of lights, text, graphics, etc. displayed on the in-vehicle display screen, or text, graphics, etc. displayed on a mobile device connected to the vehicle. Optionally, the warning levels of the first and second warning signals can be gradually increased. For example, the first warning signal is in the form of an indicator light flashing, and the second warning signal is in the form of a high-frequency sound. Such a hierarchical warning can give the user an appropriate reminder according to the severity of the risk of the tailgate being pinched.

[0042] The controller 120 can also be configured to further determine whether the duration for which the real-time value is less than the calibrated value reaches a predetermined time threshold when the real-time value is not greater than the second distance threshold, and if the duration reaches the time threshold, issue a flip signal to cause the tailgate 210 to flip upward, otherwise, issue a descent signal to cause the tailgate 210 to continue descending. Optionally, the controller is further configured to issue a third warning signal if the duration reaches the time threshold to alert the user that the tailgate faces a very imminent risk of pinching.

[0043] Here, the time threshold is predetermined and can be 3 s. However, the present invention does not intend to limit the time threshold to such a value, and the time threshold can be predetermined as any appropriate time such as 2.5 s, 3.5 s, 4 s, etc.

[0044] In addition, here, the third warning signal can cause the vehicle 2000 to remind the user of the very urgent risk of accidental pinching of the rear tailgate in any appropriate form such as lights, sounds, text, graphics, etc. displayed on the in-vehicle display screen, or text, graphics, etc. displayed on a mobile device connected to the vehicle. Similarly to the foregoing, the warning levels of the first, second, and third warning signals can also be gradually strengthened (for example, the volume of the warning sound gradually increases, the rhythm gradually becomes rapid, etc.), so as to provide the user with a warning that matches the accidental pinching risk, avoid causing excessive interference to the user when the risk is small, and at the same time ensure that a strong enough reminder is provided to the user when the risk is large.

[0045] Through the above anti-pinch system 1000 for the rear tailgate, it is possible to predict whether the rear tailgate faces the risk of accidental pinching, and provide the user with corresponding warning signals when there is a risk of accidental pinching. When the predicted risk of accidental pinching is relatively urgent or very urgent, the anti-pinch system 1000 can also implement functions such as stopping the rear tailgate from descending and flipping the rear tailgate upward, thereby avoiding possible accidental pinching accidents.

[0046] As an example, the controller 120 is configured to determine a calibration value corresponding to a real-time value through the following operations: First, determine the height of the rear tailgate corresponding to the real-time value, and then, according to the corresponding relationship between the height of the rear tailgate and the calibration value, determine the calibration value corresponding to the real-time value.

[0047] Among them, the corresponding relationship between the height of the rear tailgate and the calibration value can be pre-determined when the vehicle leaves the factory, or can be re-determined according to the user's instructions.

[0048] The following provides an example operation of re-determining the corresponding relationship between the height of the rear tailgate and the calibration value according to the user's instructions. First, the user can set an expected maximum height for the rear tailgate 210. Specifically, when the rear tailgate 210 is at an appropriate height, the user can send a height learning signal; in response to the received height learning signal, the vehicle 2000 sets the current height of the rear tailgate 210 as the maximum height. Then, in response to receiving a calibration signal, the controller 120 issues a signal to cause the rear tailgate 210 to start descending from the re-set maximum height. During the descent of the rear tailgate 210, the sensor senses the calibration values of the minimum distances between the sensor 110 and the surrounding objects of the rear tailgate 210 at different heights of the rear tailgate 210, and sends these calibration values to the controller 120. The controller 120 establishes the corresponding relationship between the height of the rear tailgate 210 and these calibration values according to the received calibration values. What the controller 120 receives are often calibration values at discrete heights. Based on these discrete values, a discrete corresponding relationship between the height of the rear tailgate and the calibration value can be established. Then, a continuous corresponding relationship can be established by means of, for example, fitting.

[0049] Optionally, the motor ripple principle is utilized to establish a discrete correspondence between the tailgate height and the calibration value based on discrete calibration values. Specifically, the motor drives the tailgate 210 to descend at a constant speed. Each time the motor rotates one week, the tailgate 210 descends by a fixed amplitude and generates a fixed number of ripples (for example, 8 ripples). Since the step size of the motor is fixed, 8 ripples correspond to a fixed time period and also correspond to a fixed tailgate descent amplitude. Therefore, the correspondence between the tailgate height and time can be determined. Further, while the tailgate 210 descends at a constant speed, the sensor 110 senses the calibration value of the distance between the sensor 110 and the surrounding objects of the tailgate 210 every other period (for example, 10 ms). Therefore, the correspondence between these discrete calibration values and time can be determined. Thus, the tailgate height and the calibration value are respectively in correspondence with time, and hence the discrete correspondence between the tailgate height and the calibration value can be determined.

[0050] The maximum height of the tailgate preset when the vehicle leaves the factory may not be suitable for some users. For example, it may be too high for users with a petite build. In addition, the calibration value of the distance between the sensor and the surrounding objects of the tailgate at a specific tailgate height may also be different from the factory preset due to items placed very close to the sensor in the trunk. By re - determining the above - mentioned correspondence, the anti - pinch system 1000 can flexibly update the correspondence between the tailgate height and the calibration value according to user needs, the placement of items in the trunk, etc.

[0051] The above - mentioned anti - pinch system 1000 for the tailgate can be used together with other anti - pinch systems (such as anti - pinch systems based on motor ripple signals, Hall signals, etc.). The above - mentioned anti - pinch system 1000 for the tailgate can be configured to be disabled when other anti - pinch systems have been triggered (such as emitting a warning signal, a stop signal, or a flip signal). The above - mentioned anti - pinch system 1000 for the tailgate can also be configured to be disabled when detecting human intervention in the tailgate closing.

[0052] Figure 3 The flowchart of an anti - pinch method 3000 for a tailgate according to an embodiment of the present invention is shown.

[0053] In step S300, the real - time value of the minimum distance between the sensor and the surrounding objects of the tailgate is sensed when the tailgate descends. Among them, the surrounding objects of the tailgate include the objects located on the movement trajectory of the tailgate. Optionally, the sensor is arranged on the tailgate, for example, on the tailgate 210 of the vehicle 2000. Optionally, the sensor 110 is a millimeter - wave radar sensor that is centrosymmetric along the longitudinal axis of the vehicle.

[0054] In step S310, compare the above real-time value of the minimum distance between the sensor and the surrounding objects of the tailgate with the first distance threshold. Similarly to the anti-pinch system 1000, the first distance threshold can be pre-determined as 30 mm, or can be pre-determined as any value that can reflect that the distance between the sensor and the surrounding objects of the tailgate is small enough to require attention.

[0055] When the above real-time value is not greater than the first distance threshold, in step S320, determine the calibration value corresponding to the real-time value.

[0056] In step S330, compare the above real-time value with the corresponding calibration value.

[0057] When the above real-time value is less than the corresponding calibration value, in step S340, issue a first warning signal to remind the user that the tailgate is at risk of false clamping.

[0058] Optionally, the first warning signal causes the vehicle to remind the user in the form of flashing lights. Similarly to the anti-pinch system 1000, the first warning signal can also cause the vehicle to remind the user of the possible false clamping risk in any other appropriate form, for example, in the form of sound, in the form of text, graphics, etc. displayed on the in-vehicle display screen, in the form of text, graphics, etc. displayed on the mobile device connected to the vehicle.

[0059] When the above real-time value is less than the corresponding calibration value, in addition to issuing the first warning signal, in step S350 ( Figure 3 not shown), also compare the real-time value with the second distance threshold. Similarly to the anti-pinch system 1000, the second distance threshold can be pre-determined as 10 mm, or can be pre-determined as any appropriate value that can reflect that the sensor is about to contact the surrounding objects of the tailgate. Generally speaking, the second distance threshold is less than the first distance threshold.

[0060] When the above real-time value is not greater than the second distance threshold, in step S360 ( Figure 3 not shown), issue a stop signal to stop the tailgate from descending. Optionally, in addition to issuing the stop signal, also issue a second warning signal to remind the user that the tailgate is at risk of imminent false clamping.

[0061] Optionally, the second warning signal causes the vehicle to remind the user in the form of a high-frequency alarm sound. Similarly to the anti-pinch system 1000, the second warning signal can also cause the vehicle to remind the user of the urgent false clamping risk in any other appropriate form, for example, in the form of lights, in the form of text, graphics, etc. displayed on the in-vehicle display screen, in the form of text, graphics, etc. displayed on the mobile device connected to the vehicle.

[0062] When the real-time value is not greater than the second distance threshold, in step S370 ( Figure 3(not shown in the figure), it is also possible to determine whether the duration for which the real-time value is less than the calibrated value reaches a predetermined time threshold. Similarly to the anti-pinch system 1000, the time threshold can be predetermined as 3 s or any other appropriate time threshold.

[0063] If the duration reaches the predetermined time threshold, then in step S380 ( Figure 3 not shown in the figure), a flipping signal is issued to cause the rear tailgate to flip upward; otherwise, in step S390 ( Figure 3 not shown in the figure), a descending signal is issued to cause the rear tailgate to continue to descend.

[0064] Optionally, if the duration reaches the predetermined time threshold, a third warning signal is also issued to remind the user that the rear tailgate faces a very urgent risk of false clamping. Similarly to the anti-pinch system 1000, the third warning signal can cause the vehicle to remind the user that the rear tailgate faces a very urgent risk of false clamping in any appropriate form such as in the form of lights, sounds, text, graphics, etc. displayed on the in-vehicle display screen, text, graphics, etc. displayed on a mobile device connected to the vehicle.

[0065] In step S320, the calibrated value corresponding to the real-time value can be determined in the following manner: First, determine the height of the rear tailgate corresponding to the real-time value, and then, according to the correspondence between the height of the rear tailgate and the calibrated value, determine the calibrated value corresponding to the real-time value. Among them, the correspondence between the height of the rear tailgate and the calibrated value can be predetermined when the vehicle leaves the factory, or can be re-determined according to the user's instructions.

[0066] As an example, the following operations can be used as an example operation to re-determine the correspondence between the height of the rear tailgate and the calibrated value in response to the user's instructions. First, in response to receiving a height learning signal issued by the user, set the current height of the rear tailgate to the maximum height. Then, in response to receiving a calibration signal issued by the user, cause the rear tailgate to descend from the re-set maximum height. During the descent of the rear tailgate, receive the calibrated value of the minimum distance between the sensor and the objects around the rear tailgate at different heights of the rear tailgate from the sensor, and establish the correspondence between the height of the rear tailgate and the calibrated value. The relationship between the height of the rear tailgate and the calibrated value can be established in a manner similar to that in the anti-pinch system 1000.

[0067] The maximum height of the rear tailgate preset when the vehicle leaves the factory may not be suitable for some users. For example, it is too high for users with a petite build. In addition, the calibrated value at a specific height of the rear tailgate may also be different from the calibrated value preset at the factory because there are items placed very close to the sensor in the trunk. By re-determining the above correspondence, the anti-pinch method 3000 can flexibly update the correspondence between the height of the rear tailgate and the calibrated value according to the user's needs, the placement of items in the trunk, and other situations.

[0068] Figure 3 Some of the block diagrams shown are functional entities and do not necessarily have to correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0069] It should be understood that the anti-pinch method for the tailgate according to the foregoing embodiments of the present invention can be implemented as a computer program product. Therefore, the present invention can, for example, take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) that contain computer-usable program code.

[0070] It should also be understood that the anti-pinch system for the tailgate according to the foregoing embodiments of the present invention can be incorporated into a vehicle.

[0071] In summary, the anti-pinch solution for the tailgate proposed by the present invention can predict whether the tailgate is at risk of accidental pinching and accordingly issue a warning signal to the user. When the predicted risk of accidental pinching is relatively urgent or very urgent, the anti-pinch solution proposed by the present invention can also control functions such as stopping the tailgate from descending and flipping upwards, thereby avoiding possible accidental pinching accidents.

[0072] Although only some of the embodiments of the present invention have been described above, those of ordinary skill in the art should understand that the present invention can be implemented in many other forms without departing from its gist and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present invention may cover various modifications and substitutions without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims

1. A pinch protection system for a tailgate, characterized in that, it includes: a sensor configured to sense a real-time value of a minimum distance between the sensor and surrounding objects of the tailgate when the tailgate descends, wherein the surrounding objects of the tailgate include objects located on a movement trajectory of the tailgate; and a controller configured to perform the following operations when the real-time value is not greater than a first distance threshold: determine a calibrated value corresponding to the real-time value, compare the real-time value and the corresponding calibrated value, and when the real-time value is less than the corresponding calibrated value, issue a first warning signal, wherein the controller is configured to determine the calibrated value corresponding to the real-time value through the following operations: determine a height of the tailgate corresponding to the real-time value; and determine the calibrated value corresponding to the real-time value according to a correspondence between the height of the tailgate and the calibrated value. In the controller, the correspondence between the height of the tailgate and the calibrated value is determined according to the following operations: in response to receiving a height learning signal, set the current height of the tailgate as the maximum height; in response to receiving a calibration signal, cause the tailgate to descend from the maximum height; during the descent of the tailgate, receive calibrated values of the minimum distance between the sensor and the surrounding objects of the tailgate at different heights of the tailgate; and establish the correspondence between the height of the tailgate and the calibrated value.

2. The pinch protection system for a tailgate according to claim 1, wherein, the controller is further configured to: when the real-time value is less than the corresponding calibrated value, further compare the real-time value with a second distance threshold, and when the real-time value is not greater than the second distance threshold, issue a stop signal to cause the tailgate to stop descending.

3. The pinch protection system for a tailgate according to claim 2, wherein, the controller is further configured to: when the real-time value is not greater than the second distance threshold, issue a second warning signal.

4. The pinch protection system for a tailgate according to claim 2, wherein, the controller is further configured to: when the real-time value is not greater than the second distance threshold, determine whether a duration for which the real-time value is less than the calibrated value reaches a predetermined time threshold; and if the duration reaches the time threshold, issue a flip signal to cause the tailgate to flip upward, otherwise, issue a descent signal to cause the tailgate to continue descending.

5. The pinch protection system for a tailgate according to claim 4, wherein, the controller is further configured to: if the duration reaches the time threshold, issue a third warning signal.

6. The pinch protection system for a tailgate according to claim 1, wherein, the sensor is disposed on the tailgate.

7. A pinch protection method for a tailgate, characterized in that, it includes: when the tailgate descends, use a sensor to sense a real-time value of a minimum distance between the sensor and surrounding objects of the tailgate, wherein the surrounding objects of the tailgate include objects located on a movement trajectory of the tailgate; Compare the real-time value with a first distance threshold value; When the real-time value is not greater than the first distance threshold value, determine a calibration value corresponding to the real-time value; Compare the real-time value with the corresponding calibration value; and When the real-time value is less than the corresponding calibration value, issue a first warning signal, wherein the sensor is disposed on the tailgate, and the calibration value corresponding to the real-time value is determined by the following operations: Determine the height of the tailgate corresponding to the real-time value; and According to the corresponding relationship between the height of the tailgate and the calibration value, determine the calibration value corresponding to the real-time value, and wherein the corresponding relationship between the height of the tailgate and the calibration value is determined by the following operations: In response to receiving a height learning signal, set the current height of the tailgate to the maximum height; In response to receiving a calibration signal, cause the tailgate to start descending from the maximum height; During the descent of the tailgate, receive calibration values of the minimum distance between the sensor and the surrounding objects of the tailgate at different heights of the tailgate; and Establish the corresponding relationship between the height of the tailgate and the calibration value.

8. The anti-pinch method for a tailgate according to claim 7, wherein, further comprising: When the real-time value is less than the corresponding calibration value, further compare the real-time value with a second distance threshold value, and when the real-time value is not greater than the second distance threshold value, issue a stop signal to cause the tailgate to stop descending.

9. The anti-pinch method for a tailgate according to claim 8, wherein, further comprising: When the real-time value is not greater than the second distance threshold value, issue a second warning signal.

10. The anti-pinch method for a tailgate according to claim 8, wherein, further comprising: When the real-time value is not greater than the second distance threshold value, determine whether the duration of the real-time value being less than the calibration value reaches a predetermined time threshold; and If the duration reaches the time threshold, issue a flip signal to cause the tailgate to flip upward, otherwise, issue a descent signal to cause the tailgate to continue descending.

11. The anti-pinch method for a tailgate according to claim 10, wherein, further comprising: If the duration reaches the time threshold, issue a third warning signal.

12. A computer storage medium, characterized in that, the medium includes instructions that execute the method according to any one of claims 7 to 11 when running.

13. A computer device, comprising a processor and a memory, characterized in that, when a computer program stored in the memory is run on the processor, the method according to any one of claims 7 to 11 is implemented.

14. A vehicle, characterized in that, it is equipped with the system according to any one of claims 1 to 6.

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