Electric tailgate control system and control method for vehicle

Abstract

The present invention discloses a control method for a vehicle, the method comprising: detecting the position of a user around the vehicle in response to receiving an opening signal and a closing signal for respectively opening and closing an electric tailgate of the vehicle; and controlling the opening speed and the closing speed of the electric tailgate according to the distance between the vehicle and the user when opening and closing the electric tailgate in response to receiving the opening signal and the closing signal of the electric tailgate respectively.

Description

[0001] Cross - reference to related applications

[0002] This application claims the benefit of priority to Korean Patent Application No. 10 - 2020 - 0106325, filed on August 24, 2020, with the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference for all purposes. Technical field

[0003] The present disclosure relates to a vehicle, and more particularly, to a vehicle having an electric tailgate that is automatically opened and closed by a driving motor. Background art

[0004] Vehicles are equipped with multiple doors. Most doors are provided on the sides of the vehicle for passengers to get on and off. In the case of sedan - type passenger cars, a trunk door is provided at the rear of the vehicle. Other types of vehicles such as sport utility vehicles (SUVs), recreational vehicles (RVs), or vans have a tailgate on their rear side. In the case of a vehicle equipped with a tailgate, a user can directly open or close the tailgate by hand. Additionally, in the case of an electric tailgate that is automatically opened or closed using motor driving force, the electric tailgate can be automatically opened or closed only by operating or carrying a remote controller.

[0005] However, when the electric tailgate is automatically opened or closed, if the user is located behind the vehicle, there is a possibility that the user may come into contact with the opened or closed electric tailgate. Summary of the invention

[0006] According to one aspect of the present disclosure, an object of the present disclosure is to control the opening speed or closing speed of an electric tailgate of a vehicle in consideration of the position of a user when the electric tailgate is automatically opened or closed.

[0007] According to one aspect of the present disclosure, a control method for a vehicle may include: detecting the position of a user around the vehicle in response to receiving an opening signal and a closing signal for respectively opening and closing the electric tailgate of the vehicle; and differently controlling the opening speed and closing speed of the electric tailgate according to the distance between the vehicle and the user when opening and closing the electric tailgate in response to receiving the opening signal and the closing signal of the electric tailgate, respectively.

[0008] The method may further include: controlling the opening speed or closing speed of the electric tailgate to be slower as the distance between the vehicle and the user becomes closer; and controlling the opening speed or closing speed of the electric tailgate to be faster as the distance between the vehicle and the user becomes farther.

[0009] The method may further include: recognizing the action of the user; and further reducing or increasing the opening speed or closing speed of the electric tailgate based on the recognition result of the user's action.

[0010] The method may further include: calculating a moving speed of the user based on the user's location information; and further decreasing or increasing an opening speed or a closing speed of the power tailgate based on the moving speed of the user.

[0011] The method may further include: displaying the opening speed or the closing speed of the power tailgate through a visual representation device or an auditory representation device provided in the vehicle.

[0012] The display may include: representing by turning on and off a lamp of the vehicle, and the display through the auditory representation device provided in the vehicle may include: representing through a speaker or a horn of the vehicle.

[0013] The method may further include: checking whether there is anyone other than the user behind the vehicle; and when there is someone behind the vehicle, stopping the opening and closing of the power tailgate or controlling the opening and closing of the power tailgate more slowly.

[0014] The presence of other people may be checked through a rear detection sensor of the vehicle.

[0015] The location of the user may be detected through ultra-wideband communication between the vehicle and an ultra-wideband communicator carried by the user.

[0016] According to another aspect of the present disclosure, a vehicle may include: a communicator configured to receive an opening signal and a closing signal of a power tailgate of the vehicle; and a controller configured to detect a location of a user around the vehicle in response to receiving the opening signal and the closing signal for opening and closing the power tailgate respectively, and control an opening speed and a closing speed of the power tailgate according to a distance between the vehicle and the user when opening and closing the power tailgate in response to the opening signal and the closing signal for opening and closing the power tailgate respectively.

[0017] The controller may be configured to: control the opening speed or the closing speed of the power tailgate more slowly as the distance between the vehicle and the user becomes closer, and control the opening speed or the closing speed of the power tailgate faster as the distance between the vehicle and the user becomes farther.

[0018] The controller may be configured to: recognize an action of the user, and further decrease or increase the opening speed or the closing speed of the power tailgate based on a recognition result of the action of the user.

[0019] The controller may be configured to: calculate a moving speed of the user based on the user's location information, and further decrease or increase the opening speed or the closing speed of the power tailgate based on the moving speed of the user.

[0020] The controller can be configured to display the opening speed or closing speed of the power tailgate through a visual representation device or an auditory representation device provided in the vehicle.

[0021] The opening speed and the closing speed can be displayed by indicating through turning on and off the lights of the vehicle, and the display through the auditory representation device provided in the vehicle can include indicating through the speaker or horn of the vehicle.

[0022] The controller is configured to: check whether there is anyone other than the user behind the vehicle; and when there is someone other than the user behind the vehicle, stop the opening and closing of the power tailgate or control the opening and closing of the power tailgate more slowly.

[0023] The presence of someone other than the user can be detected by a rear detection sensor of the vehicle.

[0024] The position of the user can be detected through ultra-wideband communication between the vehicle and an ultra-wideband communicator carried by the user.

[0025] According to another aspect, a control method of a vehicle can include: communicating with an ultra-wideband communicator of a user through ultra-wideband communication; in response to receiving an opening signal and a closing signal respectively for opening or closing the power tailgate of the vehicle generated by the ultra-wideband communicator, detecting the position of the user carrying the ultra-wideband communicator around the vehicle through ultra-wideband communication; and when opening and closing the power tailgate respectively in response to the opening signal and the closing signal of the power tailgate, controlling the opening speed and the closing speed of the power tailgate according to the distance between the vehicle and the user.

[0026] According to another aspect, a vehicle can include: a communicator configured to communicate with an ultra-wideband communicator of a user through ultra-wideband communication and receive an opening signal and a closing signal of the power tailgate of the vehicle; and a controller configured to, in response to receiving the opening signal and the closing signal respectively for opening and closing the power tailgate of the vehicle generated by the ultra-wideband communicator, detect the position of the user carrying the ultra-wideband communicator around the vehicle through ultra-wideband communication, control the opening speed or the closing speed of the power tailgate more slowly as the distance between the vehicle and the user gets closer, and control the opening speed or the closing speed of the power tailgate faster as the distance between the vehicle and the user gets farther. Description of the Drawings

[0027] Figure 1 is a diagram showing a vehicle according to an embodiment of the present disclosure.

[0028] Figure 2 is a diagram showing detecting the position of a user of a vehicle according to an embodiment of the present disclosure.

[0029] Figure 3A and Figure 3BIt is a diagram showing a control system of a vehicle according to an embodiment of the present disclosure.

[0030] Figure 4 It is a diagram showing a first embodiment of a control method of a vehicle according to an embodiment of the present disclosure.

[0031] Figure 5 It is a diagram showing an example of an intuitive display of a control method of a vehicle according to an embodiment of the present disclosure.

[0032] Figure 6 It is a view showing a second embodiment of a control method of a vehicle according to an embodiment of the present disclosure.

[0033] Figure 7 It is a view showing a third embodiment of a control method of a vehicle according to an embodiment of the present disclosure.

[0034] Figure 8 It is showing Figure 7 It is a diagram showing various embodiments of identifying a user action in the control method of the vehicle shown.

[0035] Figure 9 It is a diagram showing a fourth embodiment of a control method of a vehicle according to an embodiment of the present disclosure.

[0036] Figure 10 It is a diagram showing that there is someone else behind the vehicle according to an exemplary embodiment of the present disclosure. Detailed Description

[0037] Figure 1 It is a diagram showing a vehicle according to an embodiment of the present disclosure.

[0038] Vehicle 100 is equipped with multiple doors. Most of the doors are arranged on the sides of vehicle 100 for passengers to get on and off. In the case of a sedan-type passenger vehicle, a trunk door is provided at the rear of the vehicle, but in a sport utility vehicle (SUV), a recreational vehicle (RV), or a van, a door called a tailgate is provided at the rear of the vehicle. Figure 1 The vehicle 100 shown is an SUV equipped with an electric tailgate 102. The tailgate 102 can be manually opened and closed by the user. Additionally, Figure 1 The electric tailgate 102 shown can be automatically opened and closed by the driving force of a motor. The electric tailgate 102 is opened and closed by the driving force of a motor that is driven in response to a user's button operation or user sensing by a sensor provided in vehicle 100. To this end, the electric tailgate 102 includes driving elements such as a latch, an actuator, and a motor, etc.

[0039] Another method of automatically opening and closing the power tailgate 102 is a method of automatically opening and closing the power tailgate 102 by operating a button provided on a remote controller (also known as a smart key) 106 of the vehicle 100. When the user wants to open or close the power tailgate 102 without being seated in the vehicle 100, the power tailgate 102 is automatically activated by operating the button of the remote controller 106 carried by the user.

[0040] As another method of automatically opening and closing the power tailgate 102, when the user approaches the vehicle 100 within a certain distance while carrying the remote controller 106 of the vehicle 100, a detection device provided in the vehicle 100 detects the approach of the remote controller 106 through communication, and in response to this detection, Figure 3A and Figure 3B the controller 310 in [controller 310] controls the power tailgate 102 to open or close. In a state where the power tailgate 102 is open, when the user carrying the remote controller 106 deviates from the vehicle 100 by a predetermined distance, the power tailgate 102 can be automatically closed. In the present disclosure, the controller 310 may be a processor or a control unit such as an electronic control unit (ECU) configured to control an electrical system in the vehicle.

[0041] As described above, when the power tailgate 102 of the vehicle 100 is automatically opened and closed, the speed (operating speed) at which the power tailgate 102 is opened and closed can be an important consideration. That is, when the power tailgate 102 is automatically opened and closed, the operating speed needs to be an appropriate speed that meets the user's needs. In an embodiment of the present disclosure, the opening speed or closing speed of the power tailgate 102 is appropriately controlled according to the distance between the vehicle 100 and the user, thereby achieving user convenience.

[0042] Figure 2 is a diagram showing the detection of the user's position of a vehicle according to an embodiment of the present disclosure.

[0043] As Figure 2 shown, the vehicle 100 according to the embodiment is provided with an antenna 210 for ultra-wideband (UWB) communication. The antenna 210 for ultra-wideband communication communicates with an ultra-wideband communicator carried by the user 250. The ultra-wideband communicator may include the vehicle remote controller 106, a mobile communication terminal, or other devices capable of performing ultra-wideband communication. Through this communication, the vehicle 100 can measure the position of the user 250 carrying the ultra-wideband communicator. In addition, the relative distance between the vehicle 100 and the user 250 and the moving direction of the user 250 can be determined from the result of measuring the position of the user 250. For this purpose, the communication function and radar function of ultra-wideband communication technology can be used. This will be described in more detail in the descriptions Figure 3A and Figure 3B to be described later.

[0044] In Figure 2 it, reference numerals 202, 204, and 206 denote setting intervals (or ranges), which are benchmarks for adjusting the opening speed or closing speed of the power tailgate 102. That is, in the embodiments of the present disclosure, according to how far the position of the user 250 carrying the ultra-wideband communicator is from the vehicle 100 (i.e., according to the relative distance), the opening speed or closing speed of the power tailgate 102 of the vehicle 100 is adjusted.

[0045] For example, when the user 250 is within a preset near interval (proximity) 202 from the vehicle 100, the opening speed or closing speed of the power tailgate 102 is controlled to be a preset slow speed. On the contrary, when the user 250 is within a preset far interval (safe distance) 206 from the vehicle 100, the opening speed or closing speed of the power tailgate 102 is controlled to be a preset fast speed. If the user 250 is within an intermediate interval (vicinity) 204 between the near interval 202 and the far interval 206, the opening speed or closing speed of the power tailgate 102 is set to a medium speed between the slow speed and the fast speed. Here, "slow speed" and "fast speed" are relative and can be speeds determined based on the results obtained from experiments preformed in various environments for the safety and convenience of the user 250.

[0046] Figure 3A and Figure 3B is a diagram showing a control system of a vehicle according to an embodiment of the present disclosure.

[0047] As Figure 3A shown, the ultra-wideband communicator 320 and the rear ultrasonic sensor 330 are connected to the input side of the controller 310 to enable communication. The ultra-wideband communicator 320 communicates with the ultra-wideband module, and for this purpose, the ultra-wideband communicator 320 includes the antenna 210 for ultra-wideband communication as previously referred to Figure 2 to. In the present disclosure, the ultra-wideband communicator 320 may be a hardware device capable of transmitting signals through a communication line or wirelessly.

[0048] The rear ultrasonic sensor 330 is a sensor for a parking assistance system and is mounted on the rear bumper of the vehicle 100 to measure the distance between an obstacle (or person) located behind the vehicle 100 and the rear of the vehicle 100 when parking the vehicle 100. When the distance between the obstacle (or person) located behind the vehicle 100 and the rear of the vehicle 100 reaches within a preset distance, an alarm sound is generated inside the vehicle 100 to attract the driver's attention. Using such a rear ultrasonic sensor 330, the presence of a person located behind the vehicle 100 can be detected regardless of whether an ultra-wideband communicator (e.g., the remote controller 106) is carried.

[0049] The power tailgate 102, lamps (lights) 340, and speakers 350 of the vehicle 100 are connected to the output side of the controller 310 to achieve communication. The latch, actuator, motor, etc. of the power tailgate 102 are driven under the control of the controller 310. The lamps (lights) 340 are an example of an output device as a visual representation device provided in the vehicle 100, and may be an illumination type including at least one of headlights, taillights, fog lights, daytime running lights, interior lights, and brake lights. The speaker 350 is an output device as an auditory representation device installed inside the vehicle 100, and may be a loudspeaker or a warning horn.

[0050] Ultra-wideband (UWB) communication technology is widely used in radar and ultra-high-speed data communication. The ultra-high-speed data communication of the ultra-wideband communication technology can ensure sufficient time margin for controlling the opening speed or closing speed of the power tailgate 102 by detecting a user 250 approaching the vehicle 100 from a position not far from the vehicle 100. In addition, the radar applying the ultra-wideband communication technology can effectively filter out the influence of the environment such as weather through noise filtering to accurately measure the position (distance) of the detection object (e.g., the user 250). Figure 3B An example of signal division in ultra-wideband communication technology is shown. As Figure 3B shown, communication data and radar data can be transmitted in a time-division manner.

[0051] Figure 4 is a diagram showing a first embodiment of a control method of a vehicle according to an embodiment of the present disclosure.

[0052] As Figure 4 shown, the controller 310 receives a power tailgate open / close signal (402) generated from a remote controller 106 which is one of the ultra-wideband communicators. The power tailgate open / close signal generated by the remote controller 106 is a signal generated by the user 250 operating a button of the remote controller 106, or a signal automatically generated through communication when the remote controller 106 carried by the user 250 approaches the vehicle 100 within a preset distance.

[0053] When receiving the power tailgate open / close signal generated from the remote controller 106, the controller 310 measures the position (or distance) of the user 250 (406). The position (distance) of the user 250 is strictly speaking the position (distance) of the ultra-wideband communicator (e.g., the remote controller 106) carried by the user 250. This distance is the distance between the user 250 and the vehicle 100.

[0054] When the measurement of the position of the user 250 is completed, the controller 310 determines the interval to which the position of the user 250 belongs (410). For example, the controller 310 determines that the user 250 is located atFigure 2 Which of the near interval 202, the middle interval 204, and the far interval 206 shown.

[0055] When the determination of the interval where the user 250 is located is completed, the controller 310 controls the opening speed or the closing speed of the power tailgate 102 corresponding to the determined interval (418). For example, when the user 250 is within the preset near interval 202 from the vehicle 100, the opening speed or the closing speed of the power tailgate 102 is controlled to be a preset slow speed. On the contrary, when the user 250 is within the preset far interval 206 from the vehicle 100, the opening speed or the closing speed of the power tailgate 102 is controlled to be a preset fast speed. When the user 250 is within the middle interval 204 between the near interval 202 and the far interval 206, the controller 310 controls the opening speed or the closing speed of the power tailgate 102 to be a medium speed between the slow speed and the fast speed.

[0056] When the opening and closing of the power tailgate 102 are completed (yes in 422), the controller 310 ends the opening and closing control of the power tailgate 102. On the other hand, if the opening and closing of the power tailgate 102 have not been completed (no in 422), the controller 310 returns to the user position measurement step 406 and repeats the following series of processes.

[0057] Through this control, the opening speed or the closing speed of the power tailgate 102 can be appropriately controlled according to the distance between the vehicle 100 and the user 250, thereby achieving user convenience.

[0058] Figure 5 It is a diagram showing an example of an intuitive display of a control method of a vehicle according to an embodiment of the present disclosure.

[0059] As Figure 5 shown, in the case of controlling the opening speed or the closing speed of the power tailgate 102 according to the distance between the vehicle 100 and the user, as an additional method for visually and audibly displaying the current driving speed of the power tailgate 102, the lighting of a lamp and the volume of a sound can be utilized.

[0060] The lighting state of the lamp unit (lamp) 340 can be distinguished according to the interval where the user 250 is located. For example, if the user 250 is within the preset near interval (close) 202 from the vehicle 100, the lamp unit (lamp) 340 flashes quickly to attract the attention of the user 250. In addition, when the user 250 is within the preset middle interval (nearby) 204 from the vehicle 100, the lamp unit (lamp) 340 flashes at a normal speed to attract the attention of the user 250. Furthermore, if the user 250 is within the preset far interval (safe distance) 206 from the vehicle 100, the lamp unit (lamp) 340 remains in the lit state to inform the user 250 that they are in a safe position.

[0061] Optionally, the lighting color of the lamp (light) 340 can be distinguished according to the section where the user 250 is located. For example, if the user 250 is within the preset near section (close) 202 that is 100 away from the vehicle, the lamp (light) 340 lights up red to attract the attention of the user 250. Additionally, when the user 250 is within the preset middle section (nearby) 204 that is 100 away from the vehicle, the lamp (light) 340 lights up yellow to attract the attention of the user 250. Furthermore, for example, if the user 250 is within the preset far section (safe distance) 206 that is 100 away from the vehicle, the lamp (light) 340 lights up white to notify the user 250 that they are at a safe distance.

[0062] Optionally, the volume of the sound can be distinguished according to the section where the user 250 is located. For example, when the user 250 is within the preset near section (close) 202 that is 100 away from the vehicle, a warning sound with a high volume is output through the speaker 350 to attract the attention of the user 250. Additionally, when the user 250 is within the preset middle section (nearby) 204 that is 100 away from the vehicle, a warning sound with a medium volume is output through the speaker 350 to attract the attention of the user 250. Moreover, if the user 250 is within the preset far section (safe distance) 206 that is 100 away from the vehicle, a warning sound with a low volume is output through the speaker 350 so that the controller can announce that the user 250 is in a safe position.

[0063] As needed, the driving speed of the power tailgate 102 can be displayed by the lighting type or lighting color of the lamp or the volume of the warning sound, and two or more of them can be used in combination.

[0064] Figure 6 It is a view showing a second embodiment of the control method of a vehicle according to an embodiment of the present disclosure.

[0065] As Figure 6 shown, the controller 310 receives the power tailgate open / close signal (602) generated from the remote controller 106 which is one of the ultra-wideband communicators. The power tailgate open / close signal generated by the remote controller 106 is a signal generated by the user 250 operating the button of the remote controller 106, or a signal automatically generated through communication when the remote controller 106 carried by the user 250 approaches the vehicle within a preset distance.

[0066] When receiving the power tailgate open / close signal generated by the remote controller 106, the controller 310 measures the position (or distance) of the user 250 (606). Strictly speaking, the position (distance) of the user 250 is the position (distance) of the ultra-wideband communicator (for example, the remote controller 106) carried by the user 250. The distance here is the distance between the user 250 and the vehicle 100.

[0067] When the position measurement of the user 250 is completed, the controller 310 determines the interval to which the position of the user 250 belongs (610). For example, the controller 310 determines that the user 250 is located Figure 2 In addition, in this step, it is determined whether the interval in which the user 250 is located is within the target speed adjustment range of the electric tailgate 102 or outside the speed adjustment range. The "speed adjustment range" is an area very close to the electric tailgate 102 that can ensure the minimum safety of the user 250, and the operation is performed only when the user 250 is outside the "speed adjustment range". Figure 6 Speed ​​control of the electric tailgate is shown. Both the communication function and the radar function of the ultra-wideband communicator 320 can be used to more accurately determine whether the user 250 is within the speed adjustment range.

[0068] The controller 310 measures the moving speed by using the position measurement of the user 250 and compares the moving speed with the reference speed (614). That is, the controller 310 can measure the moving speed of the user 250 by the moving time Tm of the user 250 between two different points. The controller 310 compares the measured moving time (Tm) with the predetermined reference time (Ts).

[0069] When the determination of the interval in which the user 250 is located and the comparison of the moving time (Tm) of the user 250 with the reference time (Ts) are completed, the controller 310 controls the opening speed or closing speed of the electric tailgate 102 corresponding to the comparison result of the moving time (618). For example, when the user 250 is located in the preset close interval 202 from the vehicle 100, the opening speed or closing speed of the electric tailgate 102 is controlled to a preset slow speed. On the contrary, when the user 250 is located in the predetermined far interval 206 from the vehicle 100, the opening speed or closing speed of the electric tailgate 102 is controlled to a preset fast speed. If the user 250 is located in the middle interval 204 between the close interval 202 and the far interval 206, the opening speed or closing speed of the electric tailgate 102 is controlled to a medium speed between the slow speed and the fast speed. If the moving time (Tm) of the user 250 is less than the reference time (Ts), the controller 310 determines that the user 250 is approaching the vehicle 100 quickly, and in order to ensure the safety of the user 250 , reduces the opening speed or closing speed of the power tailgate 102 .

[0070] On the contrary, if the moving time (Tm) of the user 250 is the same as the reference time (Ts), the controller 310 determines that the user 250 is approaching the vehicle 100 at a predetermined normal speed, and maintains the opening speed or closing speed of the power tailgate 102 at a preset speed. On the contrary, if the moving time Tm of the user 250 is greater than the reference time Ts, the controller 310 determines that the user 250 is approaching the vehicle 100 relatively slowly, and increases the opening speed or closing speed of the power tailgate 102. When the user 250 approaches the vehicle 100 slowly, the controller may determine that the user 250 is far enough from the power tailgate 102, and increases the opening speed or closing speed of the power tailgate 102 to open or close it quickly.

[0071] When the opening and closing of the power tailgate 102 are completed (Yes in 622), the controller 310 ends the opening and closing control of the power tailgate 102. On the other hand, when the opening and closing of the power tailgate 102 are not completed (No in 622), the controller 310 returns to the user position measurement step 606 and repeats the following series of processes.

[0072] Through this control, the opening speed or closing speed of the power tailgate 102 is appropriately controlled according to the moving time (speed) of the user 250 relative to the vehicle 100, thereby realizing the convenience of the user.

[0073] Figure 7 FIG. is a view showing a third embodiment of a control method of a vehicle according to an embodiment of the present disclosure.

[0074] As Figure 7 shown, the controller 310 receives a power tailgate opening / closing signal (702) generated from the remote controller 106 which is one of the ultra-wideband communicators. The power tailgate opening / closing signal generated by the remote controller 106 is a signal generated by the user 250 operating the button of the remote controller 106, or a signal automatically generated through communication when the remote controller 106 carried by the user 250 approaches the vehicle 100 within a preset distance.

[0075] When receiving the power tailgate opening / closing signal generated by the remote controller 106, the controller 310 measures the position (or distance) of the user 250 (706). The position (distance) of the user 250 is strictly speaking the position (distance) of the ultra-wideband communicator (for example, the remote controller 106) carried by the user 250. Here, the distance is the distance between the user 250 and the vehicle 100.

[0076] When the position measurement of the user 250 is completed, the controller 310 determines the section to which the position of the user 250 belongs (710). For example, the controller 310 determines that the user 250 is located Figure 2Which of the near range 202, the middle range 204, and the far range 206 shown above.

[0077] In addition, the controller 310 identifies the action of the user 250 (714). Here, the action of the user 250 can be the moving direction of the user 250. For example, the controller 310 identifies whether the user 250 moves along a straight line or a trajectory close to a straight line, or changes the direction to the left or right when approaching the vehicle 100. The controller 310 uses the recognition result of the action of the user 250 to control the speed of the power tailgate 102. Both the communication function and the radar function of the ultra-wideband communicator 320 can be used to identify the action of the user 250.

[0078] When the determination of the range where the user 250 is located and the identification of the action of the user 250 are completed, the controller 310 controls the opening speed or the closing speed of the power tailgate 102 corresponding to the recognition result of the action of the user 250 (718).

[0079] Figure 8 is shown Figure 7 a diagram showing various embodiments of identifying the action of the user in the vehicle control method shown above. Figure 8 The reference numeral 802 in indicates that the user 250 changes the direction in the right-left order during the straight-ahead movement and then moves straight ahead again. In this case, the controller 310 reduces the opening speed or the closing speed of the power tailgate 102 as pre-agreed. Figure 8 The reference numeral 804 in indicates that the user 250 changes the direction in the left-right order during the straight-ahead movement and then moves straight ahead again. In this case, the controller 310 increases the opening speed or the closing speed of the power tailgate 102 as pre-agreed. As another aspect of the recognition of the action of the user 250 for controlling the operating speed of the power tailgate 102, as Figure 8 shown by 806 in, the controller 310 can increase the opening speed or the closing speed of the power tailgate 102 faster through a more complex action in the right-left-right order during the straight-ahead movement of the user 250.

[0080] by Figure 8 The actions shown by the reference numerals 802, 804, and 806 are to reduce the opening speed or the closing speed of the power tailgate 102, and can be pre-determined by the manufacturer of the vehicle 100. The control of the action of the user 250 and the driving speed of the power tailgate 102 according to this agreement is not limited to Figure 8 those shown above, and can be implemented in other ways.

[0081] Return Figure 7, when the opening and closing of the power tailgate 102 are completed (Yes in 722), the controller 310 ends the opening and closing control of the power tailgate 102. On the other hand, when the opening and closing of the power tailgate 102 are not completed (No in 722), the controller 310 returns to the user position measurement step 706 and repeats the following series of processes.

[0082] Through this control, the opening speed or closing speed of the power tailgate 102 is appropriately controlled according to the movement time (speed) of the user 250 relative to the vehicle 100, thereby achieving user convenience.

[0083] Figure 9 It is a diagram showing a fourth embodiment of a control method for a vehicle according to an embodiment of the present disclosure.

[0084] As Figure 9 shown, the controller 310 receives a power tailgate opening / closing signal (902) generated from the remote controller 106 which is one of the ultra-wideband communicators. The power tailgate opening / closing signal generated from the remote controller 106 is a signal generated by the user 250 operating the button of the remote controller 106, or a signal automatically generated through communication when the remote controller 106 carried by the user 250 approaches the vehicle 100 within a preset distance.

[0085] When receiving the power tailgate opening / closing signal generated from the remote controller 106, the controller 310 measures the position (or distance) of the user 250 and also checks whether there is anyone else behind the vehicle 100 (906). For example, when the power tailgate 102 is driven (opened or closed) in response to receiving the power tailgate opening / closing signal, the rear ultrasonic sensor 330 is activated so that it is possible to detect whether there is anyone else behind the vehicle 100. The position (distance) of the user 250 is strictly speaking the position (distance) of the ultra-wideband communicator (for example, the remote controller 106) carried by the user 250. Here, the distance is the distance between the user 250 and the vehicle 100. Others can be people other than the user 250, especially those who do not carry an ultra-wideband communicator. Since others do not carry an ultra-wideband communicator, it is more preferable to use the rear ultrasonic sensor 330 to confirm the presence of others compared to confirming the presence of others through ultra-wideband communication.

[0086] When the position measurement of the user 250 is completed, the controller 310 determines the interval to which the position of the user 250 belongs (910). For example, the controller 310 determines whether the user 250 is located in Figure 2 the near interval 202, the middle interval 204, and the far interval 206 shown.

[0087] When the determination of the section where the user 250 is located is completed, the controller 310 controls the opening speed or closing speed of the power tailgate 102 corresponding to the determined section (918). For example, when the user 250 is within the preset near section 202 of the vehicle 100, the opening speed or closing speed of the power tailgate 102 is controlled to be the preset slow speed. On the contrary, when the user 250 is within the preset far section 206 of the vehicle 100, the opening speed or closing speed of the power tailgate 102 is controlled to be the preset fast speed. If the user 250 is within the middle section 204 between the near section 202 and the far section 206, the opening speed or closing speed of the power tailgate 102 is the medium speed between the slow speed and the fast speed.

[0088] However, when controlling the driving speed of the power tailgate 102, it is possible to consider whether there is anyone else behind the vehicle 100. Figure 10 It is a view showing that there is someone else behind the vehicle according to an exemplary embodiment. As Figure 10 shown, even if the user carrying the ultra-wideband communicator is far enough away from the vehicle 100, when there is someone else 1050 behind the vehicle 100, since the power tailgate 102 and the other person 1050 may collide due to the driving of the power tailgate 102, in order to prevent such a collision, it is desirable to stop the driving of the power tailgate 102 or control the driving speed to be slow enough. Therefore, in Figure 9 step 918, when the controller 310 controls the opening speed or closing speed of the power tailgate 102 corresponding to the section where the user 250 is located, it further considers whether there is anyone else behind the vehicle 100, so that the driving of the power tailgate 102 can be stopped or the driving speed can be controlled to be slow enough.

[0089] Return Figure 9 , when the opening and closing of the power tailgate 102 are completed (yes in 922), the controller 310 ends the opening and closing control of the power tailgate 102. On the other hand, if the opening and closing of the power tailgate 102 have not been completed (no in 922), the controller 310 returns to the user position measurement step 906 and repeats the following series of processes.

[0090] Through this control, the opening speed or closing speed of the power tailgate 102 is appropriately controlled according to the distance between the vehicle 100 and the user 250, thereby achieving the convenience of the user.

[0091] The above description is only an illustration of the technical idea, and those skilled in the art of the present invention will be able to make various modifications, changes, and substitutions without departing from the essential features. Therefore, the embodiments and drawings disclosed above are not intended to limit the technical idea, but to explain the technical idea, and the scope of the technical idea is not limited by the embodiments and drawings. The scope of protection should be interpreted by the scope of the appended claims, and all technical ideas within the scope of protection should be construed as being included within the scope of the claims.

[0092] According to one aspect of the present disclosure, by controlling the opening speed or closing speed of the power tailgate of a vehicle by considering the position of a user when the power tailgate is automatically opened or closed, it is possible to prevent the user from contacting the opened or closed power tailgate.

[0093] Although the present disclosure has been described with reference to specific embodiments shown in the drawings, it will be apparent to those skilled in the art that the present disclosure can be changed and modified in various ways without departing from the scope of the present disclosure described in the appended claims.

Claims

1. A control method for a vehicle, the method comprising: through a controller, in response to receiving an opening signal and a closing signal for opening and closing the electric tailgate of the vehicle respectively in a state where the vehicle is stationary, detecting the position of a user around the vehicle; through the controller, when opening and closing the electric tailgate in a state where the vehicle is stationary in response to receiving the opening signal and the closing signal of the electric tailgate respectively, controlling the opening speed and the closing speed of the electric tailgate according to at least one of the distance between the vehicle and the user and the change in the direction in which the user approaches the vehicle; and displaying the opening speed or the closing speed of the electric tailgate through a visual output device or an auditory output device of the vehicle.

2. The method according to claim 1, further comprising: as the distance between the vehicle and the user becomes closer, controlling the opening speed or the closing speed of the electric tailgate to be slower; and as the distance between the vehicle and the user becomes farther, controlling the opening speed or the closing speed of the electric tailgate to be faster.

3. The method according to claim 1, further comprising: identifying the action of the user; and based on the action of the user, reducing or increasing the opening speed of the electric tailgate or reducing or increasing the closing speed of the electric tailgate.

4. The method according to claim 1, further comprising: calculating the moving speed of the user based on the position of the user; and based on the moving speed of the user, reducing or increasing the opening speed of the electric tailgate or reducing or increasing the closing speed of the electric tailgate.

5. The method according to claim 1, wherein, displaying the opening speed or the closing speed of the electric tailgate includes: representing by turning on and off the lights of the vehicle; and representing through a speaker or a horn of the vehicle.

6. The method according to claim 1, further comprising: checking whether there is a person other than the user behind the vehicle; and when there is such a person behind the vehicle, stopping the opening or closing of the electric tailgate or controlling the opening or closing of the electric tailgate to be slower.

7. The method according to claim 6, wherein, checking whether there is a person includes: detecting the presence of the person through a rear detection sensor of the vehicle.

8. The method according to claim 1, wherein, detecting the position of the user includes: detecting the position through ultra-wideband communication between the vehicle and an ultra-wideband communicator of the user.

9. The method according to claim 1, further comprising: when the user changes direction in a predetermined first order, reducing the opening speed or the closing speed of the electric tailgate; when the user changes direction in a predetermined second order, increasing the opening speed or the closing speed of the electric tailgate; and when the user changes direction in a predetermined third order, increasing the opening speed or the closing speed of the electric tailgate faster.

10. A vehicle, comprising: a communicator configured to receive an opening signal and a closing signal of the electric tailgate of the vehicle; and A controller, configured to: In response to receiving an opening signal or a closing signal for opening or closing the power tailgate respectively, detect the position of a user around the vehicle; When opening and closing the power tailgate in response to receiving the opening signal and the closing signal of the power tailgate respectively, control the opening speed and the closing speed of the power tailgate according to at least one of the distance between the vehicle and the user and the change in the direction in which the user approaches the vehicle; and Display the opening speed or the closing speed of the power tailgate through a visual output device or an auditory output device of the vehicle.

11. The vehicle according to claim 10, wherein the controller is configured to: As the distance between the vehicle and the user gets closer, control the opening speed or the closing speed of the power tailgate to be slower; and As the distance between the vehicle and the user gets farther, control the opening speed or the closing speed of the power tailgate to be faster.

12. The vehicle according to claim 10, wherein the controller is further configured to: Identify the action of the user; and Based on the recognition result of the action of the user, decrease or increase the opening speed of the power tailgate or decrease or increase the closing speed of the power tailgate.

13. The vehicle according to claim 10, wherein the controller is further configured to: Calculate the moving speed of the user based on the position of the user; and Based on the moving speed of the user, decrease or increase the opening speed of the power tailgate or decrease or increase the closing speed of the power tailgate.

14. The vehicle according to claim 10, wherein The opening speed or the closing speed of the power tailgate is represented by turning on and off the lights of the vehicle or is represented by a speaker or a horn of the vehicle.

15. The vehicle according to claim 10, wherein the controller is further configured to: Check whether there is a person other than the user behind the vehicle; and When there is such a person behind the vehicle, stop the opening or closing of the power tailgate or control the opening or closing of the power tailgate to be slower.

16. The vehicle according to claim 15, further comprising: A rear detection sensor, detecting the presence of the person behind the vehicle.

17. The vehicle according to claim 10, wherein The position of the user is detected through ultra-wideband communication between the vehicle and an ultra-wideband communicator of the user.

18. The vehicle according to claim 10, wherein the controller is further configured to: When the user changes direction in a predetermined first order, decrease the opening speed or the closing speed of the power tailgate; When the user changes direction in a predetermined second order, increase the opening speed or the closing speed of the power tailgate; and When the user changes direction in a predetermined third order, increase the opening speed or the closing speed of the power tailgate even faster.

19. A control method for a vehicle, the method comprising: Communicating with an ultra-wideband communicator of a user through ultra-wideband communication; In response to an opening signal or a closing signal for opening or closing the power tailgate of the vehicle generated by the ultra-wideband communicator, detect the position of the user carrying the ultra-wideband communicator around the vehicle through the ultra-wideband communication; When opening and closing the power tailgate in response to the opening signal and the closing signal respectively, control the opening speed and the closing speed of the power tailgate according to at least one of the distance between the vehicle and the user and the change in the direction in which the user approaches the vehicle; and Display the opening speed or the closing speed of the power tailgate through a visual output device or an auditory output device of the vehicle.

20. The method according to claim 19, further comprising: When the user changes direction in a predetermined first order, reduce the opening speed or the closing speed of the power tailgate; When the user changes direction in a predetermined second order, increase the opening speed or the closing speed of the power tailgate; and When the user changes direction in a predetermined third order, increase the opening speed or the closing speed of the power tailgate more quickly.

21. A vehicle, comprising: A communicator configured to: Communicate with the ultra-wideband communicator of the user through ultra-wideband communication, and Receive an opening signal and a closing signal of the power tailgate of the vehicle; and A controller configured to: In response to receiving an opening signal or a closing signal for opening or closing the power tailgate generated by the ultra-wideband communicator, detect the position of the user carrying the ultra-wideband communicator around the vehicle through the ultra-wideband communication, When opening and closing the power tailgate in response to receiving the opening signal and the closing signal of the power tailgate respectively, control the opening speed and the closing speed of the power tailgate according to at least one of the distance between the vehicle and the user and the change in the direction in which the user approaches the vehicle, As the distance between the vehicle and the user gets closer, control the opening speed or the closing speed of the power tailgate to be slower, As the distance between the vehicle and the user gets farther, control the opening speed or the closing speed of the power tailgate to be faster, and Display the opening speed or the closing speed of the power tailgate through a visual output device or an auditory output device of the vehicle.

22. The vehicle according to claim 21, wherein, The controller is further configured to: When the user changes direction in a predetermined first order, reduce the opening speed or the closing speed of the power tailgate; When the user changes direction in a predetermined second order, increase the opening speed or the closing speed of the power tailgate; and When the user changes direction in a predetermined third order, increase the opening speed or the closing speed of the power tailgate more quickly.

23. A vehicle, comprising: A communicator configured to receive an opening signal and a closing signal of the power tailgate of the vehicle; and A controller configured to: In response to receiving an opening signal or a closing signal for opening or closing the power tailgate respectively, detect the position of the user around the vehicle, When opening and closing the power tailgate in response to receiving the opening signal and the closing signal of the power tailgate respectively, control the opening speed and the closing speed of the power tailgate according to at least one of the distance between the vehicle and the user and the change in the direction in which the user approaches the vehicle, and display the opening speed or the closing speed of the power tailgate through the visual output device or the auditory output device of the vehicle, wherein the position and direction of the user are detected through ultra-wideband communication between the vehicle and the ultra-wideband communicator of the user.

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